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Update FSFW #33

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meierj merged 75 commits from mueller/master into eive/develop 2022-02-21 11:00:17 +01:00
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214
CHANGELOG → CHANGELOG.md
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@ -1,4 +1,214 @@
# Changed from ASTP 1.1.0 to 1.2.0 Change Log
=======
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v4.0.0]
## Additions
- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
allow sending of CFDP packets to the CCSDS handlers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
- added virtual function to print datasets
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
- doSendRead Hook
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
- Dockumentation for DHB
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
### HAL additions
- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
- uio Mapper
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
## Changes
- Applied the `clang-format` auto-formatter to all source code
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
- Updated Catch2 to v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
- Changed CI to use prebuilt docker image
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
## Bugfix
- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
- Fix for build regression in Catch2 v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
- Fix in unittest which failed on CI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
- Fix in helper script
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
## API Changes
- Aforementioned changes to existing TMTC stack
## Known bugs
-
# [v3.0.1]
## API Changes
*
## Bugfixes
* Version number was not updated for v3.0.0 #542
## Enhancement
*
## Known bugs
*
# [v3.0.0]
## API Changes
#### TCP Socket Changes
* Keep Open TCP Implementation #496
* The socket will now kept open after disconnect. This allows reconnecting.
* Only one connection is allowed
* No internal influence but clients need to change their Code.
### GPIO IF
* Add feature to open GPIO by line name #506
### Bitutil
* Unittests for Op Divider and Bitutility #510
### Filesystem IF changed
* Filesystem Base Interface: Use IF instead of void pointer #511
### STM32
* STM32 SPI Updates #518
## Bugfixes
* Small bugfix for LIS3 handler #504
* Spelling fixed for function names #509
* CMakeLists fixes #517
* Out of bound reads and writes in unittests #519
* Bug in TmPacketStoredPusC (#478)
* Windows ifdef fixed #529
## Enhancement
* FSFW.h.in more default values #491
* Minor updates for PUS services #498
* HasReturnvaluesIF naming for parameter #499
* Tests can now be built as part of FSFW and versioning moved to CMake #500
* Added integration test code #508
* More printouts for rejected TC packets #505
* Arrayprinter format improvements #514
* Adding code for CI with docker and jenkins #520
* Added new function in SerializeAdapter #513
* Enables simple deSerialize if you keep track of the buffer position yourself
* `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
* ``'-o', '--open', Open coverage data in webbrowser``
* Documentation updated. Sphinx Documentation can now be build with python script #526
## Known bugs
* Version number was not updated for v3.0.0 #542
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
# [v2.0.0]
## API Changes
### File Structure changed to fit more common structure
* See pull request (#445)
* HAL is now part of the main project
* **See Instructions below:**
#### Instruction how to update existing / user code
* Changes in `#include`:
* Rename `internalError` in includes to `internalerror`
* Rename `fsfw/hal` to `fsfw_hal`
* Rename `fsfw/tests` to `fsfw_tests`
* Rename `osal/FreeRTOS` to `osal/freertos`
* Changes in `CMakeLists.txt`:
* Rename `OS_FSFW` to `FSFW_OSAL`
* Changes in `DleEncoder.cpp`
* Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
### Removed osal/linux/Timer (#486)
* Was redundant to timemanager/Countdown
#### Instruction how to update existing / user code
* Use timemanager/Countdown instead
## Bugfixes
### TM Stack
* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
#### Host OSAL / FreeRTOS
* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
#### Events
* Event output is now consistent (#447)
#### DLE Encoder
* Fixed possible out of bounds access in DLE Encoder (#492)
## Enhancment
* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
* Linux HAL updates (#456)
* FreeRTOS Header cleaning update and Cmake tweaks (#442)
* Printer updates (#453)
* New returnvalue for for empty PST (#485)
* TMTC Bridge: Increase limit of packets stored (#484)
## Known bugs
* Bug in TmPacketStoredPusC (#478)
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
# [v1.2.0]
## API Changes ## API Changes
@ -27,7 +237,7 @@
- See API changes chapter. This change will keep the internal API consistent in the future - 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 # [v1.1.0]
## API Changes ## API Changes

23
CMakeLists.txt
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@ -1,8 +1,8 @@
cmake_minimum_required(VERSION 3.13) cmake_minimum_required(VERSION 3.13)
set(FSFW_VERSION 3) set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0) set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 1) set(FSFW_REVISION 0)
# Add the cmake folder so the FindSphinx module is found # Add the cmake folder so the FindSphinx module is found
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH}) set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
@ -56,10 +56,12 @@ if(FSFW_BUILD_UNITTESTS)
FetchContent_Declare( FetchContent_Declare(
Catch2 Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG v3.0.0-preview3 GIT_TAG v3.0.0-preview4
) )
FetchContent_MakeAvailable(Catch2) FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif() endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
@ -90,7 +92,7 @@ set(FSFW_CORE_INC_PATH "inc")
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos) set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
# Configure Files # For configure files
target_include_directories(${LIB_FSFW_NAME} PRIVATE target_include_directories(${LIB_FSFW_NAME} PRIVATE
${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}
) )
@ -152,13 +154,8 @@ else()
set(OS_FSFW "host") set(OS_FSFW "host")
endif() endif()
if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS) configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h) configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
else()
configure_file(src/fsfw/FSFW.h.in FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
endif()
message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.") message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
@ -197,13 +194,13 @@ if(FSFW_BUILD_UNITTESTS)
"--exclude-unreachable-branches" "--exclude-unreachable-branches"
) )
set(COVERAGE_EXCLUDES set(COVERAGE_EXCLUDES
"/c/msys64/mingw64/*" "/c/msys64/mingw64/*" "*/fsfw_hal/*"
) )
elseif(UNIX) elseif(UNIX)
set(COVERAGE_EXCLUDES set(COVERAGE_EXCLUDES
"/usr/include/*" "/usr/bin/*" "Catch2/*" "/usr/include/*" "/usr/bin/*" "Catch2/*"
"/usr/local/include/*" "*/fsfw_tests/*" "/usr/local/include/*" "*/fsfw_tests/*"
"*/catch2-src/*" "*/catch2-src/*" "*/fsfw_hal/*"
) )
endif() endif()

38
README.md
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@ -91,7 +91,7 @@ You can use the following commands inside the `fsfw` folder to set up the build
```sh ```sh
mkdir build-Unittest && cd build-Unittest mkdir build-Unittest && cd build-Unittest
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host .. cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
``` ```
You can also use `-DFSFW_OSAL=linux` on Linux systems. You can also use `-DFSFW_OSAL=linux` on Linux systems.
@ -107,6 +107,42 @@ cmake --build . -- fsfw-tests_coverage -j
The `coverage.py` script located in the `script` folder can also be used to do this conveniently. The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
## Building the documentations
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
```sh
sudo apt-get install doxygen graphviz
```
And the following Python packages
```sh
python3 -m pip install sphinx breathe
```
You can set up a documentation build system using the following commands
```sh
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
```
Then you can generate the documentation using
```sh
cmake --build . -j
```
You can find the generated documentation inside the `docs/sphinx` folder inside the build
folder. Simply open the `index.html` in the webbrowser of your choice.
The `helper.py` script located in the script` folder can also be used to create, build
and open the documentation conveniently. Try `helper.py -h for more information.
## Formatting the sources ## Formatting the sources
The formatting is done by the `clang-format` tool. The configuration is contained within the The formatting is done by the `clang-format` tool. The configuration is contained within the

2
automation/Dockerfile
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@ -5,4 +5,4 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise #tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

39
automation/Jenkinsfile vendored
View File

@ -1,28 +1,17 @@
pipeline { pipeline {
agent any
environment { environment {
BUILDDIR = 'build-unittests' BUILDDIR = 'build-tests'
}
agent {
docker { image 'fsfw-ci:d1'}
} }
stages { stages {
stage('Create Docker') { stage('Clean') {
agent {
dockerfile {
dir 'automation'
additionalBuildArgs '--no-cache'
reuseNode true
}
}
steps { steps {
sh 'rm -rf $BUILDDIR' sh 'rm -rf $BUILDDIR'
} }
} }
stage('Configure') { stage('Configure') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..' sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
@ -30,12 +19,6 @@ pipeline {
} }
} }
stage('Build') { stage('Build') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'cmake --build . -j' sh 'cmake --build . -j'
@ -43,12 +26,6 @@ pipeline {
} }
} }
stage('Unittests') { stage('Unittests') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'cmake --build . -- fsfw-tests_coverage -j' sh 'cmake --build . -- fsfw-tests_coverage -j'
@ -56,12 +33,6 @@ pipeline {
} }
} }
stage('Valgrind') { stage('Valgrind') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps { steps {
dir(BUILDDIR) { dir(BUILDDIR) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests' sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'

107
docs/devicehandlers.rst
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@ -1,3 +1,110 @@
.. _dhb-prim-doc:
Device Handlers Device Handlers
================== ==================
Device handler components represent, control and monitor equipment, for example sensors or actuators
of a spacecraft or the payload.
Most device handlers have the same common functionality or
requirements, which are fulfilled by implementing certain interfaces:
- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
- The handler needs to communicate with the physical device via a dedicated
communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
- The handler has housekeeping data which has to be exposed to the operator and/or other software
components: :cpp:class:`HasLocalDataPoolIF`
- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
also implements :cpp:class:`HasParametersIF`
- The handler has health states, for example to indicate a broken device:
:cpp:class:`HasHealthIF`
- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
but that it is not periodically polling data from the
physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
The device handler base therefore provides abstractions for a lot of common
functionality, which can potentially avoid high amounts or logic and code duplication.
Template Device Handler Base File
----------------------------------
This is an example template device handler header file with all necessary
functions implemented:
.. code-block:: cpp
#ifndef __TESTDEVICEHANDLER_H_
#define __TESTDEVICEHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class TestDeviceHandler: DeviceHandlerBase {
public:
TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
private:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
};
#endif /* __TESTDEVICEHANDLER_H_ */
and the respective source file with sensible default return values:
.. code-block:: cpp
#include "TestDeviceHandler.h"
TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
: DeviceHandlerBase(objectId, comIF, cookie) {}
void TestDeviceHandler::doStartUp() {}
void TestDeviceHandler::doShutDown() {}
ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestDeviceHandler::fillCommandAndReplyMap() {}
ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 10000;
}
ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}

25
docs/getting_started.rst
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@ -90,8 +90,21 @@ Building the documentation
---------------------------- ----------------------------
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
documentation build system using the following commands want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
.. code-block:: console
sudo apt-get install doxygen graphviz
And the following Python packages
.. code-block:: console
python3 -m pip install sphinx breathe
You can set up a documentation build system using the following commands
.. code-block:: bash .. code-block:: bash
@ -110,6 +123,14 @@ folder. Simply open the ``index.html`` in the webbrowser of your choice.
The ``helper.py`` script located in the ``script`` folder can also be used to create, build The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the documentation conveniently. Try ``helper.py -h`` for more information. and open the documentation conveniently. Try ``helper.py -h`` for more information.
Formatting the source
-----------------------
The formatting is done by the ``clang-format`` tool. The configuration is contained within the
``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted .. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
.. _`Catch2 library`: https://github.com/catchorg/Catch2 .. _`Catch2 library`: https://github.com/catchorg/Catch2
.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master .. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

2
docs/highlevel.rst
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@ -118,7 +118,7 @@ The DH has mechanisms to monitor the communication with the physical device whic
for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``. for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``.
A standard FDIR component for the DH will be created automatically but can A standard FDIR component for the DH will be created automatically but can
be overwritten by the user. More information on DeviceHandlers can be found in the be overwritten by the user. More information on DeviceHandlers can be found in the
related [documentation section](doc/README-devicehandlers.md#top). related :ref:`documentation section <dhb-prim-doc>`.
Modes and Health Modes and Health
-------------------- --------------------

8
hal/CMakeLists.txt
View File

@ -3,7 +3,13 @@ cmake_minimum_required(VERSION 3.13)
# Can also be changed by upper CMakeLists.txt file # Can also be changed by upper CMakeLists.txt file
find_library(LIB_FSFW_NAME fsfw REQUIRED) 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_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
# On by default for now because I did not have an issue including and compiling those files
# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
# but CMake is able to determine whether this library is installed with find_library.
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" 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_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON) option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

2
hal/src/fsfw_hal/CMakeLists.txt
View File

@ -1,7 +1,7 @@
add_subdirectory(devicehandlers) add_subdirectory(devicehandlers)
add_subdirectory(common) add_subdirectory(common)
if(FSFW_HAL_ADD_LINUX) if(UNIX)
add_subdirectory(linux) add_subdirectory(linux)
endif() endif()

70
hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
View File

@ -1,50 +1,48 @@
#include "fsfw_hal/common/gpio/GpioCookie.h" #include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
GpioCookie::GpioCookie() { GpioCookie::GpioCookie() {}
}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) { ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) { if (gpioConfig == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl; sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
#else #else
sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n"); 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 #endif
return HasReturnvaluesIF::RETURN_FAILED; 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 { GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
return gpioMap;
}
GpioCookie::~GpioCookie() { GpioCookie::~GpioCookie() {
for(auto& config: gpioMap) { for (auto& config : gpioMap) {
delete(config.second); delete (config.second);
} }
} }

35
hal/src/fsfw_hal/common/gpio/GpioCookie.h
View File

@ -1,12 +1,12 @@
#ifndef COMMON_GPIO_GPIOCOOKIE_H_ #ifndef COMMON_GPIO_GPIOCOOKIE_H_
#define COMMON_GPIO_GPIOCOOKIE_H_ #define COMMON_GPIO_GPIOCOOKIE_H_
#include "GpioIF.h"
#include "gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "GpioIF.h"
#include "gpioDefinitions.h"
/** /**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which * @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or * GPIOs to initialize and whether they should be configured as in- or
@ -17,25 +17,24 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class GpioCookie: public CookieIF { class GpioCookie : public CookieIF {
public: public:
GpioCookie();
GpioCookie(); virtual ~GpioCookie();
virtual ~GpioCookie(); ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig); /**
* @brief Get map with registered GPIOs.
*/
GpioMap getGpioMap() const;
/** private:
* @brief Get map with registered GPIOs. /**
*/ * Returns a copy of the internal GPIO map.
GpioMap getGpioMap() const; */
GpioMap gpioMap;
private:
/**
* Returns a copy of the internal GPIO map.
*/
GpioMap gpioMap;
}; };
#endif /* COMMON_GPIO_GPIOCOOKIE_H_ */ #endif /* COMMON_GPIO_GPIOCOOKIE_H_ */

68
hal/src/fsfw_hal/common/gpio/GpioIF.h
View File

@ -1,9 +1,10 @@
#ifndef COMMON_GPIO_GPIOIF_H_ #ifndef COMMON_GPIO_GPIOIF_H_
#define COMMON_GPIO_GPIOIF_H_ #define COMMON_GPIO_GPIOIF_H_
#include "gpioDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "gpioDefinitions.h"
class GpioCookie; class GpioCookie;
@ -13,42 +14,41 @@ class GpioCookie;
* @author J. Meier * @author J. Meier
*/ */
class GpioIF : public HasReturnvaluesIF { class GpioIF : public HasReturnvaluesIF {
public: public:
virtual ~GpioIF(){};
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 Called by the GPIO using object. * @brief By implementing this function a child must provide the
* @param cookie Cookie specifying informations of the GPIOs required * functionality to pull a certain GPIO to high logic level.
* by a object. *
*/ * @param gpioId A unique number which specifies the GPIO to drive.
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0; * @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 * @brief By implementing this function a child must provide the
* functionality to pull a certain GPIO to high logic level. * functionality to pull a certain GPIO to low logic level.
* *
* @param gpioId A unique number which specifies the GPIO to drive. * @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 pullLow(gpioId_t gpioId) = 0;
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
/** /**
* @brief By implementing this function a child must provide the * @brief This function requires a child to implement the functionality to read the state of
* functionality to pull a certain GPIO to low logic level. * an ouput or input gpio.
* *
* @param gpioId A unique number which specifies the GPIO to drive. * @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 pullLow(gpioId_t gpioId) = 0; */
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 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_ */ #endif /* COMMON_GPIO_GPIOIF_H_ */

181
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -1,44 +1,34 @@
#ifndef COMMON_GPIO_GPIODEFINITIONS_H_ #ifndef COMMON_GPIO_GPIODEFINITIONS_H_
#define COMMON_GPIO_GPIODEFINITIONS_H_ #define COMMON_GPIO_GPIODEFINITIONS_H_
#include <map>
#include <string> #include <string>
#include <unordered_map> #include <unordered_map>
#include <map>
using gpioId_t = uint16_t; using gpioId_t = uint16_t;
namespace gpio { namespace gpio {
enum Levels: uint8_t { enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
LOW = 0,
HIGH = 1,
NONE = 99
};
enum Direction: uint8_t { enum Direction : uint8_t { IN = 0, OUT = 1 };
IN = 0,
OUT = 1
};
enum GpioOperation { enum GpioOperation { READ, WRITE };
READ,
WRITE
};
enum class GpioTypes { enum class GpioTypes {
NONE, NONE,
GPIO_REGULAR_BY_CHIP, GPIO_REGULAR_BY_CHIP,
GPIO_REGULAR_BY_LABEL, GPIO_REGULAR_BY_LABEL,
GPIO_REGULAR_BY_LINE_NAME, GPIO_REGULAR_BY_LINE_NAME,
CALLBACK CALLBACK
}; };
static constexpr gpioId_t NO_GPIO = -1; static constexpr gpioId_t NO_GPIO = -1;
using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value, using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args); void* args);
} } // namespace gpio
/** /**
* @brief Struct containing information about the GPIO to use. This is * @brief Struct containing information about the GPIO to use. This is
@ -55,78 +45,71 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
* pointer. * pointer.
*/ */
class GpioBase { class GpioBase {
public: public:
GpioBase() = default;
GpioBase() = default; GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue)
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, virtual ~GpioBase(){};
gpio::Levels 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;
// Can be used to cast GpioBase to a concrete child implementation std::string consumer;
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; gpio::Direction direction = gpio::Direction::IN;
std::string consumer; gpio::Levels initValue = gpio::Levels::NONE;
gpio::Direction direction = gpio::Direction::IN;
gpio::Levels initValue = gpio::Levels::NONE;
}; };
class GpiodRegularBase: public GpioBase { class GpiodRegularBase : public GpioBase {
public: public:
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue, int lineNum): gpio::Levels initValue, int lineNum)
GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) { : GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
}
// line number will be configured at a later point for the open by line name configuration // line number will be configured at a later point for the open by line name configuration
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) { gpio::Levels initValue)
} : GpioBase(gpioType, consumer, direction, initValue) {}
int lineNum = 0; int lineNum = 0;
struct gpiod_line* lineHandle = nullptr; struct gpiod_line* lineHandle = nullptr;
}; };
class GpiodRegularByChip: public GpiodRegularBase { class GpiodRegularByChip : public GpiodRegularBase {
public: public:
GpiodRegularByChip() : GpiodRegularByChip()
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
std::string(), gpio::Direction::IN, gpio::LOW, 0) { gpio::LOW, 0) {}
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_, GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) : gpio::Direction direction_, gpio::Levels initValue_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, direction_, initValue_,
consumer_, direction_, initValue_, lineNum_), lineNum_),
chipname(chipname_){ chipname(chipname_) {}
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) : GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
gpio::Direction::IN, gpio::LOW, lineNum_), gpio::LOW, lineNum_),
chipname(chipname_) { chipname(chipname_) {}
}
std::string chipname; std::string chipname;
}; };
class GpiodRegularByLabel: public GpiodRegularBase { class GpiodRegularByLabel : public GpiodRegularBase {
public: public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_, GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) : gpio::Direction direction_, gpio::Levels initValue_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, direction_, initValue_,
direction_, initValue_, lineNum_), lineNum_),
label(label_) { label(label_) {}
}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) : GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
gpio::Direction::IN, gpio::LOW, lineNum_), gpio::LOW, lineNum_),
label(label_) { label(label_) {}
}
std::string label; std::string label;
}; };
/** /**
@ -134,34 +117,34 @@ public:
* line name. This line name can be set in the device tree and must be unique. Otherwise * line name. This line name can be set in the device tree and must be unique. Otherwise
* the driver will open the first line with the given name. * the driver will open the first line with the given name.
*/ */
class GpiodRegularByLineName: public GpiodRegularBase { class GpiodRegularByLineName : public GpiodRegularBase {
public: public:
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_, GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
gpio::Levels initValue_) : gpio::Levels initValue_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_), lineName(lineName_) { initValue_),
} lineName(lineName_) {}
GpiodRegularByLineName(std::string lineName_, std::string consumer_) : GpiodRegularByLineName(std::string lineName_, std::string consumer_)
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
gpio::Direction::IN, gpio::LOW), lineName(lineName_) { gpio::LOW),
} lineName(lineName_) {}
std::string lineName; std::string lineName;
}; };
class GpioCallback: public GpioBase { class GpioCallback : public GpioBase {
public: public:
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_, GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
gpio::gpio_cb_t callback, void* callbackArgs): gpio::gpio_cb_t callback, void* callbackArgs)
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_), : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {} callback(callback),
callbackArgs(callbackArgs) {}
gpio::gpio_cb_t callback = nullptr; gpio::gpio_cb_t callback = nullptr;
void* callbackArgs = nullptr; void* callbackArgs = nullptr;
}; };
using GpioMap = std::map<gpioId_t, GpioBase*>; using GpioMap = std::map<gpioId_t, GpioBase*>;
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>; using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator; using GpioMapIter = GpioMap::iterator;

7
hal/src/fsfw_hal/common/spi/spiCommon.h
View File

@ -5,12 +5,7 @@
namespace spi { namespace spi {
enum SpiModes: uint8_t { enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
MODE_0,
MODE_1,
MODE_2,
MODE_3
};
} }

405
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -1,287 +1,274 @@
#include "GyroL3GD20Handler.h" #include "GyroL3GD20Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath> #include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs): CookieIF *comCookie, uint32_t transitionDelayMs)
DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs), dataset(this) { transitionDelayMs(transitionDelayMs),
dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3); debugDivider = new PeriodicOperationDivider(3);
#endif #endif
} }
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
void GyroHandlerL3GD20H::doStartUp() { void GyroHandlerL3GD20H::doStartUp() {
if(internalState == InternalState::NONE) { if (internalState == InternalState::NONE) {
internalState = InternalState::CONFIGURE; internalState = InternalState::CONFIGURE;
} }
if(internalState == InternalState::CONFIGURE) { if (internalState == InternalState::CONFIGURE) {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::CHECK_REGS; internalState = InternalState::CHECK_REGS;
commandExecuted = false; commandExecuted = false;
}
} }
}
if(internalState == InternalState::CHECK_REGS) { if (internalState == InternalState::CHECK_REGS) {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::NORMAL; internalState = InternalState::NORMAL;
if(goNormalModeImmediately) { if (goNormalModeImmediately) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} } else {
else { setMode(_MODE_TO_ON);
setMode(_MODE_TO_ON); }
} commandExecuted = false;
commandExecuted = false;
}
} }
}
} }
void GyroHandlerL3GD20H::doShutDown() { void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) { ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) { switch (internalState) {
case(InternalState::NONE): case (InternalState::NONE):
case(InternalState::NORMAL): { case (InternalState::NORMAL): {
return NOTHING_TO_SEND; return NOTHING_TO_SEND;
} }
case(InternalState::CONFIGURE): { case (InternalState::CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS; *id = L3GD20H::CONFIGURE_CTRL_REGS;
uint8_t command [5]; uint8_t command[5];
command[0] = L3GD20H::CTRL_REG_1_VAL; command[0] = L3GD20H::CTRL_REG_1_VAL;
command[1] = L3GD20H::CTRL_REG_2_VAL; command[1] = L3GD20H::CTRL_REG_2_VAL;
command[2] = L3GD20H::CTRL_REG_3_VAL; command[2] = L3GD20H::CTRL_REG_3_VAL;
command[3] = L3GD20H::CTRL_REG_4_VAL; command[3] = L3GD20H::CTRL_REG_4_VAL;
command[4] = L3GD20H::CTRL_REG_5_VAL; command[4] = L3GD20H::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5); return buildCommandFromCommand(*id, command, 5);
} }
case(InternalState::CHECK_REGS): { case (InternalState::CHECK_REGS): {
*id = L3GD20H::READ_REGS; *id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
default: default:
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
/* Might be a configuration error. */ /* Might be a configuration error. */
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: " sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!" << std::endl; "Unknown internal state!"
<< std::endl;
#else #else
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: " sif::printDebug(
"Unknown internal state!\n"); "GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!\n");
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) { ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = L3GD20H::READ_REGS; *id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand( ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
DeviceCommandId_t deviceCommand, const uint8_t *commandData, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) { switch (deviceCommand) {
case(L3GD20H::READ_REGS): { case (L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK; commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN); std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1; rawPacketLen = L3GD20H::READ_LEN + 1;
break; break;
} }
case(L3GD20H::CONFIGURE_CTRL_REGS): { case (L3GD20H::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK; commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
if(commandData == nullptr or commandDataLen != 5) { if (commandData == nullptr or commandDataLen != 5) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
ctrlReg1Value = commandData[0]; ctrlReg1Value = commandData[0];
ctrlReg2Value = commandData[1]; ctrlReg2Value = commandData[1];
ctrlReg3Value = commandData[2]; ctrlReg3Value = commandData[2];
ctrlReg4Value = commandData[3]; ctrlReg4Value = commandData[3];
ctrlReg5Value = commandData[4]; ctrlReg5Value = commandData[4];
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1; bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0; bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
if(not fsH and not fsL) { if (not fsH and not fsL) {
sensitivity = L3GD20H::SENSITIVITY_00; sensitivity = L3GD20H::SENSITIVITY_00;
} } else if (not fsH and fsL) {
else if(not fsH and fsL) { sensitivity = L3GD20H::SENSITIVITY_01;
sensitivity = L3GD20H::SENSITIVITY_01; } else {
} sensitivity = L3GD20H::SENSITIVITY_11;
else { }
sensitivity = L3GD20H::SENSITIVITY_11;
}
commandBuffer[1] = ctrlReg1Value; commandBuffer[1] = ctrlReg1Value;
commandBuffer[2] = ctrlReg2Value; commandBuffer[2] = ctrlReg2Value;
commandBuffer[3] = ctrlReg3Value; commandBuffer[3] = ctrlReg3Value;
commandBuffer[4] = ctrlReg4Value; commandBuffer[4] = ctrlReg4Value;
commandBuffer[5] = ctrlReg5Value; commandBuffer[5] = ctrlReg5Value;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 6; rawPacketLen = 6;
break; break;
} }
case(L3GD20H::READ_CTRL_REGS): { case (L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, 5); std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 6; rawPacketLen = 6;
break; break;
} }
default: default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len, ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) { DeviceCommandId_t *foundId, size_t *foundLen) {
// For SPI, the ID will always be the one of the last sent command // For SPI, the ID will always be the one of the last sent command
*foundId = this->getPendingCommand(); *foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen; *foundLen = this->rawPacketLen;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) { const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) { switch (id) {
case(L3GD20H::CONFIGURE_CTRL_REGS): { 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; commandExecuted = true;
break; } else {
// Attempt reconfiguration
internalState = InternalState::CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
} }
case(L3GD20H::READ_CTRL_REGS): { case (L3GD20H::READ_REGS): {
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] == ctrlReg5Value) { packet[5] != ctrlReg5Value) {
commandExecuted = true; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} } else {
else { if (internalState == InternalState::CHECK_REGS) {
// Attempt reconfiguration commandExecuted = true;
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]; statusReg = packet[L3GD20H::STATUS_IDX];
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L]; 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 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]; int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
float angVelocX = angVelocXRaw * sensitivity; float angVelocX = angVelocXRaw * sensitivity;
float angVelocY = angVelocYRaw * sensitivity; float angVelocY = angVelocYRaw * sensitivity;
float angVelocZ = angVelocZRaw * sensitivity; float angVelocZ = angVelocZRaw * sensitivity;
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset; float temperature = 25.0 + temperaturOffset;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) { if (debugDivider->checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */ /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
sif::info << "X: " << angVelocX << std::endl; sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl; sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl; sif::info << "Z: " << angVelocZ << std::endl;
#else #else
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
sif::printInfo("X: %f\n", angVelocX); sif::printInfo("X: %f\n", angVelocX);
sif::printInfo("Y: %f\n", angVelocY); sif::printInfo("Y: %f\n", angVelocY);
sif::printInfo("Z: %f\n", angVelocZ); sif::printInfo("Z: %f\n", angVelocZ);
#endif #endif
} }
#endif #endif
PoolReadGuard readSet(&dataset); PoolReadGuard readSet(&dataset);
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(std::abs(angVelocX) < this->absLimitX) { if (std::abs(angVelocX) < this->absLimitX) {
dataset.angVelocX = angVelocX; dataset.angVelocX = angVelocX;
dataset.angVelocX.setValid(true); dataset.angVelocX.setValid(true);
} } else {
else { dataset.angVelocX.setValid(false);
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;
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: default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
return result; return result;
} }
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs; return this->transitionDelayMs;
} }
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
this->goNormalModeImmediately = true;
}
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool( ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0})); 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_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, 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})); localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void GyroHandlerL3GD20H::fillCommandAndReplyMap() { void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset); insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1); insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1); insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
} }
void GyroHandlerL3GD20H::modeChanged() { void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
internalState = InternalState::NONE;
}
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) { void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX; this->absLimitX = limitX;
this->absLimitY = limitY; this->absLimitY = limitY;
this->absLimitZ = limitZ; this->absLimitZ = limitZ;
} }

123
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
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@ -1,12 +1,12 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_ #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_ #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h> #include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include "fsfw/FSFW.h"
/** /**
* @brief Device Handler for the L3GD20H gyroscope sensor * @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html) * (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@ -16,84 +16,73 @@
* *
* Data is read big endian with the smallest possible range of 245 degrees per second. * Data is read big endian with the smallest possible range of 245 degrees per second.
*/ */
class GyroHandlerL3GD20H: public DeviceHandlerBase { class GyroHandlerL3GD20H : public DeviceHandlerBase {
public: public:
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
CookieIF* comCookie, uint32_t transitionDelayMs); uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H(); virtual ~GyroHandlerL3GD20H();
/** /**
* Set the absolute limit for the values on the axis in degrees per second. * 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 * The dataset values will be marked as invalid if that limit is exceeded
* @param xLimit * @param xLimit
* @param yLimit * @param yLimit
* @param zLimit * @param zLimit
*/ */
void setAbsoluteLimits(float limitX, float limitY, float limitZ); void setAbsoluteLimits(float limitX, float limitY, float limitZ);
/** /**
* @brief Configure device handler to go to normal mode immediately * @brief Configure device handler to go to normal mode immediately
*/ */
void setToGoToNormalMode(bool enable); void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */ protected:
ReturnValue_t buildTransitionDeviceCommand( /* DeviceHandlerBase overrides */
DeviceCommandId_t *id) override; ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand( ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override; ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t buildCommandFromCommand( size_t commandDataLen) override;
DeviceCommandId_t deviceCommand, const uint8_t *commandData, ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t commandDataLen) override; size_t *foundLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
void modeChanged() override; void modeChanged() override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
uint32_t transitionDelayMs = 0; uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset; GyroPrimaryDataset dataset;
float absLimitX = L3GD20H::RANGE_DPS_00; float absLimitX = L3GD20H::RANGE_DPS_00;
float absLimitY = L3GD20H::RANGE_DPS_00; float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00; float absLimitZ = L3GD20H::RANGE_DPS_00;
enum class InternalState { enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
NONE, InternalState internalState = InternalState::NONE;
CONFIGURE, bool commandExecuted = false;
CHECK_REGS,
NORMAL
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
uint8_t statusReg = 0; uint8_t statusReg = 0;
bool goNormalModeImmediately = false; bool goNormalModeImmediately = false;
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL; uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL; uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL; uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL; uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL; uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
uint8_t commandBuffer[L3GD20H::READ_LEN + 1]; uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
// Set default value // Set default value
float sensitivity = L3GD20H::SENSITIVITY_00; float sensitivity = L3GD20H::SENSITIVITY_00;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider = nullptr; PeriodicOperationDivider *debugDivider = nullptr;
#endif #endif
}; };
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */ #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

692
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -8,513 +8,477 @@
#include <cmath> #include <cmath>
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay): CookieIF *comCookie, uint32_t transitionDelay)
DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), transitionDelay(transitionDelay) { dataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3); debugDivider = new PeriodicOperationDivider(3);
#endif #endif
// Set to default values right away // Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT; registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT; registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT; registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
} }
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
void MgmLIS3MDLHandler::doStartUp() { void MgmLIS3MDLHandler::doStartUp() {
switch (internalState) { switch (internalState) {
case(InternalState::STATE_NONE): { case (InternalState::STATE_NONE): {
internalState = InternalState::STATE_FIRST_CONTACT; internalState = InternalState::STATE_FIRST_CONTACT;
break; break;
} }
case(InternalState::STATE_FIRST_CONTACT): { case (InternalState::STATE_FIRST_CONTACT): {
/* Will be set by checking device ID (WHO AM I register) */ /* Will be set by checking device ID (WHO AM I register) */
if(commandExecuted) { if (commandExecuted) {
commandExecuted = false; commandExecuted = false;
internalState = InternalState::STATE_SETUP; internalState = InternalState::STATE_SETUP;
}
break;
}
case (InternalState::STATE_SETUP): {
internalState = InternalState::STATE_CHECK_REGISTERS;
break;
}
case (InternalState::STATE_CHECK_REGISTERS): {
/* Set up cached registers which will be used to configure the MGM. */
if (commandExecuted) {
commandExecuted = false;
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
} }
break; }
} break;
case(InternalState::STATE_SETUP): {
internalState = InternalState::STATE_CHECK_REGISTERS;
break;
}
case(InternalState::STATE_CHECK_REGISTERS): {
/* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) {
commandExecuted = false;
if(goToNormalMode) {
setMode(MODE_NORMAL);
}
else {
setMode(_MODE_TO_ON);
}
}
break;
} }
default: default:
break; break;
} }
} }
void MgmLIS3MDLHandler::doShutDown() { void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand( ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) { switch (internalState) {
switch (internalState) { case (InternalState::STATE_NONE):
case(InternalState::STATE_NONE): case (InternalState::STATE_NORMAL): {
case(InternalState::STATE_NORMAL): { return DeviceHandlerBase::NOTHING_TO_SEND;
return DeviceHandlerBase::NOTHING_TO_SEND;
} }
case(InternalState::STATE_FIRST_CONTACT): { case (InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE; *id = MGMLIS3MDL::IDENTIFY_DEVICE;
break; break;
} }
case(InternalState::STATE_SETUP): { case (InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM; *id = MGMLIS3MDL::SETUP_MGM;
break; break;
} }
case(InternalState::STATE_CHECK_REGISTERS): { case (InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA; *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break; break;
} }
default: { default: {
/* might be a configuration error. */ /* might be a configuration error. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" << sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
std::endl; << std::endl;
#else #else
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n"); sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
}
} return buildCommandFromCommand(*id, NULL, 0);
return buildCommandFromCommand(*id, NULL, 0);
} }
uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) { uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
command |= (1 << MGMLIS3MDL::RW_BIT); command |= (1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) { if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT); command |= (1 << MGMLIS3MDL::MS_BIT);
} }
return command; return command;
} }
uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) { uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
command &= ~(1 << MGMLIS3MDL::RW_BIT); command &= ~(1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) { if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT); command |= (1 << MGMLIS3MDL::MS_BIT);
} }
return command; return command;
} }
void MgmLIS3MDLHandler::setupMgm() { void MgmLIS3MDLHandler::setupMgm() {
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; prepareCtrlRegisterWrite();
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
prepareCtrlRegisterWrite();
} }
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand( ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) { // Data/config register will be read in an alternating manner.
// Data/config register will be read in an alternating manner. if (communicationStep == CommunicationStep::DATA) {
if(communicationStep == CommunicationStep::DATA) { *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA; communicationStep = CommunicationStep::TEMPERATURE;
communicationStep = CommunicationStep::TEMPERATURE; return buildCommandFromCommand(*id, NULL, 0);
return buildCommandFromCommand(*id, NULL, 0); } else {
} *id = MGMLIS3MDL::READ_TEMPERATURE;
else { communicationStep = CommunicationStep::DATA;
*id = MGMLIS3MDL::READ_TEMPERATURE; return buildCommandFromCommand(*id, NULL, 0);
communicationStep = CommunicationStep::DATA; }
return buildCommandFromCommand(*id, NULL, 0);
}
} }
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand( ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
DeviceCommandId_t deviceCommand, const uint8_t *commandData, const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
switch(deviceCommand) { switch (deviceCommand) {
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): { case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer)); std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true); commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1; rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
return RETURN_OK; return RETURN_OK;
} }
case(MGMLIS3MDL::READ_TEMPERATURE): { case (MGMLIS3MDL::READ_TEMPERATURE): {
std::memset(commandBuffer, 0, 3); std::memset(commandBuffer, 0, 3);
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true); commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 3; rawPacketLen = 3;
return RETURN_OK; return RETURN_OK;
} }
case(MGMLIS3MDL::IDENTIFY_DEVICE): { case (MGMLIS3MDL::IDENTIFY_DEVICE): {
return identifyDevice(); return identifyDevice();
} }
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): { case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
return enableTemperatureSensor(commandData, commandDataLen); return enableTemperatureSensor(commandData, commandDataLen);
} }
case(MGMLIS3MDL::SETUP_MGM): { case (MGMLIS3MDL::SETUP_MGM): {
setupMgm(); setupMgm();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): { case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen); return setOperatingMode(commandData, commandDataLen);
} }
default: default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t MgmLIS3MDLHandler::identifyDevice() { ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
uint32_t size = 2; uint32_t size = 2;
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR); commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
commandBuffer[1] = 0x00; commandBuffer[1] = 0x00;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = size; rawPacketLen = size;
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len; *foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*foundLen = len; // Check validity by checking config registers
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
// Check validity by checking config registers start[4] != registers[3] or start[5] != registers[4]) {
if (start[1] != registers[0] or start[2] != registers[1] or
start[3] != registers[2] or start[4] != registers[3] or
start[5] != registers[4]) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl; sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
#else #else
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n"); sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
#endif #endif
#endif #endif
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
if(mode == _MODE_START_UP) { if (mode == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
} } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) { *foundLen = len;
*foundLen = len; *foundId = MGMLIS3MDL::READ_TEMPERATURE;
*foundId = MGMLIS3MDL::READ_TEMPERATURE; } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
} *foundLen = len;
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) { *foundId = MGMLIS3MDL::SETUP_MGM;
*foundLen = len; } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundId = MGMLIS3MDL::SETUP_MGM; *foundLen = len;
} *foundId = getPendingCommand();
else if (len == SINGLE_COMMAND_ANSWER_LEN) { if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
*foundLen = len; if (start[1] != MGMLIS3MDL::DEVICE_ID) {
*foundId = getPendingCommand();
if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if(start[1] != MGMLIS3MDL::DEVICE_ID) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: " sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!" << std::endl; "Device identification failed!"
<< std::endl;
#else #else
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: " sif::printWarning(
"Device identification failed!\n"); "MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!\n");
#endif #endif
#endif #endif
return DeviceHandlerIF::INVALID_DATA;
}
if(mode == _MODE_START_UP) {
commandExecuted = true;
}
}
}
else {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
/* Data with SPI Interface always has this answer */ if (mode == _MODE_START_UP) {
if (start[0] == 0b11111111) { commandExecuted = true;
return RETURN_OK; }
}
else {
return DeviceHandlerIF::INVALID_DATA;
} }
} else {
return DeviceHandlerIF::INVALID_DATA;
}
/* Data with SPI Interface always has this answer */
if (start[0] == 0b11111111) {
return RETURN_OK;
} else {
return DeviceHandlerIF::INVALID_DATA;
}
} }
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
const uint8_t *packet) { switch (id) {
switch (id) {
case MGMLIS3MDL::IDENTIFY_DEVICE: { case MGMLIS3MDL::IDENTIFY_DEVICE: {
break; break;
} }
case MGMLIS3MDL::SETUP_MGM: { case MGMLIS3MDL::SETUP_MGM: {
break; break;
} }
case MGMLIS3MDL::READ_CONFIG_AND_DATA: { case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
// TODO: Store configuration in new local datasets. // TODO: Store configuration in new local datasets.
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2])); float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawX =
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ; packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawY =
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ; packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 int16_t mgmMeasurementRawZ =
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ; 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 float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) { if (debugDivider->checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Magnetic field strength in" sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl; " microtesla:"
sif::info << "X: " << mgmX << " uT" << std::endl; << std::endl;
sif::info << "Y: " << mgmY << " uT" << std::endl; sif::info << "X: " << mgmX << " uT" << std::endl;
sif::info << "Z: " << mgmZ << " uT" << std::endl; sif::info << "Y: " << mgmY << " uT" << std::endl;
sif::info << "Z: " << mgmZ << " uT" << std::endl;
#else #else
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", mgmX); sif::printInfo("X: %f uT\n", mgmX);
sif::printInfo("Y: %f uT\n", mgmY); sif::printInfo("Y: %f uT\n", mgmY);
sif::printInfo("Z: %f uT\n", mgmZ); sif::printInfo("Z: %f uT\n", mgmZ);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
} }
#endif /* OBSW_VERBOSE_LEVEL >= 1 */ #endif /* OBSW_VERBOSE_LEVEL >= 1 */
PoolReadGuard readHelper(&dataset); PoolReadGuard readHelper(&dataset);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(std::abs(mgmX) < absLimitX) { if (std::abs(mgmX) < absLimitX) {
dataset.fieldStrengthX = mgmX; dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthX.setValid(true); dataset.fieldStrengthX.setValid(true);
} } else {
else { dataset.fieldStrengthX.setValid(false);
dataset.fieldStrengthX.setValid(false);
}
if(std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthY.setValid(true);
}
else {
dataset.fieldStrengthY.setValid(false);
}
if(std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ;
dataset.fieldStrengthZ.setValid(true);
}
else {
dataset.fieldStrengthZ.setValid(false);
}
} }
break;
if (std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthY.setValid(true);
} else {
dataset.fieldStrengthY.setValid(false);
}
if (std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ;
dataset.fieldStrengthZ.setValid(true);
} else {
dataset.fieldStrengthZ.setValid(false);
}
}
break;
} }
case MGMLIS3MDL::READ_TEMPERATURE: { case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1]; int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0); float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if(debugDivider->check()) { if (debugDivider->check()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
std::endl;
#else #else
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif #endif
} }
#endif #endif
ReturnValue_t result = dataset.read(); ReturnValue_t result = dataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue; dataset.temperature = tempValue;
dataset.commit(); dataset.commit();
} }
break; break;
} }
default: { default: {
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
} }
}
} return RETURN_OK;
return RETURN_OK;
} }
MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) { MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
if (fs0Set && fs1Set) if (fs0Set && fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_16; return MGMLIS3MDL::Sensitivies::GAUSS_16;
else if (!fs0Set && fs1Set) else if (!fs0Set && fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_12; return MGMLIS3MDL::Sensitivies::GAUSS_12;
else if (fs0Set && !fs1Set) else if (fs0Set && !fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_8; return MGMLIS3MDL::Sensitivies::GAUSS_8;
else else
return MGMLIS3MDL::Sensitivies::GAUSS_4; return MGMLIS3MDL::Sensitivies::GAUSS_4;
} }
float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) { float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
switch(sens) { switch (sens) {
case(MGMLIS3MDL::GAUSS_4): { case (MGMLIS3MDL::GAUSS_4): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
} }
case(MGMLIS3MDL::GAUSS_8): { case (MGMLIS3MDL::GAUSS_8): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
} }
case(MGMLIS3MDL::GAUSS_12): { case (MGMLIS3MDL::GAUSS_12): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
} }
case(MGMLIS3MDL::GAUSS_16): { case (MGMLIS3MDL::GAUSS_16): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
} }
default: { default: {
// Should never happen // Should never happen
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS; return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
} }
}
} }
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor( size_t commandDataLen) {
const uint8_t *commandData, size_t commandDataLen) { triggerEvent(CHANGE_OF_SETUP_PARAMETER);
triggerEvent(CHANGE_OF_SETUP_PARAMETER); uint32_t size = 2;
uint32_t size = 2; commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1); if (commandDataLen > 1) {
if (commandDataLen > 1) { return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; }
} switch (*commandData) {
switch (*commandData) {
case (MGMLIS3MDL::ON): { case (MGMLIS3MDL::ON): {
commandBuffer[1] = registers[0] | (1 << 7); commandBuffer[1] = registers[0] | (1 << 7);
break; break;
} }
case (MGMLIS3MDL::OFF): { case (MGMLIS3MDL::OFF): {
commandBuffer[1] = registers[0] & ~(1 << 7); commandBuffer[1] = registers[0] & ~(1 << 7);
break; break;
} }
default: default:
return INVALID_COMMAND_PARAMETER; return INVALID_COMMAND_PARAMETER;
} }
registers[0] = commandBuffer[1]; registers[0] = commandBuffer[1];
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = size; rawPacketLen = size;
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData, ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
size_t commandDataLen) { size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER); triggerEvent(CHANGE_OF_SETUP_PARAMETER);
if (commandDataLen != 1) { if (commandDataLen != 1) {
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS; return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
} }
switch (commandData[0]) { switch (commandData[0]) {
case MGMLIS3MDL::LOW: case MGMLIS3MDL::LOW:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0)); registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0)); registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
break; break;
case MGMLIS3MDL::MEDIUM: case MGMLIS3MDL::MEDIUM:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0); registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0); registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
break; break;
case MGMLIS3MDL::HIGH: case MGMLIS3MDL::HIGH:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0)); registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0)); registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
break; break;
case MGMLIS3MDL::ULTRA: case MGMLIS3MDL::ULTRA:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0); registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0); registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
break; break;
default: default:
break; break;
} }
return prepareCtrlRegisterWrite(); return prepareCtrlRegisterWrite();
} }
void MgmLIS3MDLHandler::fillCommandAndReplyMap() { void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset); insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1); insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1); insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1); insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
} }
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
this->goToNormalMode = enable;
}
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() { ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true); commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) { for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
commandBuffer[i + 1] = registers[i]; commandBuffer[i + 1] = registers[i];
} }
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1; rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
// We dont have to check if this is working because we just did i // We dont have to check if this is working because we just did i
return RETURN_OK; return RETURN_OK;
} }
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
} uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
return transitionDelay;
}
void MgmLIS3MDLHandler::modeChanged(void) { ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
internalState = InternalState::STATE_NONE; LocalDataPoolManager &poolManager) {
} localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool( localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, return HasReturnvaluesIF::RETURN_OK;
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
} }
void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) { void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
this->absLimitX = xLimit; this->absLimitX = xLimit;
this->absLimitY = yLimit; this->absLimitY = yLimit;
this->absLimitZ = zLimit; this->absLimitZ = zLimit;
} }

275
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
View File

@ -1,10 +1,9 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "fsfw/FSFW.h"
#include "events/subsystemIdRanges.h"
#include "devicedefinitions/MgmLIS3HandlerDefs.h" #include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
class PeriodicOperationDivider; class PeriodicOperationDivider;
@ -18,168 +17,158 @@ class PeriodicOperationDivider;
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
* @author L. Loidold, R. Mueller * @author L. Loidold, R. Mueller
*/ */
class MgmLIS3MDLHandler: public DeviceHandlerBase { class MgmLIS3MDLHandler : public DeviceHandlerBase {
public: public:
enum class CommunicationStep { enum class CommunicationStep { DATA, TEMPERATURE };
DATA,
TEMPERATURE
};
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL; static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
//Notifies a command to change the setup parameters // Notifies a command to change the setup parameters
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW); static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie, MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler(); virtual ~MgmLIS3MDLHandler();
/** /**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will * Set the absolute limit for the values on the axis in microtesla. The dataset values will
* be marked as invalid if that limit is exceeded * be marked as invalid if that limit is exceeded
* @param xLimit * @param xLimit
* @param yLimit * @param yLimit
* @param zLimit * @param zLimit
*/ */
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit); void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
void setToGoToNormalMode(bool enable); void setToGoToNormalMode(bool enable);
protected: protected:
/** DeviceHandlerBase overrides */
void doShutDown() override;
void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
/**
* This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
* @param id
* @param packet
* @return
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
/** DeviceHandlerBase overrides */ private:
void doShutDown() override; MGMLIS3MDL::MgmPrimaryDataset dataset;
void doStartUp() override; // Length a single command SPI answer
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
/**
* This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
* @param id
* @param packet
* @return
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private: uint32_t transitionDelay;
MGMLIS3MDL::MgmPrimaryDataset dataset; // Single SPI command has 2 bytes, first for adress, second for content
//Length a single command SPI answer size_t singleComandSize = 2;
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; // Has the size for all adresses of the lis3mdl + the continous write bit
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
uint32_t transitionDelay; float absLimitX = 100;
// Single SPI command has 2 bytes, first for adress, second for content float absLimitY = 100;
size_t singleComandSize = 2; float absLimitZ = 150;
// Has the size for all adresses of the lis3mdl + the continous write bit
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
float absLimitX = 100; /**
float absLimitY = 100; * We want to save the registers we set, so we dont have to read the
float absLimitZ = 150; * registers when we want to change something.
* --> everytime we change set a register we have to save it
*/
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
/** uint8_t statusRegister = 0;
* We want to save the registers we set, so we dont have to read the bool goToNormalMode = false;
* registers when we want to change something.
* --> everytime we change set a register we have to save it
*/
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
uint8_t statusRegister = 0; enum class InternalState {
bool goToNormalMode = false; STATE_NONE,
STATE_FIRST_CONTACT,
STATE_SETUP,
STATE_CHECK_REGISTERS,
STATE_NORMAL
};
enum class InternalState { InternalState internalState = InternalState::STATE_NONE;
STATE_NONE, CommunicationStep communicationStep = CommunicationStep::DATA;
STATE_FIRST_CONTACT, bool commandExecuted = false;
STATE_SETUP,
STATE_CHECK_REGISTERS,
STATE_NORMAL
};
InternalState internalState = InternalState::STATE_NONE; /*------------------------------------------------------------------------*/
CommunicationStep communicationStep = CommunicationStep::DATA; /* Device specific commands and variables */
bool commandExecuted = false; /*------------------------------------------------------------------------*/
/**
* Sets the read bit for the command
* @param single command to set the read-bit at
* @param boolean to select a continuous read bit, default = false
*/
uint8_t readCommand(uint8_t command, bool continuousCom = false);
/*------------------------------------------------------------------------*/ /**
/* Device specific commands and variables */ * Sets the write bit for the command
/*------------------------------------------------------------------------*/ * @param single command to set the write-bit at
/** * @param boolean to select a continuous write bit, default = false
* Sets the read bit for the command */
* @param single command to set the read-bit at uint8_t writeCommand(uint8_t command, bool continuousCom = false);
* @param boolean to select a continuous read bit, default = false
*/
uint8_t readCommand(uint8_t command, bool continuousCom = false);
/** /**
* Sets the write bit for the command * This Method gets the full scale for the measurement range
* @param single command to set the write-bit at * e.g.: +- 4 gauss. See p.25 datasheet.
* @param boolean to select a continuous write bit, default = false * @return The ReturnValue does not contain the sign of the value
*/ */
uint8_t writeCommand(uint8_t command, bool continuousCom = false); MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
/** /**
* This Method gets the full scale for the measurement range * The 16 bit value needs to be multiplied with a sensitivity factor
* e.g.: +- 4 gauss. See p.25 datasheet. * which depends on the sensitivity configuration
* @return The ReturnValue does not contain the sign of the value *
*/ * @param sens Configured sensitivity of the LIS3 device
MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2); * @return Multiplication factor to get the sensor value from raw data.
*/
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
/** /**
* The 16 bit value needs to be multiplied with a sensitivity factor * This Command detects the device ID
* which depends on the sensitivity configuration */
* ReturnValue_t identifyDevice();
* @param sens Configured sensitivity of the LIS3 device
* @return Multiplication factor to get the sensor value from raw data.
*/
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
/** virtual void setupMgm();
* This Command detects the device ID
*/
ReturnValue_t identifyDevice();
virtual void setupMgm(); /*------------------------------------------------------------------------*/
/* Non normal commands */
/*------------------------------------------------------------------------*/
/**
* Enables/Disables the integrated Temperaturesensor
* @param commandData On or Off
* @param length of the commandData: has to be 1
*/
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
/*------------------------------------------------------------------------*/ /**
/* Non normal commands */ * Sets the accuracy of the measurement of the axis. The noise is changing.
/*------------------------------------------------------------------------*/ * @param commandData LOW, MEDIUM, HIGH, ULTRA
/** * @param length of the command, has to be 1
* Enables/Disables the integrated Temperaturesensor */
* @param commandData On or Off virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
* @param length of the commandData: has to be 1
*/
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen);
/** /**
* Sets the accuracy of the measurement of the axis. The noise is changing. * We always update all registers together, so this method updates
* @param commandData LOW, MEDIUM, HIGH, ULTRA * the rawpacket and rawpacketLen, so we just manipulate the local
* @param length of the command, has to be 1 * saved register
*/ *
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, */
size_t commandDataLen); ReturnValue_t prepareCtrlRegisterWrite();
/**
* We always update all registers together, so this method updates
* the rawpacket and rawpacketLen, so we just manipulate the local
* saved register
*
*/
ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider; PeriodicOperationDivider *debugDivider;
#endif #endif
}; };

543
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -1,376 +1,367 @@
#include "MgmRM3100Handler.h" #include "MgmRM3100Handler.h"
#include "fsfw/datapool/PoolReadGuard.h" #include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h" #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/objectmanager/SystemObjectIF.h" #include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, CookieIF *comCookie, uint32_t transitionDelay)
object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay): : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
primaryDataset(this), transitionDelay(transitionDelay) { transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3); debugDivider = new PeriodicOperationDivider(3);
#endif #endif
} }
MgmRM3100Handler::~MgmRM3100Handler() {} MgmRM3100Handler::~MgmRM3100Handler() {}
void MgmRM3100Handler::doStartUp() { void MgmRM3100Handler::doStartUp() {
switch(internalState) { switch (internalState) {
case(InternalState::NONE): { case (InternalState::NONE): {
internalState = InternalState::CONFIGURE_CMM; internalState = InternalState::CONFIGURE_CMM;
break; break;
} }
case(InternalState::CONFIGURE_CMM): { case (InternalState::CONFIGURE_CMM): {
internalState = InternalState::READ_CMM; internalState = InternalState::READ_CMM;
break; break;
} }
case(InternalState::READ_CMM): { case (InternalState::READ_CMM): {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC; internalState = InternalState::STATE_CONFIGURE_TMRC;
}
break;
}
case (InternalState::STATE_CONFIGURE_TMRC): {
if (commandExecuted) {
internalState = InternalState::STATE_READ_TMRC;
}
break;
}
case (InternalState::STATE_READ_TMRC): {
if (commandExecuted) {
internalState = InternalState::NORMAL;
if (goToNormalModeAtStartup) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
} }
break; }
} break;
case(InternalState::STATE_CONFIGURE_TMRC): {
if(commandExecuted) {
internalState = InternalState::STATE_READ_TMRC;
}
break;
}
case(InternalState::STATE_READ_TMRC): {
if(commandExecuted) {
internalState = InternalState::NORMAL;
if(goToNormalModeAtStartup) {
setMode(MODE_NORMAL);
}
else {
setMode(_MODE_TO_ON);
}
}
break;
} }
default: { default: {
break; break;
}
} }
}
} }
void MgmRM3100Handler::doShutDown() { void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand( ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) { size_t commandLen = 0;
size_t commandLen = 0; switch (internalState) {
switch(internalState) { case (InternalState::NONE):
case(InternalState::NONE): case (InternalState::NORMAL): {
case(InternalState::NORMAL): { return NOTHING_TO_SEND;
return NOTHING_TO_SEND;
} }
case(InternalState::CONFIGURE_CMM): { case (InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM; *id = RM3100::CONFIGURE_CMM;
break; break;
} }
case(InternalState::READ_CMM): { case (InternalState::READ_CMM): {
*id = RM3100::READ_CMM; *id = RM3100::READ_CMM;
break; break;
} }
case(InternalState::STATE_CONFIGURE_TMRC): { case (InternalState::STATE_CONFIGURE_TMRC): {
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE; commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
commandLen = 1; commandLen = 1;
*id = RM3100::CONFIGURE_TMRC; *id = RM3100::CONFIGURE_TMRC;
break; break;
} }
case(InternalState::STATE_READ_TMRC): { case (InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC; *id = RM3100::READ_TMRC;
break; break;
} }
default: default:
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
// Might be a configuration error // Might be a configuration error
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: " sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state" << std::endl; "Unknown internal state"
<< std::endl;
#else #else
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: " sif::printWarning(
"Unknown internal state\n"); "MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n");
#endif #endif
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
return buildCommandFromCommand(*id, commandBuffer, commandLen); return buildCommandFromCommand(*id, commandBuffer, commandLen);
} }
ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData,
switch(deviceCommand) { size_t commandDataLen) {
case(RM3100::CONFIGURE_CMM): { switch (deviceCommand) {
commandBuffer[0] = RM3100::CMM_REGISTER; case (RM3100::CONFIGURE_CMM): {
commandBuffer[1] = RM3100::CMM_VALUE; commandBuffer[0] = RM3100::CMM_REGISTER;
rawPacket = commandBuffer; commandBuffer[1] = RM3100::CMM_VALUE;
rawPacketLen = 2; rawPacket = commandBuffer;
break; rawPacketLen = 2;
break;
} }
case(RM3100::READ_CMM): { case (RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0; commandBuffer[1] = 0;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::CONFIGURE_TMRC): { case (RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen); return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
} }
case(RM3100::READ_TMRC): { case (RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0; commandBuffer[1] = 0;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; break;
} }
case(RM3100::CONFIGURE_CYCLE_COUNT): { case (RM3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen); return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
} }
case(RM3100::READ_CYCLE_COUNT): { case (RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK; commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6); std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 7; rawPacketLen = 7;
break; break;
} }
case(RM3100::READ_DATA): { case (RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK; commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9); std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10; rawPacketLen = 10;
break; break;
} }
default: default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
} }
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand( ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
DeviceCommandId_t *id) { *id = RM3100::READ_DATA;
*id = RM3100::READ_DATA; return buildCommandFromCommand(*id, nullptr, 0);
return buildCommandFromCommand(*id, nullptr, 0);
} }
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
size_t len, DeviceCommandId_t *foundId, DeviceCommandId_t *foundId, size_t *foundLen) {
size_t *foundLen) { // For SPI, ID will always be the one of the last sent command
*foundId = this->getPendingCommand();
// For SPI, ID will always be the one of the last sent command *foundLen = len;
*foundId = this->getPendingCommand(); return HasReturnvaluesIF::RETURN_OK;
*foundLen = len;
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) { switch (id) {
case(RM3100::CONFIGURE_CMM): case (RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT): case (RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): { case (RM3100::CONFIGURE_TMRC): {
// We can only check whether write was successful with read operation // We can only check whether write was successful with read operation
if(mode == _MODE_START_UP) { if (mode == _MODE_START_UP) {
commandExecuted = true; commandExecuted = true;
} }
break; break;
} }
case(RM3100::READ_CMM): { case (RM3100::READ_CMM): {
uint8_t cmmValue = packet[1]; uint8_t cmmValue = packet[1];
// We clear the seventh bit in any case // We clear the seventh bit in any case
// because this one is zero sometimes for some reason // because this one is zero sometimes for some reason
bitutil::clear(&cmmValue, 6); bitutil::clear(&cmmValue, 6);
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) { if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
commandExecuted = true; commandExecuted = true;
} } else {
else { // Attempt reconfiguration
// Attempt reconfiguration internalState = InternalState::CONFIGURE_CMM;
internalState = InternalState::CONFIGURE_CMM; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; }
} break;
break;
} }
case(RM3100::READ_TMRC): { case (RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) { if (packet[1] == tmrcRegValue) {
commandExecuted = true; commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground
if(mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
// Attempt reconfiguration
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground // Reading TMRC was commanded. Trigger event to inform ground
if(mode != _MODE_START_UP) { if (mode != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY; triggerEvent(tmrcSet, tmrcRegValue, 0);
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
} }
break; } else {
// Attempt reconfiguration
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
} }
case(RM3100::READ_DATA): { case (RM3100::READ_CYCLE_COUNT): {
result = handleDataReadout(packet); uint16_t cycleCountX = packet[1] << 8 | packet[2];
break; uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground
if (mode != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
}
case (RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
} }
default: default:
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
} }
return result; return result;
} }
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData,
if(commandData == nullptr) { size_t commandDataLen) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; if (commandData == nullptr) {
} return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
// Set cycle count // Set cycle count
if(commandDataLen == 2) { if (commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen); handleCycleCommand(true, commandData, commandDataLen);
} } else if (commandDataLen == 6) {
else if(commandDataLen == 6) { handleCycleCommand(false, commandData, commandDataLen);
handleCycleCommand(false, commandData, commandDataLen); } else {
} return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
else { }
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE; commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2); std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2); std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2); std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
rawPacketLen = 7; rawPacketLen = 7;
rawPacket = commandBuffer; rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
const uint8_t *commandData, size_t commandDataLen) { size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue); RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen, ReturnValue_t result =
SerializeIF::Endianness::BIG); command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
// Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
if(command.cycleCountX > 450 ) { if (command.cycleCountX > 450) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) { if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
cycleCountRegValueX = command.cycleCountX; cycleCountRegValueX = command.cycleCountX;
cycleCountRegValueY = command.cycleCountY; cycleCountRegValueY = command.cycleCountY;
cycleCountRegValueZ = command.cycleCountZ; cycleCountRegValueZ = command.cycleCountZ;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) { const uint8_t *commandData,
if(commandData == nullptr or commandDataLen != 1) { size_t commandDataLen) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; if (commandData == nullptr or commandDataLen != 1) {
} return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::TMRC_REGISTER; commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[1] = commandData[0]; commandBuffer[1] = commandData[0];
tmrcRegValue = commandData[0]; tmrcRegValue = commandData[0];
rawPacketLen = 2; rawPacketLen = 2;
rawPacket = commandBuffer; rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void MgmRM3100Handler::fillCommandAndReplyMap() { void MgmRM3100Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3); insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
insertInCommandAndReplyMap(RM3100::READ_CMM, 3); insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3); insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3); insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3); insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3); insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset); insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
} }
void MgmRM3100Handler::modeChanged(void) { void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
internalState = InternalState::NONE;
}
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool( ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0})); localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) { uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelay; return this->transitionDelay;
} }
void MgmRM3100Handler::setToGoToNormalMode(bool enable) { void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
goToNormalModeAtStartup = enable;
}
ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
// trickery here to calculate the raw values first // trickery here to calculate the raw values first
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8; int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8; int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8; int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
// Now scale to physical value in microtesla // Now scale to physical value in microtesla
float fieldStrengthX = fieldStrengthRawX * scaleFactorX; float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) { if (debugDivider->checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in" sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" << std::endl; " microtesla:"
sif::info << "X: " << fieldStrengthX << " uT" << std::endl; << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
#else #else
sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", fieldStrengthX); sif::printInfo("X: %f uT\n", fieldStrengthX);
sif::printInfo("Y: %f uT\n", fieldStrengthY); sif::printInfo("Y: %f uT\n", fieldStrengthY);
sif::printInfo("Z: %f uT\n", fieldStrengthZ); sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif #endif
} }
#endif #endif
// TODO: Sanity check on values? // TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset); PoolReadGuard readGuard(&primaryDataset);
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX; primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY; primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ; primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true); primaryDataset.setValidity(true, true);
} }
return RETURN_OK; return RETURN_OK;
} }

146
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
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@ -1,8 +1,8 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_ #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_ #define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/MgmRM3100HandlerDefs.h" #include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
@ -16,94 +16,90 @@
* Flight manual: * Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
*/ */
class MgmRM3100Handler: public DeviceHandlerBase { class MgmRM3100Handler : public DeviceHandlerBase {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100; static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0 //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
0x00, severity::INFO);
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y //! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z //! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent( static constexpr Event cycleCountersSet =
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO); event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
CookieIF* comCookie, uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmRM3100Handler(); virtual ~MgmRM3100Handler();
/** /**
* Configure device handler to go to normal mode after startup immediately * Configure device handler to go to normal mode after startup immediately
* @param enable * @param enable
*/ */
void setToGoToNormalMode(bool enable); void setToGoToNormalMode(bool enable);
protected: protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
/* DeviceHandlerBase overrides */ void fillCommandAndReplyMap() override;
ReturnValue_t buildTransitionDeviceCommand( void modeChanged(void) override;
DeviceCommandId_t *id) override; virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
void doStartUp() override; ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
void doShutDown() override; LocalDataPoolManager &poolManager) override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override; private:
void modeChanged(void) override; enum class InternalState {
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override; NONE,
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, CONFIGURE_CMM,
LocalDataPoolManager &poolManager) override; READ_CMM,
// The cycle count states are propably not going to be used because
// the default cycle count will be used.
STATE_CONFIGURE_CYCLE_COUNT,
STATE_READ_CYCLE_COUNT,
STATE_CONFIGURE_TMRC,
STATE_READ_TMRC,
NORMAL
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;
private: uint8_t commandBuffer[10];
uint8_t commandBufferLen = 0;
enum class InternalState { uint8_t cmmRegValue = RM3100::CMM_VALUE;
NONE, uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
CONFIGURE_CMM, uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
READ_CMM, uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
// The cycle count states are propably not going to be used because uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
// the default cycle count will be used. float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
STATE_CONFIGURE_CYCLE_COUNT, float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
STATE_READ_CYCLE_COUNT, float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
STATE_CONFIGURE_TMRC,
STATE_READ_TMRC,
NORMAL
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;
uint8_t commandBuffer[10]; bool goToNormalModeAtStartup = false;
uint8_t commandBufferLen = 0; uint32_t transitionDelay;
uint8_t cmmRegValue = RM3100::CMM_VALUE; ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE; const uint8_t *commandData, size_t commandDataLen);
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE; ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE; size_t commandDataLen);
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
bool goToNormalModeAtStartup = false; ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
uint32_t transitionDelay; size_t commandDataLen);
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t handleDataReadout(const uint8_t *packet);
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t* packet);
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider; PeriodicOperationDivider *debugDivider;
#endif #endif
}; };

62
hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -3,6 +3,7 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h> #include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint> #include <cstdint>
namespace L3GD20H { namespace L3GD20H {
@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
static constexpr uint8_t SET_X_ENABLE = 1 << 1; static constexpr uint8_t SET_X_ENABLE = 1 << 1;
static constexpr uint8_t SET_Y_ENABLE = 1; static constexpr uint8_t SET_Y_ENABLE = 1;
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE | static constexpr uint8_t CTRL_REG_1_VAL =
SET_Y_ENABLE | SET_X_ENABLE; SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
/* Register 2 */ /* Register 2 */
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7; static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS; static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds: lp_id_t { enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
ANG_VELOC_X,
ANG_VELOC_Y, } // namespace L3GD20H
ANG_VELOC_Z,
TEMPERATURE class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId)
: StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
}; };
}
class GyroPrimaryDataset: public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
L3GD20H::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

99
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
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@ -1,26 +1,18 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h> #include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint> #include <cstdint>
namespace MGMLIS3MDL { namespace MGMLIS3MDL {
enum Set { enum Set { ON, OFF };
ON, OFF enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
};
enum OpMode {
LOW, MEDIUM, HIGH, ULTRA
};
enum Sensitivies: uint8_t { enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
GAUSS_4 = 4,
GAUSS_8 = 8,
GAUSS_12 = 12,
GAUSS_16 = 16
};
/* Actually 15, we just round up a bit */ /* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16; static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -54,7 +46,7 @@ static const uint8_t SETUP_REPLY_LEN = 6;
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/
/* Register adress returns identifier of device with default 0b00111101 */ /* Register adress returns identifier of device with default 0b00111101 */
static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111; static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
/* Register adress to access register 1 */ /* Register adress to access register 1 */
static const uint8_t CTRL_REG1 = 0b00100000; static const uint8_t CTRL_REG1 = 0b00100000;
@ -105,74 +97,67 @@ static const uint8_t RW_BIT = 7;
static const uint8_t MS_BIT = 6; static const uint8_t MS_BIT = 6;
/* CTRL_REG1 bits */ /* CTRL_REG1 bits */
static const uint8_t ST = 0; // Self test enable bit, enabled = 1 static const uint8_t ST = 0; // Self test enable bit, enabled = 1
// Enable rates higher than 80 Hz enabled = 1 // Enable rates higher than 80 Hz enabled = 1
static const uint8_t FAST_ODR = 1; static const uint8_t FAST_ODR = 1;
static const uint8_t DO0 = 2; // Output data rate bit 2 static const uint8_t DO0 = 2; // Output data rate bit 2
static const uint8_t DO1 = 3; // Output data rate bit 3 static const uint8_t DO1 = 3; // Output data rate bit 3
static const uint8_t DO2 = 4; // Output data rate bit 4 static const uint8_t DO2 = 4; // Output data rate bit 4
static const uint8_t OM0 = 5; // XY operating mode bit 5 static const uint8_t OM0 = 5; // XY operating mode bit 5
static const uint8_t OM1 = 6; // XY operating mode bit 6 static const uint8_t OM1 = 6; // XY operating mode bit 6
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1 static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) | static const uint8_t CTRL_REG1_DEFAULT =
(1 << DO0) | (1 << DO1) | (1 << DO2); (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
/* CTRL_REG2 bits */ /* CTRL_REG2 bits */
//reset configuration registers and user registers // reset configuration registers and user registers
static const uint8_t SOFT_RST = 2; static const uint8_t SOFT_RST = 2;
static const uint8_t REBOOT = 3; //reboot memory content static const uint8_t REBOOT = 3; // reboot memory content
static const uint8_t FSO = 5; //full-scale selection bit 5 static const uint8_t FSO = 5; // full-scale selection bit 5
static const uint8_t FS1 = 6; //full-scale selection bit 6 static const uint8_t FS1 = 6; // full-scale selection bit 6
static const uint8_t CTRL_REG2_DEFAULT = 0; static const uint8_t CTRL_REG2_DEFAULT = 0;
/* CTRL_REG3 bits */ /* CTRL_REG3 bits */
static const uint8_t MD0 = 0; //Operating mode bit 0 static const uint8_t MD0 = 0; // Operating mode bit 0
static const uint8_t MD1 = 1; //Operating mode bit 1 static const uint8_t MD1 = 1; // Operating mode bit 1
//SPI serial interface mode selection enabled = 3-wire-mode // SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t SIM = 2; static const uint8_t SIM = 2;
static const uint8_t LP = 5; //low-power mode static const uint8_t LP = 5; // low-power mode
static const uint8_t CTRL_REG3_DEFAULT = 0; static const uint8_t CTRL_REG3_DEFAULT = 0;
/* CTRL_REG4 bits */ /* CTRL_REG4 bits */
//big/little endian data selection enabled = MSb at lower adress // big/little endian data selection enabled = MSb at lower adress
static const uint8_t BLE = 1; static const uint8_t BLE = 1;
static const uint8_t OMZ0 = 2; //Z operating mode bit 2 static const uint8_t OMZ0 = 2; // Z operating mode bit 2
static const uint8_t OMZ1 = 3; //Z operating mode bit 3 static const uint8_t OMZ1 = 3; // Z operating mode bit 3
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1); static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
/* CTRL_REG5 bits */ /* CTRL_REG5 bits */
static const uint8_t BDU = 6; //Block data update static const uint8_t BDU = 6; // Block data update
static const uint8_t FAST_READ = 7; //Fast read enabled = 1 static const uint8_t FAST_READ = 7; // Fast read enabled = 1
static const uint8_t CTRL_REG5_DEFAULT = 0; static const uint8_t CTRL_REG5_DEFAULT = 0;
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA; static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
enum MgmPoolIds: lp_id_t { enum MgmPoolIds : lp_id_t {
FIELD_STRENGTH_X, FIELD_STRENGTH_X,
FIELD_STRENGTH_Y, FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z, FIELD_STRENGTH_Z,
TEMPERATURE_CELCIUS TEMPERATURE_CELCIUS
}; };
class MgmPrimaryDataset: public StaticLocalDataSet<4> { class MgmPrimaryDataset : public StaticLocalDataSet<4> {
public: public:
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner): MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
MgmPrimaryDataset(object_id_t mgmId): MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
FIELD_STRENGTH_X, this); lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
FIELD_STRENGTH_Y, this); lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
TEMPERATURE_CELCIUS, this);
}; };
} } // namespace MGMLIS3MDL
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

96
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
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@ -1,10 +1,11 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h> #include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h> #include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <cstdint> #include <cstdint>
namespace RM3100 { namespace RM3100 {
@ -24,8 +25,8 @@ static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
static constexpr uint8_t SET_CMM_START = 1; static constexpr uint8_t SET_CMM_START = 1;
static constexpr uint8_t CMM_REGISTER = 0x01; static constexpr uint8_t CMM_REGISTER = 0x01;
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | static constexpr uint8_t CMM_VALUE =
SET_CMM_DRDM | SET_CMM_START; SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
/* Cycle count register */ /* Cycle count register */
@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
// Default value (200) // Default value (200)
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8; static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
100 * 38;
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04; static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
@ -67,66 +67,58 @@ static constexpr DeviceCommandId_t READ_TMRC = 4;
static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5; static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6; static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> { class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
public: public:
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) { CycleCountCommand(bool oneCycleCount = true) : oneCycleCount(oneCycleCount) {
setLinks(oneCycleCount); setLinks(oneCycleCount);
} }
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size, ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override { Endianness streamEndianness) override {
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
size, streamEndianness); if (oneCycleCount) {
if(oneCycleCount) { cycleCountY = cycleCountX;
cycleCountY = cycleCountX; cycleCountZ = cycleCountX;
cycleCountZ = cycleCountX; }
} return result;
return result; }
}
SerializeElement<uint16_t> cycleCountX; SerializeElement<uint16_t> cycleCountX;
SerializeElement<uint16_t> cycleCountY; SerializeElement<uint16_t> cycleCountY;
SerializeElement<uint16_t> cycleCountZ; SerializeElement<uint16_t> cycleCountZ;
private: private:
void setLinks(bool oneCycleCount) { void setLinks(bool oneCycleCount) {
setStart(&cycleCountX); setStart(&cycleCountX);
if(not oneCycleCount) { if (not oneCycleCount) {
cycleCountX.setNext(&cycleCountY); cycleCountX.setNext(&cycleCountY);
cycleCountY.setNext(&cycleCountZ); cycleCountY.setNext(&cycleCountZ);
} }
} }
bool oneCycleCount; bool oneCycleCount;
}; };
static constexpr uint32_t MGM_DATASET_ID = READ_DATA; static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
enum MgmPoolIds: lp_id_t { enum MgmPoolIds : lp_id_t {
FIELD_STRENGTH_X, FIELD_STRENGTH_X,
FIELD_STRENGTH_Y, FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z, FIELD_STRENGTH_Z,
}; };
class Rm3100PrimaryDataset: public StaticLocalDataSet<3> { class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
public: public:
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner): Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
Rm3100PrimaryDataset(object_id_t mgmId): Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
// Field strengths in micro Tesla. // Field strengths in micro Tesla.
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
FIELD_STRENGTH_X, this); lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
}; };
} } // namespace RM3100
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

13
hal/src/fsfw_hal/linux/CMakeLists.txt
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@ -4,10 +4,15 @@ endif()
target_sources(${LIB_FSFW_NAME} PRIVATE target_sources(${LIB_FSFW_NAME} PRIVATE
UnixFileGuard.cpp UnixFileGuard.cpp
CommandExecutor.cpp
utility.cpp utility.cpp
) )
add_subdirectory(gpio) if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
add_subdirectory(spi) add_subdirectory(gpio)
add_subdirectory(i2c) add_subdirectory(spi)
add_subdirectory(uart) add_subdirectory(i2c)
add_subdirectory(uart)
endif()
add_subdirectory(uio)

207
hal/src/fsfw_hal/linux/CommandExecutor.cpp Normal file
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@ -0,0 +1,207 @@
#include "CommandExecutor.h"
#include <unistd.h>
#include <cstring>
#include "fsfw/container/DynamicFIFO.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/serviceinterface.h"
CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
waiter.events = POLLIN;
}
ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmd = command;
this->blocking = blocking;
this->printOutput = printOutput;
if (state == States::IDLE) {
state = States::COMMAND_LOADED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::execute() {
if (state == States::IDLE) {
return NO_COMMAND_LOADED_OR_PENDING;
} else if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmdFile = popen(currentCmd.c_str(), "r");
if (currentCmdFile == nullptr) {
lastError = errno;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (blocking) {
ReturnValue_t result = executeBlocking();
state = States::IDLE;
return result;
} else {
currentFd = fileno(currentCmdFile);
waiter.fd = currentFd;
}
state = States::PENDING;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::close() {
if (state == States::PENDING) {
// Attempt to close process, irrespective of if it is running or not
if (currentCmdFile != nullptr) {
pclose(currentCmdFile);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::printLastError(std::string funcName) const {
if (lastError != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << funcName << " pclose failed with code " << lastError << ": "
<< strerror(lastError) << std::endl;
#else
sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
strerror(lastError));
#endif
}
}
void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
DynamicFIFO<uint16_t>* sizesFifo) {
this->ringBuffer = ringBuffer;
this->sizesFifo = sizesFifo;
}
ReturnValue_t CommandExecutor::check(bool& replyReceived) {
if (blocking) {
return HasReturnvaluesIF::RETURN_OK;
}
switch (state) {
case (States::IDLE):
case (States::COMMAND_LOADED): {
return NO_COMMAND_LOADED_OR_PENDING;
}
case (States::PENDING): {
break;
}
}
int result = poll(&waiter, 1, 0);
switch (result) {
case (0): {
return HasReturnvaluesIF::RETURN_OK;
break;
}
case (1): {
if (waiter.revents & POLLIN) {
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
if (readBytes == 0) {
// Should not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: No bytes read "
"after poll event.."
<< std::endl;
#else
sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
#endif
break;
} else if (readBytes > 0) {
replyReceived = true;
if (printOutput) {
// It is assumed the command output is line terminated
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << readVec.data();
#else
sif::printInfo("%s | %s", currentCmd, readVec.data());
#endif
}
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(readBytes);
}
}
} else {
// Should also not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
<< std::endl;
#else
sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
#endif
}
}
if (waiter.revents & POLLERR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
#else
sif::printWarning("CommandExecuter::check: Poll error\n");
#endif
return COMMAND_ERROR;
}
if (waiter.revents & POLLHUP) {
result = pclose(currentCmdFile);
ReturnValue_t retval = EXECUTION_FINISHED;
if (result != 0) {
lastError = result;
retval = HasReturnvaluesIF::RETURN_FAILED;
}
state = States::IDLE;
currentCmdFile = nullptr;
currentFd = 0;
return retval;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::reset() {
CommandExecutor::close();
currentCmdFile = nullptr;
currentFd = 0;
state = States::IDLE;
}
int CommandExecutor::getLastError() const {
// See:
// https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
return WEXITSTATUS(this->lastError);
}
CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
ReturnValue_t CommandExecutor::executeBlocking() {
while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
std::string output(readVec.data());
if (printOutput) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << output;
#else
sif::printInfo("%s | %s", currentCmd, output);
#endif
}
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(output.size());
}
}
}
int result = pclose(currentCmdFile);
if (result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

129
hal/src/fsfw_hal/linux/CommandExecutor.h Normal file
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@ -0,0 +1,129 @@
#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#include <poll.h>
#include <string>
#include <vector>
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class SimpleRingBuffer;
template <typename T>
class DynamicFIFO;
/**
* @brief Helper class to execute shell commands in blocking and non-blocking mode
* @details
* This class is able to execute processes by using the Linux popen call. It also has the
* capability of writing the read output of a process into a provided ring buffer.
*
* The executor works by first loading the command which should be executed and specifying
* whether it should be executed blocking or non-blocking. After that, execution can be started
* with the execute command. In blocking mode, the execute command will block until the command
* has finished
*/
class CommandExecutor {
public:
enum class States { IDLE, COMMAND_LOADED, PENDING };
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
//! [EXPORT] : [COMMENT] Execution of the current command has finished
static constexpr ReturnValue_t EXECUTION_FINISHED =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
//! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
//! to load another command but a command is still pending
static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
//! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
//! [EXPORT] : [COMMENT] Command execution failed
static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
//! [EXPORT] : [COMMENT]
static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
/**
* Constructor. Is initialized with maximum size of internal buffer to read data from the
* executed process.
* @param maxSize
*/
CommandExecutor(const size_t maxSize);
/**
* Load a new command which should be executed
* @param command
* @param blocking
* @param printOutput
* @return
*/
ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
/**
* Execute the loaded command.
* @return
* - In blocking mode, it will return RETURN_FAILED if
* the result of the system call was not 0. The error value can be accessed using
* getLastError
* - In non-blocking mode, this call will start
* the execution and then return RETURN_OK
*/
ReturnValue_t execute();
/**
* Only used in non-blocking mode. Checks the currently running command.
* @param bytesRead Will be set to the number of bytes read, if bytes have been read
* @return
* - BYTES_READ if bytes have been read from the executing process. It is recommended to call
* check again after this
* - RETURN_OK execution is pending, but no bytes have been read from the executing process
* - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
* - EXECUTION_FINISHED if the process was executed successfully
* - NO_COMMAND_LOADED_OR_PENDING self-explanatory
* - COMMAND_ERROR internal poll error
*/
ReturnValue_t check(bool& replyReceived);
/**
* Abort the current command. Should normally not be necessary, check can be used to find
* out whether command execution was successful
* @return RETURN_OK
*/
ReturnValue_t close();
States getCurrentState() const;
int getLastError() const;
void printLastError(std::string funcName) const;
/**
* Assign a ring buffer and a FIFO which will be filled by the executor with the output
* read from the started process
* @param ringBuffer
* @param sizesFifo
*/
void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
/**
* Reset the executor. This calls close internally and then reset the state machine so new
* commands can be loaded and executed
*/
void reset();
private:
std::string currentCmd;
bool blocking = true;
FILE* currentCmdFile = nullptr;
int currentFd = 0;
bool printOutput = true;
std::vector<char> readVec;
struct pollfd waiter {};
SimpleRingBuffer* ringBuffer = nullptr;
DynamicFIFO<uint16_t>* sizesFifo = nullptr;
States state = States::IDLE;
int lastError = 0;
ReturnValue_t executeBlocking();
};
#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

41
hal/src/fsfw_hal/linux/UnixFileGuard.cpp
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@ -1,37 +1,36 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h" #include "fsfw_hal/linux/UnixFileGuard.h"
#include <cerrno> #include <cerrno>
#include <cstring> #include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags, UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix): std::string diagnosticPrefix)
fileDescriptor(fileDescriptor) { : fileDescriptor(fileDescriptor) {
if(fileDescriptor == nullptr) { if (fileDescriptor == nullptr) {
return; return;
} }
*fileDescriptor = open(device.c_str(), flags); *fileDescriptor = open(device.c_str(), flags);
if (*fileDescriptor < 0) { if (*fileDescriptor < 0) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << diagnosticPrefix << ": Opening device failed with error code " << sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
errno << ": " << strerror(errno) << std::endl; << strerror(errno) << std::endl;
#else #else
sif::printWarning("%s: Opening device failed with error code %d: %s\n", sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
diagnosticPrefix, errno, strerror(errno)); strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
openStatus = OPEN_FILE_FAILED; openStatus = OPEN_FILE_FAILED;
} }
} }
UnixFileGuard::~UnixFileGuard() { UnixFileGuard::~UnixFileGuard() {
if(fileDescriptor != nullptr) { if (fileDescriptor != nullptr) {
close(*fileDescriptor); close(*fileDescriptor);
} }
} }
ReturnValue_t UnixFileGuard::getOpenResult() const { ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
return openStatus;
}

33
hal/src/fsfw_hal/linux/UnixFileGuard.h
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@ -1,33 +1,30 @@
#ifndef LINUX_UTILITY_UNIXFILEGUARD_H_ #ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
#define LINUX_UTILITY_UNIXFILEGUARD_H_ #define LINUX_UTILITY_UNIXFILEGUARD_H_
#include <fcntl.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <unistd.h>
#include <string> #include <string>
#include <fcntl.h>
#include <unistd.h>
class UnixFileGuard { class UnixFileGuard {
public: public:
static constexpr int READ_WRITE_FLAG = O_RDWR; static constexpr int READ_WRITE_FLAG = O_RDWR;
static constexpr int READ_ONLY_FLAG = O_RDONLY; static constexpr int READ_ONLY_FLAG = O_RDONLY;
static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK; static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1; static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
UnixFileGuard(std::string device, int* fileDescriptor, int flags, UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix = ""); std::string diagnosticPrefix = "");
virtual~ UnixFileGuard(); virtual ~UnixFileGuard();
ReturnValue_t getOpenResult() const; ReturnValue_t getOpenResult() const;
private:
int* fileDescriptor = nullptr; private:
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK; int* fileDescriptor = nullptr;
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
}; };
#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */ #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

20
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
View File

@ -1,12 +1,16 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
LinuxLibgpioIF.cpp
)
# This abstraction layer requires the gpiod library. You can install this library # This abstraction layer requires the gpiod library. You can install this library
# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
# to install the package before syncing the sysroot to your host computer. # to install the package before syncing the sysroot to your host computer.
find_library(LIB_GPIO gpiod REQUIRED) find_library(LIB_GPIO gpiod)
if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
message(STATUS "gpiod library not found, not linking against it")
else()
target_sources(${LIB_FSFW_NAME} PRIVATE
LinuxLibgpioIF.cpp
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${LIB_GPIO}
)
endif()
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${LIB_GPIO}
)

666
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -1,442 +1,446 @@
#include "LinuxLibgpioIF.h" #include "LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h" #include <gpiod.h>
#include "fsfw_hal/common/gpio/GpioCookie.h" #include <unistd.h>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <utility> #include <utility>
#include <unistd.h>
#include <gpiod.h>
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) { #include "fsfw/serviceinterface/ServiceInterface.h"
} #include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
LinuxLibgpioIF::~LinuxLibgpioIF() { LinuxLibgpioIF::~LinuxLibgpioIF() {
for(auto& config: gpioMap) { for (auto& config : gpioMap) {
delete(config.second); delete (config.second);
} }
} }
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) { ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result; ReturnValue_t result;
if(gpioCookie == nullptr) { if (gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl; sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
GpioMap mapToAdd = gpioCookie->getGpioMap(); GpioMap mapToAdd = gpioCookie->getGpioMap();
/* Check whether this ID already exists in the map and remove duplicates */ /* Check whether this ID already exists in the map and remove duplicates */
result = checkForConflicts(mapToAdd); result = checkForConflicts(mapToAdd);
if (result != RETURN_OK){ if (result != RETURN_OK) {
return result; return result;
} }
result = configureGpios(mapToAdd); result = configureGpios(mapToAdd);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return RETURN_FAILED; return RETURN_FAILED;
} }
/* Register new GPIOs in gpioMap */ /* Register new GPIOs in gpioMap */
gpioMap.insert(mapToAdd.begin(), mapToAdd.end()); gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) { for (auto& gpioConfig : mapToAdd) {
auto& gpioType = gpioConfig.second->gpioType; auto& gpioType = gpioConfig.second->gpioType;
switch(gpioType) { switch (gpioType) {
case(gpio::GpioTypes::NONE): { case (gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
}
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): { configureGpioByChip(gpioConfig.first, *regularGpio);
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second); break;
if(regularGpio == nullptr) { }
return GPIO_INVALID_INSTANCE; case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
} auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
configureGpioByChip(gpioConfig.first, *regularGpio); if (regularGpio == nullptr) {
break; return GPIO_INVALID_INSTANCE;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{ configureGpioByLabel(gpioConfig.first, *regularGpio);
auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second); break;
if(regularGpio == nullptr) { }
return GPIO_INVALID_INSTANCE; case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
} auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
configureGpioByLabel(gpioConfig.first, *regularGpio); if (regularGpio == nullptr) {
break; return GPIO_INVALID_INSTANCE;
}
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
gpioCallback->initValue, gpioCallback->callbackArgs);
} }
configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case (gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
gpioCallback->initValue, gpioCallback->callbackArgs);
}
} }
return RETURN_OK; }
return RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
GpiodRegularByLabel &gpioByLabel) { GpiodRegularByLabel& gpioByLabel) {
std::string& label = gpioByLabel.label; std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str()); struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) { if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio " sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl; << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
}
} std::string failOutput = "label: " + label;
std::string failOutput = "label: " + label; return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
} }
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
GpiodRegularByChip &gpioByChip) { std::string& chipname = gpioByChip.chipname;
std::string& chipname = gpioByChip.chipname; struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str()); if (chip == nullptr) {
if (chip == nullptr) { sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << ". Gpio ID: " << gpioId << std::endl;
<< chipname << ". Gpio ID: " << gpioId << std::endl; return RETURN_FAILED;
return RETURN_FAILED; }
} std::string failOutput = "chipname: " + chipname;
std::string failOutput = "chipname: " + chipname; return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
} }
ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
GpiodRegularByLineName &gpioByLineName) { GpiodRegularByLineName& gpioByLineName) {
std::string& lineName = gpioByLineName.lineName; std::string& lineName = gpioByLineName.lineName;
char chipname[MAX_CHIPNAME_LENGTH]; char chipname[MAX_CHIPNAME_LENGTH];
unsigned int lineOffset; unsigned int lineOffset;
int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, int result =
&lineOffset); gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
if (result != LINE_FOUND) { if (result != LINE_FOUND) {
parseFindeLineResult(result, lineName); parseFindeLineResult(result, lineName);
return RETURN_FAILED; return RETURN_FAILED;
} }
gpioByLineName.lineNum = static_cast<int>(lineOffset); gpioByLineName.lineNum = static_cast<int>(lineOffset);
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname); struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
if (chip == nullptr) { if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
<< chipname << ". <Gpio ID: " << gpioId << std::endl; << ". <Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
std::string failOutput = "line name: " + lineName; std::string failOutput = "line name: " + lineName;
return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput); return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
} }
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip, ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput) { GpiodRegularBase& regularGpio,
unsigned int lineNum; std::string failOutput) {
gpio::Direction direction; unsigned int lineNum;
std::string consumer; gpio::Direction direction;
struct gpiod_line *lineHandle; std::string consumer;
int result = 0; struct gpiod_line* lineHandle;
int result = 0;
lineNum = regularGpio.lineNum; lineNum = regularGpio.lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum); lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) { if (!lineHandle) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl; sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
", " << failOutput << std::endl; << std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl; sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
gpiod_chip_close(chip); gpiod_chip_close(chip);
return RETURN_FAILED; return RETURN_FAILED;
} }
direction = regularGpio.direction; direction = regularGpio.direction;
consumer = regularGpio.consumer; consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */ /* Configure direction and add a description to the GPIO */
switch (direction) { switch (direction) {
case(gpio::OUT): { case (gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
regularGpio.initValue); break;
break;
} }
case(gpio::IN): { case (gpio::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str()); result = gpiod_line_request_input(lineHandle, consumer.c_str());
break; break;
} }
default: { default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
<< std::endl; return GPIO_INVALID_INSTANCE;
return GPIO_INVALID_INSTANCE;
} }
if (result < 0) { if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
lineNum << " from GPIO instance with ID: " << gpioId << std::endl; << " from GPIO instance with ID: " << gpioId << std::endl;
#else #else
sif::printError("LinuxLibgpioIF::configureRegularGpio: " sif::printError(
"Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId); "LinuxLibgpioIF::configureRegularGpio: "
"Failed to request line %d from GPIO instance with ID: %d\n",
lineNum, gpioId);
#endif #endif
gpiod_line_release(lineHandle); gpiod_line_release(lineHandle);
return RETURN_FAILED; return RETURN_FAILED;
} }
}
} /**
/** * Write line handle to GPIO configuration instance so it can later be used to set or
* Write line handle to GPIO configuration instance so it can later be used to set or * read states of GPIOs.
* read states of GPIOs. */
*/ regularGpio.lineHandle = lineHandle;
regularGpio.lineHandle = lineHandle; return RETURN_OK;
return RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) { ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId); gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) { if (gpioMapIter == gpioMap.end()) {
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
auto gpioType = gpioMapIter->second->gpioType; auto gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
} }
else { return driveGpio(gpioId, *regularGpio, gpio::HIGH);
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); } else {
if(gpioCallback->callback == nullptr) { auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
return GPIO_INVALID_INSTANCE; if (gpioCallback->callback == nullptr) {
} return GPIO_INVALID_INSTANCE;
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
gpio::Levels::HIGH, gpioCallback->callbackArgs);
return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
gpioCallback->callbackArgs);
return RETURN_OK;
}
return GPIO_TYPE_FAILURE;
} }
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) { ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
gpioMapIter = gpioMap.find(gpioId); gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()) { if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId); sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
#endif #endif
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
auto& gpioType = gpioMapIter->second->gpioType; auto& gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::LOW);
} }
else { return driveGpio(gpioId, *regularGpio, gpio::LOW);
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); } else {
if(gpioCallback->callback == nullptr) { auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
return GPIO_INVALID_INSTANCE; if (gpioCallback->callback == nullptr) {
} return GPIO_INVALID_INSTANCE;
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
gpio::Levels::LOW, gpioCallback->callbackArgs);
return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
gpioCallback->callbackArgs);
return RETURN_OK;
}
return GPIO_TYPE_FAILURE;
} }
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) { gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel); int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
if (result < 0) { if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId << sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
" to logic level " << logicLevel << std::endl; << " to logic level " << logicLevel << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to " sif::printWarning(
"logic level %d\n", gpioId, logicLevel); "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
"logic level %d\n",
gpioId, logicLevel);
#endif #endif
return DRIVE_GPIO_FAILURE; return DRIVE_GPIO_FAILURE;
} }
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) { ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
gpioMapIter = gpioMap.find(gpioId); gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()){ if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl; sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId); sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
#endif #endif
return UNKNOWN_GPIO_ID; return UNKNOWN_GPIO_ID;
} }
auto gpioType = gpioMapIter->second->gpioType; auto gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) { gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} }
else { *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); } else {
if(gpioCallback->callback == nullptr) { auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
return GPIO_INVALID_INSTANCE; if (gpioCallback->callback == nullptr) {
} return GPIO_INVALID_INSTANCE;
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
gpio::Levels::NONE, gpioCallback->callbackArgs);
return RETURN_OK;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
}
return RETURN_OK;
} }
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK; ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) { for (auto& gpioConfig : mapToAdd) {
switch(gpioConfig.second->gpioType) { switch (gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
}
// Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
} }
case(gpio::GpioTypes::CALLBACK): { // Check for conflicts and remove duplicates if necessary
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second); result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if(callbackGpio == nullptr) { if (result != HasReturnvaluesIF::RETURN_OK) {
return GPIO_TYPE_FAILURE; status = result;
}
// Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first,
gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
} }
default: { break;
}
case (gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
// Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
<< std::endl;
#else #else
sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first); sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
#endif #endif
status = GPIO_TYPE_FAILURE; status = GPIO_TYPE_FAILURE;
} }
}
} }
return status; }
return status;
} }
ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
gpio::GpioTypes expectedType, GpioMap& mapToAdd) { gpio::GpioTypes expectedType,
// Cross check with private map GpioMap& mapToAdd) {
gpioMapIter = gpioMap.find(gpioIdToCheck); // Cross check with private map
if(gpioMapIter != gpioMap.end()) { gpioMapIter = gpioMap.find(gpioIdToCheck);
auto& gpioType = gpioMapIter->second->gpioType; if (gpioMapIter != gpioMap.end()) {
bool eraseDuplicateDifferentType = false; auto& gpioType = gpioMapIter->second->gpioType;
switch(expectedType) { bool eraseDuplicateDifferentType = false;
case(gpio::GpioTypes::NONE): { switch (expectedType) {
break; case (gpio::GpioTypes::NONE): {
break;
}
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) {
eraseDuplicateDifferentType = true;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): break;
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): }
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { case (gpio::GpioTypes::CALLBACK): {
if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) { if (gpioType != gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true; eraseDuplicateDifferentType = true;
}
break;
} }
case(gpio::GpioTypes::CALLBACK): { }
if(gpioType != gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true;
}
}
}
if(eraseDuplicateDifferentType) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type " << gpioIdToCheck <<
". Removing duplicate from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
}
// Remove element from map to add because a entry for this GPIO already exists
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
"definition with ID " << gpioIdToCheck << " detected. " <<
"Duplicate will be removed from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
} }
return HasReturnvaluesIF::RETURN_OK; if (eraseDuplicateDifferentType) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type "
<< gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
#else
sif::printWarning(
"LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n",
gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
}
// Remove element from map to add because a entry for this GPIO already exists
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
"definition with ID "
<< gpioIdToCheck << " detected. "
<< "Duplicate will be removed from map to add" << std::endl;
#else
sif::printWarning(
"LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n",
gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
}
return HasReturnvaluesIF::RETURN_OK;
} }
void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) { void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
switch (result) { switch (result) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
case LINE_NOT_EXISTS: case LINE_NOT_EXISTS:
case LINE_ERROR: { case LINE_ERROR: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName << sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
" does not exist" << std::endl; << " does not exist" << std::endl;
break; break;
} }
default: { default: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line " sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name " << lineName << std::endl; "with name "
break; << lineName << std::endl;
break;
} }
#else #else
case LINE_NOT_EXISTS: case LINE_NOT_EXISTS:
case LINE_ERROR: { case LINE_ERROR: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s " sif::printWarning(
"does not exist\n", lineName); "LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
break; "does not exist\n",
lineName);
break;
} }
default: { default: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line " sif::printWarning(
"with name %s\n", lineName); "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
break; "with name %s\n",
lineName);
break;
} }
#endif #endif
} }
} }

115
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -1,9 +1,9 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_ #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_ #define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/FwClassIds.h" #include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h" #include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw/objectmanager/SystemObject.h"
class GpioCookie; class GpioCookie;
class GpiodRegularIF; class GpiodRegularIF;
@ -16,76 +16,71 @@ class GpiodRegularIF;
* The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1. * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
*/ */
class LinuxLibgpioIF : public GpioIF, public SystemObject { class LinuxLibgpioIF : public GpioIF, public SystemObject {
public: public:
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO; static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
static constexpr ReturnValue_t UNKNOWN_GPIO_ID = LinuxLibgpioIF(object_id_t objectId);
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1); virtual ~LinuxLibgpioIF();
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
LinuxLibgpioIF(object_id_t objectId); ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
virtual ~LinuxLibgpioIF(); ReturnValue_t pullHigh(gpioId_t gpioId) override;
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
ReturnValue_t addGpios(GpioCookie* gpioCookie) override; private:
ReturnValue_t pullHigh(gpioId_t gpioId) override; static const size_t MAX_CHIPNAME_LENGTH = 11;
ReturnValue_t pullLow(gpioId_t gpioId) override; static const int LINE_NOT_EXISTS = 0;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; static const int LINE_ERROR = -1;
static const int LINE_FOUND = 1;
private: // Holds the information and configuration of all used GPIOs
GpioUnorderedMap gpioMap;
GpioUnorderedMapIter gpioMapIter;
static const size_t MAX_CHIPNAME_LENGTH = 11; /**
static const int LINE_NOT_EXISTS = 0; * @brief This functions drives line of a GPIO specified by the GPIO ID.
static const int LINE_ERROR = -1; *
static const int LINE_FOUND = 1; * @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, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
// Holds the information and configuration of all used GPIOs ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
GpioUnorderedMap gpioMap; ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
GpioUnorderedMapIter gpioMapIter; ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput);
/** /**
* @brief This functions drives line of a GPIO specified by the GPIO ID. * @brief This function checks if GPIOs are already registered and whether
* * there exists a conflict in the GPIO configuration. E.g. the
* @param gpioId The GPIO ID of the GPIO to drive. * direction.
* @param logiclevel The logic level to set. O or 1. *
*/ * @param mapToAdd The GPIOs which shall be added to the gpioMap.
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, *
gpio::Levels logicLevel); * @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel); ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
GpiodRegularByLineName &gpioByLineName);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput);
/** /**
* @brief This function checks if GPIOs are already registered and whether * @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
* there exists a conflict in the GPIO configuration. E.g. the */
* direction. ReturnValue_t configureGpios(GpioMap& mapToAdd);
*
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, void parseFindeLineResult(int result, std::string& lineName);
GpioMap& mapToAdd);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
*/
ReturnValue_t configureGpios(GpioMap& mapToAdd);
void parseFindeLineResult(int result, std::string& lineName);
}; };
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */ #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

370
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
View File

@ -1,205 +1,223 @@
#include "fsfw_hal/linux/i2c/I2cComIF.h" #include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <errno.h> #include <errno.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <cstring> #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(object_id_t objectId) : SystemObject(objectId) {}
}
I2cComIF::~I2cComIF() {} I2cComIF::~I2cComIF() {}
ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) { ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
address_t i2cAddress;
std::string deviceFile;
address_t i2cAddress; if (cookie == nullptr) {
std::string deviceFile; #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
if(cookie == nullptr) {
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
return NULLPOINTER;
}
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) {
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
return NULLPOINTER;
}
i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if(i2cDeviceMapIter == i2cDeviceMap.end()) {
size_t maxReplyLen = i2cCookie->getMaxReplyLen();
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
if (not statusPair.second) {
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
i2cAddress << "to I2C device " << "map" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
"already in use" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
ReturnValue_t result;
int fd;
std::string deviceFile;
if(sendData == nullptr) {
sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(sendLen == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) {
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
if (write(fd, sendData, sendLen) != (int)sendLen) {
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code " << errno << ". Error description: "
<< strerror(errno) << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
ReturnValue_t result;
int fd;
std::string deviceFile;
if (requestLen == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) {
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
i2cDeviceMapIter->second.replyLen = 0;
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl;
i2cDeviceMapIter->second.replyLen = 0;
return HasReturnvaluesIF::RETURN_FAILED;
}
deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){
i2cDeviceMapIter->second.replyLen = 0;
return result;
}
uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
int readLen = read(fd, replyBuffer, requestLen);
if (readLen != static_cast<int>(requestLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno <<". Description"
<< " of error: " << strerror(errno) << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
<< requestLen << " bytes" << std::endl;
#endif #endif
i2cDeviceMapIter->second.replyLen = 0; return NULLPOINTER;
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen << " bytes" << std::endl; }
return HasReturnvaluesIF::RETURN_FAILED; I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
} if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
#endif
return NULLPOINTER;
}
i2cDeviceMapIter->second.replyLen = requestLen; i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
size_t maxReplyLen = i2cCookie->getMaxReplyLen();
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
if (not statusPair.second) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
<< i2cAddress << "to I2C device "
<< "map" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
<< "already in use" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie, ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
uint8_t **buffer, size_t* size) { ReturnValue_t result;
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); int fd;
if(i2cCookie == nullptr) { std::string deviceFile;
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress(); if (sendData == nullptr) {
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); #if FSFW_CPP_OSTREAM_ENABLED == 1
if (i2cDeviceMapIter == i2cDeviceMap.end()) { sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not " #endif
<< "found in i2cDeviceMap" << std::endl; return HasReturnvaluesIF::RETURN_FAILED;
return HasReturnvaluesIF::RETURN_FAILED; }
}
*buffer = i2cDeviceMapIter->second.replyBuffer.data();
*size = i2cDeviceMapIter->second.replyLen;
if (sendLen == 0) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
}
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code "
<< errno << ". Error description: " << strerror(errno) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t I2cComIF::openDevice(std::string deviceFile, ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
address_t i2cAddress, int* fileDescriptor) {
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) { ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
ReturnValue_t result;
int fd;
std::string deviceFile;
if (requestLen == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0;
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0;
return HasReturnvaluesIF::RETURN_FAILED;
}
deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK) {
i2cDeviceMapIter->second.replyLen = 0;
return result;
}
uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
int readLen = read(fd, replyBuffer, requestLen);
if (readLen != static_cast<int>(requestLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno << ". Description"
<< " of error: " << strerror(errno) << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
<< " bytes" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
i2cDeviceMapIter->second.replyLen = requestLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
<< "found in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = i2cDeviceMapIter->second.replyBuffer.data();
*size = i2cDeviceMapIter->second.replyLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
int* fileDescriptor) {
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "." sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
<< std::endl; << std::endl;
sif::warning << "Error description " << strerror(errno) << std::endl; sif::warning << "Error description " << strerror(errno) << std::endl;
#else #else
sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n"); sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
sif::printWarning("Error description: %s\n", strerror(errno)); sif::printWarning("Error description: %s\n", strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

68
hal/src/fsfw_hal/linux/i2c/I2cComIF.h
View File

@ -1,13 +1,14 @@
#ifndef LINUX_I2C_I2COMIF_H_ #ifndef LINUX_I2C_I2COMIF_H_
#define LINUX_I2C_I2COMIF_H_ #define LINUX_I2C_I2COMIF_H_
#include "I2cCookie.h"
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map> #include <unordered_map>
#include <vector> #include <vector>
#include "I2cCookie.h"
/** /**
* @brief This is the communication interface for I2C devices connected * @brief This is the communication interface for I2C devices connected
* to a system running a Linux OS. * to a system running a Linux OS.
@ -16,46 +17,41 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class I2cComIF: public DeviceCommunicationIF, public SystemObject { class I2cComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
I2cComIF(object_id_t objectId); I2cComIF(object_id_t objectId);
virtual ~I2cComIF(); virtual ~I2cComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override; ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
size_t sendLen) override; ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override; ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private: private:
struct I2cInstance {
std::vector<uint8_t> replyBuffer;
size_t replyLen;
};
struct I2cInstance { using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
std::vector<uint8_t> replyBuffer; using I2cDeviceMapIter = I2cDeviceMap::iterator;
size_t replyLen;
};
using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>; /* In this map all i2c devices will be registered with their address and
using I2cDeviceMapIter = I2cDeviceMap::iterator; * the appropriate file descriptor will be stored */
I2cDeviceMap i2cDeviceMap;
I2cDeviceMapIter i2cDeviceMapIter;
/* In this map all i2c devices will be registered with their address and /**
* the appropriate file descriptor will be stored */ * @brief This function opens an I2C device and binds the opened file
I2cDeviceMap i2cDeviceMap; * to a specific I2C address.
I2cDeviceMapIter i2cDeviceMapIter; * @param deviceFile The name of the device file. E.g. i2c-0
* @param i2cAddress The address of the i2c slave device.
/** * @param fileDescriptor Pointer to device descriptor.
* @brief This function opens an I2C device and binds the opened file * @return RETURN_OK if successful, otherwise RETURN_FAILED.
* to a specific I2C address. */
* @param deviceFile The name of the device file. E.g. i2c-0 ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
* @param i2cAddress The address of the i2c slave device.
* @param fileDescriptor Pointer to device descriptor.
* @return RETURN_OK if successful, otherwise RETURN_FAILED.
*/
ReturnValue_t openDevice(std::string deviceFile,
address_t i2cAddress, int* fileDescriptor);
}; };
#endif /* LINUX_I2C_I2COMIF_H_ */ #endif /* LINUX_I2C_I2COMIF_H_ */

18
hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
View File

@ -1,20 +1,12 @@
#include "fsfw_hal/linux/i2c/I2cCookie.h" #include "fsfw_hal/linux/i2c/I2cCookie.h"
I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
std::string deviceFile_) : : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
}
address_t I2cCookie::getAddress() const { address_t I2cCookie::getAddress() const { return i2cAddress; }
return i2cAddress;
}
size_t I2cCookie::getMaxReplyLen() const { size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
return maxReplyLen;
}
std::string I2cCookie::getDeviceFile() const { std::string I2cCookie::getDeviceFile() const { return deviceFile; }
return deviceFile;
}
I2cCookie::~I2cCookie() {} I2cCookie::~I2cCookie() {}

40
hal/src/fsfw_hal/linux/i2c/I2cCookie.h
View File

@ -2,6 +2,7 @@
#define LINUX_I2C_I2CCOOKIE_H_ #define LINUX_I2C_I2CCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <string> #include <string>
/** /**
@ -9,30 +10,27 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class I2cCookie: public CookieIF { class I2cCookie : public CookieIF {
public: public:
/**
* @brief Constructor for the I2C cookie.
* @param i2cAddress_ The i2c address of the target device.
* @param maxReplyLen_ The maximum expected length of a reply from the
* target device.
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
*/
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
/** virtual ~I2cCookie();
* @brief Constructor for the I2C cookie.
* @param i2cAddress_ The i2c address of the target device.
* @param maxReplyLen_ The maximum expected length of a reply from the
* target device.
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
*/
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
std::string deviceFile_);
virtual ~I2cCookie(); address_t getAddress() const;
size_t getMaxReplyLen() const;
std::string getDeviceFile() const;
address_t getAddress() const; private:
size_t getMaxReplyLen() const; address_t i2cAddress = 0;
std::string getDeviceFile() const; size_t maxReplyLen = 0;
std::string deviceFile;
private:
address_t i2cAddress = 0;
size_t maxReplyLen = 0;
std::string deviceFile;
}; };
#endif /* LINUX_I2C_I2CCOOKIE_H_ */ #endif /* LINUX_I2C_I2CCOOKIE_H_ */

46
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -1,38 +1,38 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h" #include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include "fsfw/FSFW.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue) { std::string consumer, gpio::Direction direction,
if(cookie == nullptr) { int initValue) {
return HasReturnvaluesIF::RETURN_FAILED; if (cookie == nullptr) {
} return HasReturnvaluesIF::RETURN_FAILED;
}
auto config = new GpiodRegularByChip(); auto config = new GpiodRegularByChip();
/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
will not need this */ will not need this */
config->chipname = "gpiochip0"; config->chipname = "gpiochip0";
config->consumer = consumer; config->consumer = consumer;
config->direction = direction; config->direction = direction;
config->initValue = initValue; config->initValue = initValue;
/* Sanity check for the BCM pins before assigning it */ /* Sanity check for the BCM pins before assigning it */
if(bcmPin > 27) { if (bcmPin > 27) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl; sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
#else #else
sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin); sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
config->lineNum = bcmPin; config->lineNum = bcmPin;
cookie->addGpio(gpioId, config); cookie->addGpio(gpioId, config);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

5
hal/src/fsfw_hal/linux/rpi/GpioRPi.h
View File

@ -2,6 +2,7 @@
#define BSP_RPI_GPIO_GPIORPI_H_ #define BSP_RPI_GPIO_GPIORPI_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "../../common/gpio/gpioDefinitions.h" #include "../../common/gpio/gpioDefinitions.h"
class GpioCookie; class GpioCookie;
@ -20,7 +21,7 @@ namespace gpio {
* @return * @return
*/ */
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin, ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue); std::string consumer, gpio::Direction direction, int initValue);
} } // namespace gpio
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */ #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

570
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -1,408 +1,404 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/spi/SpiComIF.h" #include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <linux/spi/spidev.h>
#include <fcntl.h> #include <fcntl.h>
#include <unistd.h> #include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/ipc/MutexFactory.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <unistd.h>
#include <cerrno> #include <cerrno>
#include <cstring> #include <cstring>
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): #include "fsfw/FSFW.h"
SystemObject(objectId), gpioComIF(gpioComIF) { #include "fsfw_hal/linux/UnixFileGuard.h"
if(gpioComIF == nullptr) { #include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
: SystemObject(objectId), gpioComIF(gpioComIF) {
if (gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl; sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
#else #else
sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n"); sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
} }
spiMutex = MutexFactory::instance()->createMutex(); spiMutex = MutexFactory::instance()->createMutex();
} }
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) { ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
int retval = 0; int retval = 0;
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
address_t spiAddress = spiCookie->getSpiAddress(); address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress); auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) { if (iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxBufferSize(); size_t bufferSize = spiCookie->getMaxBufferSize();
SpiInstance spiInstance(bufferSize); SpiInstance spiInstance(bufferSize);
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance); auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
if (not statusPair.second) { if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " << sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
spiAddress << "to SPI device map" << std::endl; << spiAddress << "to SPI device map" << std::endl;
#else #else
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address " sif::printError(
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress)); "SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n",
static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
/* Now we emplaced the read buffer in the map, we still need to assign that location
to the SPI driver transfer struct */
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
} }
else { /* Now we emplaced the read buffer in the map, we still need to assign that location
to the SPI driver transfer struct */
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
} else {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl; sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
#else #else
sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n"); sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
/* Pull CS high in any case to be sure that device is inactive */
gpioId_t gpioId = spiCookie->getChipSelectPin();
if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
}
uint32_t spiSpeed = 0;
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
SpiCookie::UncommonParameters params;
spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
/* These flags are rather uncommon */
if (params.threeWireSpi or params.noCs or params.csHigh) {
uint32_t currentMode = 0;
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
} }
/* Pull CS high in any case to be sure that device is inactive */ if (params.threeWireSpi) {
gpioId_t gpioId = spiCookie->getChipSelectPin(); currentMode |= SPI_3WIRE;
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
} }
if (params.noCs) {
uint32_t spiSpeed = 0; /* Some drivers like the Raspberry Pi ignore this flag in any case */
spi::SpiModes spiMode = spi::SpiModes::MODE_0; currentMode |= SPI_NO_CS;
SpiCookie::UncommonParameters params;
spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
} }
if (params.csHigh) {
/* These flags are rather uncommon */ currentMode |= SPI_CS_HIGH;
if(params.threeWireSpi or params.noCs or params.csHigh) {
uint32_t currentMode = 0;
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
if(retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
}
if(params.threeWireSpi) {
currentMode |= SPI_3WIRE;
}
if(params.noCs) {
/* Some drivers like the Raspberry Pi ignore this flag in any case */
currentMode |= SPI_NO_CS;
}
if(params.csHigh) {
currentMode |= SPI_CS_HIGH;
}
/* Write adapted mode */
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
if(retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
}
} }
if(params.lsbFirst) { /* Write adapted mode */
retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst); retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed"); utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
}
} }
if(params.bitsPerWord != 8) { }
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord); if (params.lsbFirst) {
if(retval != 0) { retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
utility::handleIoctlError("SpiComIF::initializeInterface: " if (retval != 0) {
"Could not write bits per word!"); utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
}
} }
return HasReturnvaluesIF::RETURN_OK; }
if (params.bitsPerWord != 8) {
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
if (retval != 0) {
utility::handleIoctlError(
"SpiComIF::initializeInterface: "
"Could not write bits per word!");
}
}
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) { ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
if(sendLen > spiCookie->getMaxBufferSize()) { if (sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen << sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
"larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl; << "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
<< std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger " sif::printWarning(
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen), "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
static_cast<unsigned long>(spiCookie->getMaxBufferSize())); "than maximum buffer length %lu!\n",
static_cast<unsigned long>(sendLen),
static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DeviceCommunicationIF::TOO_MUCH_DATA; return DeviceCommunicationIF::TOO_MUCH_DATA;
} }
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) { if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
result = performRegularSendOperation(spiCookie, sendData, sendLen); result = performRegularSendOperation(spiCookie, sendData, sendLen);
} else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs);
if (sendFunc != nullptr) {
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
} }
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) { }
spi::send_callback_function_t sendFunc = nullptr; return result;
void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) {
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
}
}
return result;
} }
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData, ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
size_t sendLen) { size_t sendLen) {
address_t spiAddress = spiCookie->getSpiAddress(); address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress); auto iter = spiDeviceMap.find(spiAddress);
if(iter != spiDeviceMap.end()) { if (iter != spiDeviceMap.end()) {
spiCookie->assignReadBuffer(iter->second.replyBuffer.data()); spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
} }
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int retval = 0; int retval = 0;
/* Prepare transfer */ /* Prepare transfer */
int fileDescriptor = 0; int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice(); std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED; return OPENING_FILE_FAILED;
} }
spi::SpiModes spiMode = spi::SpiModes::MODE_0; spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0; uint32_t spiSpeed = 0;
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr); spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiCookie->assignWriteBuffer(sendData); spiCookie->assignWriteBuffer(sendData);
spiCookie->setTransferSize(sendLen); spiCookie->setTransferSize(sendLen);
bool fullDuplex = spiCookie->isFullDuplex(); bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin(); gpioId_t gpioId = spiCookie->getChipSelectPin();
/* Pull SPI CS low. For now, no support for active high given */ /* Pull SPI CS low. For now, no support for active high given */
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs); result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl; sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#else #else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n"); sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
#endif #endif
#endif #endif
return result; return result;
} }
ReturnValue_t result = gpioComIF->pullLow(gpioId); ReturnValue_t result = gpioComIF->pullLow(gpioId);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl; sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed"); sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
#endif #endif
#endif #endif
return result; return result;
}
} }
}
/* Execute transfer */ /* Execute transfer */
if(fullDuplex) { if (fullDuplex) {
/* Initiate a full duplex SPI transfer. */ /* Initiate a full duplex SPI transfer. */
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle()); retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if(retval < 0) { if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error."); utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED; result = FULL_DUPLEX_TRANSFER_FAILED;
} }
#if FSFW_HAL_SPI_WIRETAPPING == 1 #if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie); performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */ #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
} } else {
else { /* We write with a blocking half-duplex transfer here */
/* We write with a blocking half-duplex transfer here */ if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n"); sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
result = HALF_DUPLEX_TRANSFER_FAILED; result = HALF_DUPLEX_TRANSFER_FAILED;
}
} }
}
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId); gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex(); result = spiMutex->unlockMutex();
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl; sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
#endif #endif
return result; return result;
}
} }
return result; }
return result;
} }
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return NULLPOINTER;
}
if (spiCookie->isFullDuplex()) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
}
return performHalfDuplexReception(spiCookie);
} }
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
return NULLPOINTER;
}
if(spiCookie->isFullDuplex()) {
return HasReturnvaluesIF::RETURN_OK;
}
return performHalfDuplexReception(spiCookie);
}
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) { ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::string device = spiCookie->getSpiDevice(); std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
"SpiComIF::requestReceiveMessage"); if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return OPENING_FILE_FAILED;
return OPENING_FILE_FAILED; }
}
uint8_t* rxBuf = nullptr; uint8_t* rxBuf = nullptr;
size_t readSize = spiCookie->getCurrentTransferSize(); size_t readSize = spiCookie->getCurrentTransferSize();
result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf); result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
gpioId_t gpioId = spiCookie->getChipSelectPin(); gpioId_t gpioId = spiCookie->getChipSelectPin();
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs); result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl; sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
#endif #endif
return result; return result;
}
gpioComIF->pullLow(gpioId);
} }
gpioComIF->pullLow(gpioId);
}
if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) { if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl; sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n"); sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
result = HALF_DUPLEX_TRANSFER_FAILED; result = HALF_DUPLEX_TRANSFER_FAILED;
} }
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId); gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex(); result = spiMutex->unlockMutex();
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl; sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
#endif #endif
return result; return result;
}
} }
}
return result; return result;
} }
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) { ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
uint8_t* rxBuf = nullptr; uint8_t* rxBuf = nullptr;
ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf); ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
*buffer = rxBuf; *buffer = rxBuf;
*size = spiCookie->getCurrentTransferSize(); *size = spiCookie->getCurrentTransferSize();
spiCookie->setTransferSize(0); spiCookie->setTransferSize(0);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) { MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
if(timeoutType != nullptr) { if (timeoutType != nullptr) {
*timeoutType = this->timeoutType; *timeoutType = this->timeoutType;
} }
if(timeoutMs != nullptr) { if (timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs; *timeoutMs = this->timeoutMs;
} }
return spiMutex; return spiMutex;
} }
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) { void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return; return;
} }
size_t dataLen = spiCookie->getTransferStructHandle()->len; size_t dataLen = spiCookie->getTransferStructHandle()->len;
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf); uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Sent SPI data: " << std::endl; sif::info << "Sent SPI data: " << std::endl;
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false); arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::info << "Received SPI data: " << std::endl; sif::info << "Received SPI data: " << std::endl;
#else #else
sif::printInfo("Sent SPI data: \n"); sif::printInfo("Sent SPI data: \n");
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false); arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::printInfo("Received SPI data: \n"); sif::printInfo("Received SPI data: \n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf); dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false); arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
} }
ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) { ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
if(buffer == nullptr) { if (buffer == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
auto iter = spiDeviceMap.find(spiAddress); auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) { if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
*buffer = iter->second.replyBuffer.data(); *buffer = iter->second.replyBuffer.data();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
GpioIF* SpiComIF::getGpioInterface() { GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
return gpioComIF;
}
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) { void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode)); int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed"); utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
} }
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed); retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
} }
} }

115
hal/src/fsfw_hal/linux/spi/SpiComIF.h
View File

@ -1,16 +1,15 @@
#ifndef LINUX_SPI_SPICOMIF_H_ #ifndef LINUX_SPI_SPICOMIF_H_
#define LINUX_SPI_SPICOMIF_H_ #define LINUX_SPI_SPICOMIF_H_
#include "fsfw/FSFW.h" #include <unordered_map>
#include "spiDefinitions.h" #include <vector>
#include "returnvalues/classIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceCommunicationIF.h" #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include <vector> #include "returnvalues/classIds.h"
#include <unordered_map> #include "spiDefinitions.h"
class SpiCookie; class SpiCookie;
@ -21,71 +20,67 @@ class SpiCookie;
* are contained in the SPI cookie. * are contained in the SPI cookie.
* @author R. Mueller * @author R. Mueller
*/ */
class SpiComIF: public DeviceCommunicationIF, public SystemObject { class SpiComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI; static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED = static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0); HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
/* Full duplex (ioctl) transfer failure */ /* Full duplex (ioctl) transfer failure */
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED = static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1); HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
/* Half duplex (read/write) transfer failure */ /* Half duplex (read/write) transfer failure */
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED = static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2); HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
SpiComIF(object_id_t objectId, GpioIF* gpioComIF); SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
ReturnValue_t initializeInterface(CookieIF * cookie) override; ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
size_t sendLen) override; ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override; ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
/** /**
* @brief This function returns the mutex which can be used to protect the spi bus when * @brief This function returns the mutex which can be used to protect the spi bus when
* the chip select must be driven from outside of the com if. * the chip select must be driven from outside of the com if.
*/ */
MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr); MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
/** /**
* Perform a regular send operation using Linux iotcl. This is public so it can be used * Perform a regular send operation using Linux iotcl. This is public so it can be used
* in functions like a user callback if special handling is only necessary for certain commands. * in functions like a user callback if special handling is only necessary for certain commands.
* @param spiCookie * @param spiCookie
* @param sendData * @param sendData
* @param sendLen * @param sendLen
* @return * @return
*/ */
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData, ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
size_t sendLen); size_t sendLen);
GpioIF* getGpioInterface(); GpioIF* getGpioInterface();
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void performSpiWiretapping(SpiCookie* spiCookie); void performSpiWiretapping(SpiCookie* spiCookie);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
private: private:
struct SpiInstance {
SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
};
struct SpiInstance { GpioIF* gpioComIF = nullptr;
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
};
GpioIF* gpioComIF = nullptr; MutexIF* spiMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
MutexIF* spiMutex = nullptr; using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; using SpiDeviceMapIter = SpiDeviceMap::iterator;
uint32_t timeoutMs = 20;
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>; SpiDeviceMap spiDeviceMap;
using SpiDeviceMapIter = SpiDeviceMap::iterator;
SpiDeviceMap spiDeviceMap; ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
}; };
#endif /* LINUX_SPI_SPICOMIF_H_ */ #endif /* LINUX_SPI_SPICOMIF_H_ */

161
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
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@ -1,144 +1,109 @@
#include "fsfw_hal/linux/spi/SpiCookie.h" #include "fsfw_hal/linux/spi/SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode, : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) { spiSpeed, nullptr, nullptr) {}
}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize, SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed): spi::SpiModes spiMode, uint32_t spiSpeed)
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) { : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void *args): spi::send_callback_function_t callback, void* args)
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiMode, spiSpeed, callback, args) { spiSpeed, callback, args) {}
}
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect, SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
spi::send_callback_function_t callback, void* args): uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev), : spiAddress(spiAddress),
comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed), chipSelectPin(chipSelect),
sendCallback(callback), callbackArgs(args) { spiDevice(spiDev),
} comIfMode(comIfMode),
maxSize(maxSize),
spiMode(spiMode),
spiSpeed(spiSpeed),
sendCallback(callback),
callbackArgs(args) {}
spi::SpiComIfModes SpiCookie::getComIfMode() const { spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
return this->comIfMode;
}
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed, void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const { UncommonParameters* parameters) const {
spiMode = this->spiMode; spiMode = this->spiMode;
spiSpeed = this->spiSpeed; spiSpeed = this->spiSpeed;
if(parameters != nullptr) { if (parameters != nullptr) {
parameters->threeWireSpi = uncommonParameters.threeWireSpi; parameters->threeWireSpi = uncommonParameters.threeWireSpi;
parameters->lsbFirst = uncommonParameters.lsbFirst; parameters->lsbFirst = uncommonParameters.lsbFirst;
parameters->noCs = uncommonParameters.noCs; parameters->noCs = uncommonParameters.noCs;
parameters->bitsPerWord = uncommonParameters.bitsPerWord; parameters->bitsPerWord = uncommonParameters.bitsPerWord;
parameters->csHigh = uncommonParameters.csHigh; parameters->csHigh = uncommonParameters.csHigh;
} }
} }
gpioId_t SpiCookie::getChipSelectPin() const { gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
return chipSelectPin;
}
size_t SpiCookie::getMaxBufferSize() const { size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
return maxSize;
}
address_t SpiCookie::getSpiAddress() const { address_t SpiCookie::getSpiAddress() const { return spiAddress; }
return spiAddress;
}
std::string SpiCookie::getSpiDevice() const { std::string SpiCookie::getSpiDevice() const { return spiDevice; }
return spiDevice;
}
void SpiCookie::setThreeWireSpi(bool enable) { void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
uncommonParameters.threeWireSpi = enable;
}
void SpiCookie::setLsbFirst(bool enable) { void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
uncommonParameters.lsbFirst = enable;
}
void SpiCookie::setNoCs(bool enable) { void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
uncommonParameters.noCs = enable;
}
void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) { void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
uncommonParameters.bitsPerWord = bitsPerWord; uncommonParameters.bitsPerWord = bitsPerWord;
} }
void SpiCookie::setCsHigh(bool enable) { void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
uncommonParameters.csHigh = enable;
}
void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) { void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
spiTransferStruct.cs_change = deselectCs; spiTransferStruct.cs_change = deselectCs;
spiTransferStruct.delay_usecs = delayUsecs; spiTransferStruct.delay_usecs = delayUsecs;
} }
void SpiCookie::assignReadBuffer(uint8_t* rx) { void SpiCookie::assignReadBuffer(uint8_t* rx) {
if(rx != nullptr) { if (rx != nullptr) {
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx); spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
} }
} }
void SpiCookie::assignWriteBuffer(const uint8_t* tx) { void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
if(tx != nullptr) { if (tx != nullptr) {
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx); spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
} }
} }
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
void *args) { this->comIfMode = spi::SpiComIfModes::CALLBACK;
this->comIfMode = spi::SpiComIfModes::CALLBACK; this->sendCallback = callback;
this->sendCallback = callback; this->callbackArgs = args;
this->callbackArgs = args;
} }
void SpiCookie::setCallbackArgs(void *args) { void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
this->callbackArgs = args;
}
spi_ioc_transfer* SpiCookie::getTransferStructHandle() { spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
return &spiTransferStruct;
}
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
this->halfDuplex = halfDuplex;
}
bool SpiCookie::isFullDuplex() const { bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
return not this->halfDuplex;
}
void SpiCookie::setTransferSize(size_t transferSize) { void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
spiTransferStruct.len = transferSize;
}
size_t SpiCookie::getCurrentTransferSize() const { size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
return spiTransferStruct.len;
}
void SpiCookie::setSpiSpeed(uint32_t newSpeed) { void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
this->spiSpeed = newSpeed;
}
void SpiCookie::setSpiMode(spi::SpiModes newMode) { void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
this->spiMode = newMode;
}
void SpiCookie::getCallback(spi::send_callback_function_t *callback, void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
void **args) { *callback = this->sendCallback;
*callback = this->sendCallback; *args = this->callbackArgs;
*args = this->callbackArgs;
} }

273
hal/src/fsfw_hal/linux/spi/SpiCookie.h
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@ -1,13 +1,12 @@
#ifndef LINUX_SPI_SPICOOKIE_H_ #ifndef LINUX_SPI_SPICOOKIE_H_
#define LINUX_SPI_SPICOOKIE_H_ #define LINUX_SPI_SPICOOKIE_H_
#include "spiDefinitions.h"
#include "../../common/gpio/gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
#include "../../common/gpio/gpioDefinitions.h"
#include "spiDefinitions.h"
/** /**
* @brief This cookie class is passed to the SPI communication interface * @brief This cookie class is passed to the SPI communication interface
* @details * @details
@ -19,165 +18,163 @@
* special requirements like expander slave select switching (e.g. GPIO or I2C expander) * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
* or special timing related requirements. * or special timing related requirements.
*/ */
class SpiCookie: public CookieIF { class SpiCookie : public CookieIF {
public: public:
/** /**
* Each SPI device will have a corresponding cookie. The cookie is used by the communication * Each SPI device will have a corresponding cookie. The cookie is used by the communication
* interface and contains device specific information like the largest expected size to be * interface and contains device specific information like the largest expected size to be
* sent and received and the GPIO pin used to toggle the SPI slave select pin. * sent and received and the GPIO pin used to toggle the SPI slave select pin.
* @param spiAddress * @param spiAddress
* @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects. * @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects.
* @param spiDev * @param spiDev
* @param maxSize * @param maxSize
*/ */
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
* slave select or if CS logic is performed with decoders.
*/
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
spi::SpiModes spiMode, uint32_t spiSpeed); spi::SpiModes spiMode, uint32_t spiSpeed);
/** /**
* Use the callback mode of the SPI communication interface. The user can pass the callback * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
* function here or by using the setter function #setCallbackMode * slave select or if CS logic is performed with decoders.
*/ */
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize, SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* Use the callback mode of the SPI communication interface. The user can pass the callback
* function here or by using the setter function #setCallbackMode
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback, spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
void *args); void* args);
/** /**
* Get the callback function * Get the callback function
* @param callback * @param callback
* @param args * @param args
*/ */
void getCallback(spi::send_callback_function_t* callback, void** args); void getCallback(spi::send_callback_function_t* callback, void** args);
address_t getSpiAddress() const; address_t getSpiAddress() const;
std::string getSpiDevice() const; std::string getSpiDevice() const;
gpioId_t getChipSelectPin() const; gpioId_t getChipSelectPin() const;
size_t getMaxBufferSize() const; size_t getMaxBufferSize() const;
spi::SpiComIfModes getComIfMode() const; spi::SpiComIfModes getComIfMode() const;
/** Enables changing SPI speed at run-time */ /** Enables changing SPI speed at run-time */
void setSpiSpeed(uint32_t newSpeed); void setSpiSpeed(uint32_t newSpeed);
/** Enables changing the SPI mode at run-time */ /** Enables changing the SPI mode at run-time */
void setSpiMode(spi::SpiModes newMode); void setSpiMode(spi::SpiModes newMode);
/** /**
* Set the SPI to callback mode and assigns the user supplied callback and an argument * Set the SPI to callback mode and assigns the user supplied callback and an argument
* passed to the callback. * passed to the callback.
* @param callback * @param callback
* @param args * @param args
*/ */
void setCallbackMode(spi::send_callback_function_t callback, void* args); void setCallbackMode(spi::send_callback_function_t callback, void* args);
/** /**
* Can be used to set the callback arguments and a later point than initialization. * Can be used to set the callback arguments and a later point than initialization.
* @param args * @param args
*/ */
void setCallbackArgs(void* args); void setCallbackArgs(void* args);
/** /**
* True if SPI transfers should be performed in full duplex mode * True if SPI transfers should be performed in full duplex mode
* @return * @return
*/ */
bool isFullDuplex() const; bool isFullDuplex() const;
/** /**
* Set transfer type to full duplex or half duplex. Full duplex is the default setting, * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
* ressembling common SPI hardware implementation with shift registers, where read and writes * ressembling common SPI hardware implementation with shift registers, where read and writes
* happen simultaneosly. * happen simultaneosly.
* @param fullDuplex * @param fullDuplex
*/ */
void setFullOrHalfDuplex(bool halfDuplex); void setFullOrHalfDuplex(bool halfDuplex);
/** /**
* This needs to be called to specify where the SPI driver writes to or reads from. * This needs to be called to specify where the SPI driver writes to or reads from.
* @param readLocation * @param readLocation
* @param writeLocation * @param writeLocation
*/ */
void assignReadBuffer(uint8_t* rx); void assignReadBuffer(uint8_t* rx);
void assignWriteBuffer(const uint8_t* tx); void assignWriteBuffer(const uint8_t* tx);
/** /**
* Set size for the next transfer. Set to 0 for no transfer * Set size for the next transfer. Set to 0 for no transfer
* @param transferSize * @param transferSize
*/ */
void setTransferSize(size_t transferSize); void setTransferSize(size_t transferSize);
size_t getCurrentTransferSize() const; size_t getCurrentTransferSize() const;
struct UncommonParameters { struct UncommonParameters {
uint8_t bitsPerWord = 8; uint8_t bitsPerWord = 8;
bool noCs = false; bool noCs = false;
bool csHigh = false; bool csHigh = false;
bool threeWireSpi = false; bool threeWireSpi = false;
/* MSB first is more common */ /* MSB first is more common */
bool lsbFirst = false; bool lsbFirst = false;
}; };
/** /**
* Can be used to explicitely disable hardware chip select. * Can be used to explicitely disable hardware chip select.
* Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
* (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md) * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
* @param enable * @param enable
*/ */
void setNoCs(bool enable); void setNoCs(bool enable);
void setThreeWireSpi(bool enable); void setThreeWireSpi(bool enable);
void setLsbFirst(bool enable); void setLsbFirst(bool enable);
void setCsHigh(bool enable); void setCsHigh(bool enable);
void setBitsPerWord(uint8_t bitsPerWord); void setBitsPerWord(uint8_t bitsPerWord);
void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed, void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters = nullptr) const; UncommonParameters* parameters = nullptr) const;
/** /**
* See spidev.h cs_change and delay_usecs * See spidev.h cs_change and delay_usecs
* @param deselectCs * @param deselectCs
* @param delayUsecs * @param delayUsecs
*/ */
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs); void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
spi_ioc_transfer* getTransferStructHandle(); spi_ioc_transfer* getTransferStructHandle();
private:
/** private:
* Internal constructor which initializes every field /**
* @param spiAddress * Internal constructor which initializes every field
* @param chipSelect * @param spiAddress
* @param spiDev * @param chipSelect
* @param maxSize * @param spiDev
* @param spiMode * @param maxSize
* @param spiSpeed * @param spiMode
* @param callback * @param spiSpeed
* @param args * @param callback
*/ * @param args
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect, */
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed, std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args); spi::send_callback_function_t callback, void* args);
address_t spiAddress; address_t spiAddress;
gpioId_t chipSelectPin; gpioId_t chipSelectPin;
std::string spiDevice; std::string spiDevice;
spi::SpiComIfModes comIfMode; spi::SpiComIfModes comIfMode;
// Required for regular mode // Required for regular mode
const size_t maxSize; const size_t maxSize;
spi::SpiModes spiMode; spi::SpiModes spiMode;
uint32_t spiSpeed; uint32_t spiSpeed;
bool halfDuplex = false; bool halfDuplex = false;
// Required for callback mode // Required for callback mode
spi::send_callback_function_t sendCallback = nullptr; spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr; void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {}; struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters; UncommonParameters uncommonParameters;
}; };
#endif /* LINUX_SPI_SPICOOKIE_H_ */ #endif /* LINUX_SPI_SPICOOKIE_H_ */

21
hal/src/fsfw_hal/linux/spi/spiDefinitions.h
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@ -1,28 +1,25 @@
#ifndef LINUX_SPI_SPIDEFINITONS_H_ #ifndef LINUX_SPI_SPIDEFINITONS_H_
#define LINUX_SPI_SPIDEFINITONS_H_ #define LINUX_SPI_SPIDEFINITONS_H_
#include "../../common/gpio/gpioDefinitions.h"
#include "../../common/spi/spiCommon.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
#include <cstdint> #include <cstdint>
#include "../../common/gpio/gpioDefinitions.h"
#include "../../common/spi/spiCommon.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class SpiCookie; class SpiCookie;
class SpiComIF; class SpiComIF;
namespace spi { namespace spi {
enum SpiComIfModes { enum SpiComIfModes { REGULAR, CALLBACK };
REGULAR,
CALLBACK
};
using send_callback_function_t = ReturnValue_t (*)(SpiComIF* comIf, SpiCookie* cookie,
const uint8_t* sendData, size_t sendLen,
void* args);
using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie, } // namespace spi
const uint8_t *sendData, size_t sendLen, void* args);
}
#endif /* LINUX_SPI_SPIDEFINITONS_H_ */ #endif /* LINUX_SPI_SPIDEFINITONS_H_ */

858
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
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@ -1,529 +1,557 @@
#include "UartComIF.h" #include "UartComIF.h"
#include "OBSWConfig.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
#include <fcntl.h>
#include <errno.h> #include <errno.h>
#include <fcntl.h>
#include <termios.h> #include <termios.h>
#include <unistd.h> #include <unistd.h>
UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){ #include <cstring>
}
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h"
UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
UartComIF::~UartComIF() {} UartComIF::~UartComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) { ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
std::string deviceFile; if (cookie == nullptr) {
UartDeviceMapIter uartDeviceMapIter; return NULLPOINTER;
}
if(cookie == nullptr) { UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
return NULLPOINTER; if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) {
return RETURN_FAILED;
} }
size_t maxReplyLen = uartCookie->getMaxReplyLen();
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
if (uartCookie == nullptr) { auto status = uartDeviceMap.emplace(deviceFile, uartElements);
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; if (status.second == false) {
return NULLPOINTER; #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
<< "to UART device map" << std::endl;
#endif
return RETURN_FAILED;
} }
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
<< " already in use" << std::endl;
#endif
return RETURN_FAILED;
}
deviceFile = uartCookie->getDeviceFile(); return RETURN_OK;
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) {
return RETURN_FAILED;
}
size_t maxReplyLen = uartCookie->getMaxReplyLen();
UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
deviceFile << "to UART device map" << std::endl;
return RETURN_FAILED;
}
}
else {
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
" already in use" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
} }
int UartComIF::configureUartPort(UartCookie* uartCookie) { int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {};
struct termios options = {}; std::string deviceFile = uartCookie->getDeviceFile();
int flags = O_RDWR;
if (uartCookie->getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK;
}
int fd = open(deviceFile.c_str(), flags);
std::string deviceFile = uartCookie->getDeviceFile(); if (fd < 0) {
int flags = O_RDWR; #if FSFW_CPP_OSTREAM_ENABLED == 1
if(uartCookie->getUartMode() == UartModes::CANONICAL) { sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be << "with error code " << errno << strerror(errno) << std::endl;
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this #endif
flags |= O_NONBLOCK;
}
int fd = open(deviceFile.c_str(), flags);
if (fd < 0) {
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
"with error code " << errno << strerror(errno) << std::endl;
return fd;
}
/* Read in existing settings */
if(tcgetattr(fd, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
return fd;
}
setParityOptions(&options, uartCookie);
setStopBitOptions(&options, uartCookie);
setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options);
setUartMode(&options, *uartCookie);
if(uartCookie->getInputShouldBeFlushed()) {
tcflush(fd, TCIFLUSH);
}
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
configureBaudrate(&options, uartCookie);
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
errno << ": " << strerror(errno);
return fd;
}
return fd; return fd;
}
/* Read in existing settings */
if (tcgetattr(fd, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Error " << errno
<< "from tcgetattr: " << strerror(errno) << std::endl;
#endif
return fd;
}
setParityOptions(&options, uartCookie);
setStopBitOptions(&options, uartCookie);
setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options);
setUartMode(&options, *uartCookie);
if (uartCookie->getInputShouldBeFlushed()) {
tcflush(fd, TCIFLUSH);
}
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
configureBaudrate(&options, uartCookie);
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
#endif
return fd;
}
return fd;
} }
void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) { void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear parity bit */ /* Clear parity bit */
options->c_cflag &= ~PARENB; options->c_cflag &= ~PARENB;
switch (uartCookie->getParity()) { switch (uartCookie->getParity()) {
case Parity::EVEN: case Parity::EVEN:
options->c_cflag |= PARENB; options->c_cflag |= PARENB;
options->c_cflag &= ~PARODD; options->c_cflag &= ~PARODD;
break; break;
case Parity::ODD: case Parity::ODD:
options->c_cflag |= PARENB; options->c_cflag |= PARENB;
options->c_cflag |= PARODD; options->c_cflag |= PARODD;
break; break;
default: default:
break; break;
} }
} }
void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) { void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear stop field. Sets stop bit to one bit */ /* Clear stop field. Sets stop bit to one bit */
options->c_cflag &= ~CSTOPB; options->c_cflag &= ~CSTOPB;
switch (uartCookie->getStopBits()) { switch (uartCookie->getStopBits()) {
case StopBits::TWO_STOP_BITS: case StopBits::TWO_STOP_BITS:
options->c_cflag |= CSTOPB; options->c_cflag |= CSTOPB;
break; break;
default: default:
break; break;
} }
} }
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) { void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear size bits */ /* Clear size bits */
options->c_cflag &= ~CSIZE; options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) { switch (uartCookie->getBitsPerWord()) {
case 5: case 5:
options->c_cflag |= CS5; options->c_cflag |= CS5;
break; break;
case 6: case 6:
options->c_cflag |= CS6; options->c_cflag |= CS6;
break; break;
case 7: case 7:
options->c_cflag |= CS7; options->c_cflag |= CS7;
break; break;
case 8: case 8:
options->c_cflag |= CS8; options->c_cflag |= CS8;
break; break;
default: default:
sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl; #if FSFW_CPP_OSTREAM_ENABLED == 1
break; sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
} #endif
break;
}
} }
void UartComIF::setFixedOptions(struct termios* options) { void UartComIF::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */ /* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS; options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */ /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
options->c_cflag |= CREAD | CLOCAL; options->c_cflag |= CREAD | CLOCAL;
/* Disable echo */ /* Disable echo */
options->c_lflag &= ~ECHO; options->c_lflag &= ~ECHO;
/* Disable erasure */ /* Disable erasure */
options->c_lflag &= ~ECHOE; options->c_lflag &= ~ECHOE;
/* Disable new-line echo */ /* Disable new-line echo */
options->c_lflag &= ~ECHONL; options->c_lflag &= ~ECHONL;
/* Disable interpretation of INTR, QUIT and SUSP */ /* Disable interpretation of INTR, QUIT and SUSP */
options->c_lflag &= ~ISIG; options->c_lflag &= ~ISIG;
/* Turn off s/w flow ctrl */ /* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY); options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* Disable any special handling of received bytes */ /* Disable any special handling of received bytes */
options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
/* Prevent special interpretation of output bytes (e.g. newline chars) */ /* Prevent special interpretation of output bytes (e.g. newline chars) */
options->c_oflag &= ~OPOST; options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */ /* Prevent conversion of newline to carriage return/line feed */
options->c_oflag &= ~ONLCR; options->c_oflag &= ~ONLCR;
} }
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) { void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
switch (uartCookie->getBaudrate()) { switch (uartCookie->getBaudrate()) {
case 50: case 50:
cfsetispeed(options, B50); cfsetispeed(options, B50);
cfsetospeed(options, B50); cfsetospeed(options, B50);
break; break;
case 75: case 75:
cfsetispeed(options, B75); cfsetispeed(options, B75);
cfsetospeed(options, B75); cfsetospeed(options, B75);
break; break;
case 110: case 110:
cfsetispeed(options, B110); cfsetispeed(options, B110);
cfsetospeed(options, B110); cfsetospeed(options, B110);
break; break;
case 134: case 134:
cfsetispeed(options, B134); cfsetispeed(options, B134);
cfsetospeed(options, B134); cfsetospeed(options, B134);
break; break;
case 150: case 150:
cfsetispeed(options, B150); cfsetispeed(options, B150);
cfsetospeed(options, B150); cfsetospeed(options, B150);
break; break;
case 200: case 200:
cfsetispeed(options, B200); cfsetispeed(options, B200);
cfsetospeed(options, B200); cfsetospeed(options, B200);
break; break;
case 300: case 300:
cfsetispeed(options, B300); cfsetispeed(options, B300);
cfsetospeed(options, B300); cfsetospeed(options, B300);
break; break;
case 600: case 600:
cfsetispeed(options, B600); cfsetispeed(options, B600);
cfsetospeed(options, B600); cfsetospeed(options, B600);
break; break;
case 1200: case 1200:
cfsetispeed(options, B1200); cfsetispeed(options, B1200);
cfsetospeed(options, B1200); cfsetospeed(options, B1200);
break; break;
case 1800: case 1800:
cfsetispeed(options, B1800); cfsetispeed(options, B1800);
cfsetospeed(options, B1800); cfsetospeed(options, B1800);
break; break;
case 2400: case 2400:
cfsetispeed(options, B2400); cfsetispeed(options, B2400);
cfsetospeed(options, B2400); cfsetospeed(options, B2400);
break; break;
case 4800: case 4800:
cfsetispeed(options, B4800); cfsetispeed(options, B4800);
cfsetospeed(options, B4800); cfsetospeed(options, B4800);
break; break;
case 9600: case 9600:
cfsetispeed(options, B9600); cfsetispeed(options, B9600);
cfsetospeed(options, B9600); cfsetospeed(options, B9600);
break; break;
case 19200: case 19200:
cfsetispeed(options, B19200); cfsetispeed(options, B19200);
cfsetospeed(options, B19200); cfsetospeed(options, B19200);
break; break;
case 38400: case 38400:
cfsetispeed(options, B38400); cfsetispeed(options, B38400);
cfsetospeed(options, B38400); cfsetospeed(options, B38400);
break; break;
case 57600: case 57600:
cfsetispeed(options, B57600); cfsetispeed(options, B57600);
cfsetospeed(options, B57600); cfsetospeed(options, B57600);
break; break;
case 115200: case 115200:
cfsetispeed(options, B115200); cfsetispeed(options, B115200);
cfsetospeed(options, B115200); cfsetospeed(options, B115200);
break; break;
case 230400: case 230400:
cfsetispeed(options, B230400); cfsetispeed(options, B230400);
cfsetospeed(options, B230400); cfsetospeed(options, B230400);
break; break;
case 460800: case 460800:
cfsetispeed(options, B460800); cfsetispeed(options, B460800);
cfsetospeed(options, B460800); cfsetospeed(options, B460800);
break; break;
default: default:
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; #if FSFW_CPP_OSTREAM_ENABLED == 1
break; sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
} #endif
break;
}
} }
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie, ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
const uint8_t *sendData, size_t sendLen) { int fd = 0;
int fd = 0; std::string deviceFile;
std::string deviceFile; UartDeviceMapIter uartDeviceMapIter;
UartDeviceMapIter uartDeviceMapIter;
if(sendLen == 0) {
return RETURN_OK;
}
if(sendData == nullptr) {
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
return RETURN_FAILED;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
"not in UART map" << std::endl;
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) {
sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
errno << ": Error description: " << strerror(errno) << std::endl;
return RETURN_FAILED;
}
if (sendLen == 0) {
return RETURN_OK; return RETURN_OK;
}
if (sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
#endif
return RETURN_FAILED;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
<< std::endl;
#endif
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != static_cast<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;
#endif
return RETURN_FAILED;
}
return RETURN_OK;
} }
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
UartModes uartMode = uartCookie->getUartMode();
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) { if (uartDeviceMapIter == uartDeviceMap.end()) {
std::string deviceFile; #if FSFW_CPP_OSTREAM_ENABLED == 1
UartDeviceMapIter uartDeviceMapIter; sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
#endif
return RETURN_FAILED;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); if (uartMode == UartModes::CANONICAL) {
if(uartCookie == nullptr) { return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; } else if (uartMode == UartModes::NON_CANONICAL) {
return NULLPOINTER; return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
} } else {
return HasReturnvaluesIF::RETURN_FAILED;
UartModes uartMode = uartCookie->getUartMode(); }
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
return RETURN_OK;
}
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
return RETURN_FAILED;
}
if (uartMode == UartModes::CANONICAL) {
return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else if (uartMode == UartModes::NON_CANONICAL) {
return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else {
return HasReturnvaluesIF::RETURN_FAILED;
}
} }
ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen) { size_t requestLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
uint8_t maxReadCycles = uartCookie.getReadCycles(); uint8_t maxReadCycles = uartCookie.getReadCycles();
uint8_t currentReadCycles = 0; uint8_t currentReadCycles = 0;
int bytesRead = 0; int bytesRead = 0;
size_t currentBytesRead = 0; size_t currentBytesRead = 0;
size_t maxReplySize = uartCookie.getMaxReplyLen(); size_t maxReplySize = uartCookie.getMaxReplyLen();
int fd = iter->second.fileDescriptor; int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data(); auto bufferPtr = iter->second.replyBuffer.data();
iter->second.replyLen = 0; iter->second.replyLen = 0;
do { do {
size_t allowedReadSize = 0; size_t allowedReadSize = 0;
if(currentBytesRead >= maxReplySize) { if (currentBytesRead >= maxReplySize) {
// Overflow risk. Emit warning, trigger event and break. If this happens, // Overflow risk. Emit warning, trigger event and break. If this happens,
// the reception buffer is not large enough or data is not polled often enough. // the reception buffer is not large enough or data is not polled often enough.
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!" sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl; << std::endl;
#else #else
sif::printWarning("UartComIF::requestReceiveMessage: " sif::printWarning(
"Next read would cause overflow!"); "UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif #endif
#endif #endif
result = UART_RX_BUFFER_TOO_SMALL; result = UART_RX_BUFFER_TOO_SMALL;
break; break;
} } else {
else { allowedReadSize = maxReplySize - currentBytesRead;
allowedReadSize = maxReplySize - currentBytesRead; }
}
bytesRead = read(fd, bufferPtr, allowedReadSize); bytesRead = read(fd, bufferPtr, allowedReadSize);
if (bytesRead < 0) { if (bytesRead < 0) {
// EAGAIN: No data available in non-blocking mode // EAGAIN: No data available in non-blocking mode
if(errno != EAGAIN) { if (errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
errno << ": " << strerror(errno) << std::endl; << strerror(errno) << std::endl;
#else #else
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
errno, strerror(errno)); strerror(errno));
#endif #endif
#endif #endif
return RETURN_FAILED; return RETURN_FAILED;
} }
} } else if (bytesRead > 0) {
else if(bytesRead > 0) { iter->second.replyLen += bytesRead;
iter->second.replyLen += bytesRead; bufferPtr += bytesRead;
bufferPtr += bytesRead; currentBytesRead += bytesRead;
currentBytesRead += bytesRead; }
} currentReadCycles++;
currentReadCycles++; } while (bytesRead > 0 and currentReadCycles < maxReadCycles);
} while(bytesRead > 0 and currentReadCycles < maxReadCycles); return result;
return result;
} }
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter, ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen) { size_t requestLen) {
int fd = iter->second.fileDescriptor; int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data(); auto bufferPtr = iter->second.replyBuffer.data();
// Size check to prevent buffer overflow // Size check to prevent buffer overflow
if(requestLen > uartCookie.getMaxReplyLen()) { if (requestLen > uartCookie.getMaxReplyLen()) {
#if OBSW_VERBOSE_LEVEL >= 1 #if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!" sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl; << std::endl;
#else #else
sif::printWarning("UartComIF::requestReceiveMessage: " sif::printWarning(
"Next read would cause overflow!"); "UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif #endif
#endif #endif
return UART_RX_BUFFER_TOO_SMALL; return UART_RX_BUFFER_TOO_SMALL;
}
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead < 0) {
return RETURN_FAILED;
} else if (bytesRead != static_cast<int>(requestLen)) {
if (uartCookie.isReplySizeFixed()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
<< requestLen << " bytes" << std::endl;
#endif
return RETURN_FAILED;
} }
int bytesRead = read(fd, bufferPtr, requestLen); }
if (bytesRead < 0) { iter->second.replyLen = bytesRead;
return RETURN_FAILED; return HasReturnvaluesIF::RETURN_OK;
}
else if (bytesRead != static_cast<int>(requestLen)) {
if(uartCookie.isReplySizeFixed()) {
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
" of " << requestLen << " bytes" << std::endl;
return RETURN_FAILED;
}
}
iter->second.replyLen = bytesRead;
return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie, ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
uint8_t **buffer, size_t* size) { std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
std::string deviceFile; UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
UartDeviceMapIter uartDeviceMapIter; if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); deviceFile = uartCookie->getDeviceFile();
if(uartCookie == nullptr) { uartDeviceMapIter = uartDeviceMap.find(deviceFile);
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; if (uartDeviceMapIter == uartDeviceMap.end()) {
return NULLPOINTER; #if FSFW_CPP_OSTREAM_ENABLED == 1
} sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
<< std::endl;
#endif
return RETURN_FAILED;
}
deviceFile = uartCookie->getDeviceFile(); *buffer = uartDeviceMapIter->second.replyBuffer.data();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); *size = uartDeviceMapIter->second.replyLen;
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
" not in uart map" << std::endl;
return RETURN_FAILED;
}
*buffer = uartDeviceMapIter->second.replyBuffer.data(); /* Length is reset to 0 to prevent reading the same data twice */
*size = uartDeviceMapIter->second.replyLen; uartDeviceMapIter->second.replyLen = 0;
/* Length is reset to 0 to prevent reading the same data twice */ return RETURN_OK;
uartDeviceMapIter->second.replyLen = 0; }
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIFLUSH);
return RETURN_OK; return RETURN_OK;
}
return RETURN_FAILED;
} }
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) { ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl; #if FSFW_CPP_OSTREAM_ENABLED == 1
return NULLPOINTER; sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
} #endif
deviceFile = uartCookie->getDeviceFile(); return NULLPOINTER;
uartDeviceMapIter = uartDeviceMap.find(deviceFile); }
if(uartDeviceMapIter != uartDeviceMap.end()) { deviceFile = uartCookie->getDeviceFile();
int fd = uartDeviceMapIter->second.fileDescriptor; uartDeviceMapIter = uartDeviceMap.find(deviceFile);
tcflush(fd, TCIFLUSH); if (uartDeviceMapIter != uartDeviceMap.end()) {
return RETURN_OK; int fd = uartDeviceMapIter->second.fileDescriptor;
} tcflush(fd, TCOFLUSH);
return RETURN_FAILED; return RETURN_OK;
}
return RETURN_FAILED;
} }
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) { ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
std::string deviceFile; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl; #if FSFW_CPP_OSTREAM_ENABLED == 1
return NULLPOINTER; sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
} #endif
deviceFile = uartCookie->getDeviceFile(); return NULLPOINTER;
uartDeviceMapIter = uartDeviceMap.find(deviceFile); }
if(uartDeviceMapIter != uartDeviceMap.end()) { deviceFile = uartCookie->getDeviceFile();
int fd = uartDeviceMapIter->second.fileDescriptor; uartDeviceMapIter = uartDeviceMap.find(deviceFile);
tcflush(fd, TCOFLUSH); if (uartDeviceMapIter != uartDeviceMap.end()) {
return RETURN_OK; int fd = uartDeviceMapIter->second.fileDescriptor;
} tcflush(fd, TCIOFLUSH);
return RETURN_FAILED; return RETURN_OK;
}
return RETURN_FAILED;
} }
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) { void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
std::string deviceFile; UartModes uartMode = uartCookie.getUartMode();
UartDeviceMapIter uartDeviceMapIter; if (uartMode == UartModes::NON_CANONICAL) {
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); /* Disable canonical mode */
if(uartCookie == nullptr) { options->c_lflag &= ~ICANON;
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl; } else if (uartMode == UartModes::CANONICAL) {
return NULLPOINTER; options->c_lflag |= ICANON;
} }
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIOFLUSH);
return RETURN_OK;
}
return RETURN_FAILED;
}
void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
UartModes uartMode = uartCookie.getUartMode();
if(uartMode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
options->c_lflag &= ~ICANON;
}
else if(uartMode == UartModes::CANONICAL) {
options->c_lflag |= ICANON;
}
} }

168
hal/src/fsfw_hal/linux/uart/UartComIF.h
View File

@ -1,13 +1,14 @@
#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_ #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_ #define BSP_Q7S_COMIF_UARTCOMIF_H_
#include "UartCookie.h"
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map> #include <unordered_map>
#include <vector> #include <vector>
#include "UartCookie.h"
/** /**
* @brief This is the communication interface to access serial ports on linux based operating * @brief This is the communication interface to access serial ports on linux based operating
* systems. * systems.
@ -17,109 +18,104 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class UartComIF: public DeviceCommunicationIF, public SystemObject { class UartComIF : public DeviceCommunicationIF, public SystemObject {
public: public:
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART; static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
static constexpr ReturnValue_t UART_READ_FAILURE = static constexpr ReturnValue_t UART_READ_FAILURE =
HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1); HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2); HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3); HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
UartComIF(object_id_t objectId); UartComIF(object_id_t objectId);
virtual ~UartComIF(); virtual ~UartComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override; ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
size_t sendLen) override; ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override; ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
/** /**
* @brief This function discards all data received but not read in the UART buffer. * @brief This function discards all data received but not read in the UART buffer.
*/ */
ReturnValue_t flushUartRxBuffer(CookieIF *cookie); ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
/** /**
* @brief This function discards all data in the transmit buffer of the UART driver. * @brief This function discards all data in the transmit buffer of the UART driver.
*/ */
ReturnValue_t flushUartTxBuffer(CookieIF *cookie); ReturnValue_t flushUartTxBuffer(CookieIF* cookie);
/** /**
* @brief This function discards both data in the transmit and receive buffer of the UART. * @brief This function discards both data in the transmit and receive buffer of the UART.
*/ */
ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie); ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
private: private:
using UartDeviceFile_t = std::string;
using UartDeviceFile_t = std::string; struct UartElements {
int fileDescriptor;
std::vector<uint8_t> replyBuffer;
/** Number of bytes read will be written to this variable */
size_t replyLen;
};
struct UartElements { using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
int fileDescriptor; using UartDeviceMapIter = UartDeviceMap::iterator;
std::vector<uint8_t> replyBuffer;
/** Number of bytes read will be written to this variable */
size_t replyLen;
};
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>; /**
using UartDeviceMapIter = UartDeviceMap::iterator; * The uart devie map stores informations of initialized uart ports.
*/
UartDeviceMap uartDeviceMap;
/** /**
* The uart devie map stores informations of initialized uart ports. * @brief This function opens and configures a uart device by using the information stored
*/ * in the uart cookie.
UartDeviceMap uartDeviceMap; * @param uartCookie Pointer to uart cookie with information about the uart. Contains the
* uart device file, baudrate, parity, stopbits etc.
* @return The file descriptor of the configured uart.
*/
int configureUartPort(UartCookie* uartCookie);
/** /**
* @brief This function opens and configures a uart device by using the information stored * @brief This function adds the parity settings to the termios options struct.
* in the uart cookie. *
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the * @param options Pointer to termios options struct which will be modified to enable or disable
* uart device file, baudrate, parity, stopbits etc. * parity checking.
* @return The file descriptor of the configured uart. * @param uartCookie Pointer to uart cookie containing the information about the desired
*/ * parity settings.
int configureUartPort(UartCookie* uartCookie); *
*/
void setParityOptions(struct termios* options, UartCookie* uartCookie);
/** void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
* @brief This function adds the parity settings to the termios options struct.
*
* @param options Pointer to termios options struct which will be modified to enable or disable
* parity checking.
* @param uartCookie Pointer to uart cookie containing the information about the desired
* parity settings.
*
*/
void setParityOptions(struct termios* options, UartCookie* uartCookie);
void setStopBitOptions(struct termios* options, UartCookie* uartCookie); /**
* @brief This function sets options which are not configurable by the uartCookie.
*/
void setFixedOptions(struct termios* options);
/** /**
* @brief This function sets options which are not configurable by the uartCookie. * @brief With this function the datasize settings are added to the termios options struct.
*/ */
void setFixedOptions(struct termios* options); void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
/** /**
* @brief With this function the datasize settings are added to the termios options struct. * @brief This functions adds the baudrate specified in the uartCookie to the termios options
*/ * struct.
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie); */
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
/** void setUartMode(struct termios* options, UartCookie& uartCookie);
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
* struct.
*/
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
void setUartMode(struct termios* options, UartCookie& uartCookie);
ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen);
ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen);
}; };
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */ #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

98
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,97 +1,65 @@
#include "fsfw_hal/linux/uart/UartCookie.h" #include "fsfw_hal/linux/uart/UartCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen): uint32_t baudrate, size_t maxReplyLen)
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), : handlerId(handlerId),
baudrate(baudrate), maxReplyLen(maxReplyLen) { deviceFile(deviceFile),
} uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
UartCookie::~UartCookie() {} UartCookie::~UartCookie() {}
uint32_t UartCookie::getBaudrate() const { uint32_t UartCookie::getBaudrate() const { return baudrate; }
return baudrate;
}
size_t UartCookie::getMaxReplyLen() const { size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
return maxReplyLen;
}
std::string UartCookie::getDeviceFile() const { std::string UartCookie::getDeviceFile() const { return deviceFile; }
return deviceFile;
}
void UartCookie::setParityOdd() { void UartCookie::setParityOdd() { parity = Parity::ODD; }
parity = Parity::ODD;
}
void UartCookie::setParityEven() { void UartCookie::setParityEven() { parity = Parity::EVEN; }
parity = Parity::EVEN;
}
Parity UartCookie::getParity() const { Parity UartCookie::getParity() const { return parity; }
return parity;
}
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) { void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
switch(bitsPerWord_) { switch (bitsPerWord_) {
case 5: case 5:
case 6: case 6:
case 7: case 7:
case 8: case 8:
break; break;
default: default:
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl; #if FSFW_CPP_OSTREAM_ENABLED == 1
return; sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
} #endif
bitsPerWord = bitsPerWord_; return;
}
bitsPerWord = bitsPerWord_;
} }
uint8_t UartCookie::getBitsPerWord() const { uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
return bitsPerWord;
}
StopBits UartCookie::getStopBits() const { StopBits UartCookie::getStopBits() const { return stopBits; }
return stopBits;
}
void UartCookie::setTwoStopBits() { void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
stopBits = StopBits::TWO_STOP_BITS;
}
void UartCookie::setOneStopBit() { void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
stopBits = StopBits::ONE_STOP_BIT;
}
UartModes UartCookie::getUartMode() const { UartModes UartCookie::getUartMode() const { return uartMode; }
return uartMode;
}
void UartCookie::setReadCycles(uint8_t readCycles) { void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
this->readCycles = readCycles;
}
void UartCookie::setToFlushInput(bool enable) { void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
this->flushInput = enable;
}
uint8_t UartCookie::getReadCycles() const { uint8_t UartCookie::getReadCycles() const { return readCycles; }
return readCycles;
}
bool UartCookie::getInputShouldBeFlushed() { bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
return this->flushInput;
}
object_id_t UartCookie::getHandlerId() const { object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
return this->handlerId;
}
void UartCookie::setNoFixedSizeReply() { void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
replySizeFixed = false;
}
bool UartCookie::isReplySizeFixed() { bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
return replySizeFixed;
}

168
hal/src/fsfw_hal/linux/uart/UartCookie.h
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@ -6,21 +6,11 @@
#include <string> #include <string>
enum class Parity { enum class Parity { NONE, EVEN, ODD };
NONE,
EVEN,
ODD
};
enum class StopBits { enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
ONE_STOP_BIT,
TWO_STOP_BITS
};
enum class UartModes { enum class UartModes { CANONICAL, NON_CANONICAL };
CANONICAL,
NON_CANONICAL
};
/** /**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver. * @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
@ -29,93 +19,91 @@ enum class UartModes {
* *
* @author J. Meier * @author J. Meier
*/ */
class UartCookie: public CookieIF { class UartCookie : public CookieIF {
public: public:
/**
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
* @param uartMode Specify the UART mode. The canonical mode should be used if the
* messages are separated by a delimited character like '\n'. See the
* termios documentation for more information
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
* 38400, 57600, 115200, 230400, 460800
* @param maxReplyLen The maximum size an object using this cookie expects
* @details
* Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*/
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
size_t maxReplyLen);
/** virtual ~UartCookie();
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
* @param uartMode Specify the UART mode. The canonical mode should be used if the
* messages are separated by a delimited character like '\n'. See the
* termios documentation for more information
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
* 38400, 57600, 115200, 230400, 460800
* @param maxReplyLen The maximum size an object using this cookie expects
* @details
* Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*/
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen);
virtual ~UartCookie(); uint32_t getBaudrate() const;
size_t getMaxReplyLen() const;
std::string getDeviceFile() const;
Parity getParity() const;
uint8_t getBitsPerWord() const;
StopBits getStopBits() const;
UartModes getUartMode() const;
object_id_t getHandlerId() const;
uint32_t getBaudrate() const; /**
size_t getMaxReplyLen() const; * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
std::string getDeviceFile() const; * The user can specify how many of those read cycles are performed for one device handler
Parity getParity() const; * communication cycle. An example use-case would be to read all available GPS NMEA strings
uint8_t getBitsPerWord() const; * at once.
StopBits getStopBits() const; * @param readCycles
UartModes getUartMode() const; */
object_id_t getHandlerId() const; void setReadCycles(uint8_t readCycles);
uint8_t getReadCycles() const;
/** /**
* The UART ComIF will only perform a specified number of read cycles for the canonical mode. * Allows to flush the data which was received but has not been read yet. This is useful
* The user can specify how many of those read cycles are performed for one device handler * to discard obsolete data at software startup.
* communication cycle. An example use-case would be to read all available GPS NMEA strings */
* at once. void setToFlushInput(bool enable);
* @param readCycles bool getInputShouldBeFlushed();
*/
void setReadCycles(uint8_t readCycles);
uint8_t getReadCycles() const;
/** /**
* Allows to flush the data which was received but has not been read yet. This is useful * Functions two enable parity checking.
* to discard obsolete data at software startup. */
*/ void setParityOdd();
void setToFlushInput(bool enable); void setParityEven();
bool getInputShouldBeFlushed();
/** /**
* Functions two enable parity checking. * Function two set number of bits per UART frame.
*/ */
void setParityOdd(); void setBitsPerWord(uint8_t bitsPerWord_);
void setParityEven();
/** /**
* Function two set number of bits per UART frame. * Function to specify the number of stopbits.
*/ */
void setBitsPerWord(uint8_t bitsPerWord_); void setTwoStopBits();
void setOneStopBit();
/** /**
* Function to specify the number of stopbits. * Calling this function prevents the UartComIF to return failed if not all requested bytes
*/ * could be read. This is required by a device handler when the size of a reply is not known.
void setTwoStopBits(); */
void setOneStopBit(); void setNoFixedSizeReply();
/** bool isReplySizeFixed();
* Calling this function prevents the UartComIF to return failed if not all requested bytes
* could be read. This is required by a device handler when the size of a reply is not known.
*/
void setNoFixedSizeReply();
bool isReplySizeFixed(); private:
const object_id_t handlerId;
private: std::string deviceFile;
const UartModes uartMode;
const object_id_t handlerId; bool flushInput = false;
std::string deviceFile; uint32_t baudrate;
const UartModes uartMode; size_t maxReplyLen = 0;
bool flushInput = false; Parity parity = Parity::NONE;
uint32_t baudrate; uint8_t bitsPerWord = 8;
size_t maxReplyLen = 0; uint8_t readCycles = 1;
Parity parity = Parity::NONE; StopBits stopBits = StopBits::ONE_STOP_BIT;
uint8_t bitsPerWord = 8; bool replySizeFixed = true;
uint8_t readCycles = 1;
StopBits stopBits = StopBits::ONE_STOP_BIT;
bool replySizeFixed = true;
}; };
#endif #endif

3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt Normal file
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@ -0,0 +1,3 @@
target_sources(${LIB_FSFW_NAME} PUBLIC
UioMapper.cpp
)

86
hal/src/fsfw_hal/linux/uio/UioMapper.cpp Normal file
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@ -0,0 +1,86 @@
#include "UioMapper.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include "fsfw/serviceinterface.h"
const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
const char UioMapper::MAP_SUBSTR[] = "/maps/map";
const char UioMapper::SIZE_FILE_PATH[] = "/size";
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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
#endif
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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
<< uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
#endif
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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
char hexstring[SIZE_HEX_STRING] = "";
int items = fscanf(fp, "%s", hexstring);
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno
<< " to read size "
"string from file "
<< namestream.str() << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t sizeTmp = 0;
items = sscanf(hexstring, "%x", &sizeTmp);
if (size != nullptr) {
*size = sizeTmp;
}
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
<< "size of map" << mapNum << " to integer" << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
fclose(fp);
return HasReturnvaluesIF::RETURN_OK;
}

58
hal/src/fsfw_hal/linux/uio/UioMapper.h Normal file
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@ -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 const char UIO_PATH_PREFIX[];
static const char MAP_SUBSTR[];
static const char SIZE_FILE_PATH[];
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_ */

25
hal/src/fsfw_hal/linux/utility.cpp
View File

@ -1,26 +1,23 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/utility.h" #include "fsfw_hal/linux/utility.h"
#include <cerrno> #include <cerrno>
#include <cstring> #include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
void utility::handleIoctlError(const char* const customPrintout) { void utility::handleIoctlError(const char* const customPrintout) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
if(customPrintout != nullptr) { if (customPrintout != nullptr) {
sif::warning << customPrintout << std::endl; sif::warning << customPrintout << std::endl;
} }
sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) << sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
std::endl;
#else #else
if(customPrintout != nullptr) { if (customPrintout != nullptr) {
sif::printWarning("%s\n", customPrintout); sif::printWarning("%s\n", customPrintout);
} }
sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno)); sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
} }

15
hal/src/fsfw_hal/stm32h7/definitions.h
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@ -2,6 +2,7 @@
#define FSFW_HAL_STM32H7_DEFINITIONS_H_ #define FSFW_HAL_STM32H7_DEFINITIONS_H_
#include <utility> #include <utility>
#include "stm32h7xx.h" #include "stm32h7xx.h"
namespace stm32h7 { namespace stm32h7 {
@ -11,15 +12,15 @@ namespace stm32h7 {
* and the second entry is the pin number * and the second entry is the pin number
*/ */
struct GpioCfg { struct GpioCfg {
GpioCfg(): port(nullptr), pin(0), altFnc(0) {}; GpioCfg() : port(nullptr), pin(0), altFnc(0){};
GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0): GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
port(port), pin(pin), altFnc(altFnc) {}; : port(port), pin(pin), altFnc(altFnc){};
GPIO_TypeDef* port; GPIO_TypeDef* port;
uint16_t pin; uint16_t pin;
uint8_t altFnc; uint8_t altFnc;
}; };
} } // namespace stm32h7
#endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */ #endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

840
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
View File

@ -1,549 +1,547 @@
#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h" #include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_rcc.h"
#include <cstring> #include <cstring>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "stm32h7xx_hal_rcc.h"
#include "stm32h7xx_hal_spi.h"
alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer; alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer"))); __attribute__((section(".dma_buffer")));
TransferStates transferState = TransferStates::IDLE; TransferStates transferState = TransferStates::IDLE;
spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING; spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
: spiHandle(spiHandle) {
txDmaHandle = new DMA_HandleTypeDef();
rxDmaHandle = new DMA_HandleTypeDef();
spi::setSpiHandle(spiHandle);
spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
transferMode = transferMode_;
if (transferMode == spi::TransferModes::DMA) {
mspCfg = new spi::MspDmaConfigStruct();
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
spi::setDmaHandles(txDmaHandle, rxDmaHandle);
stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiDmaMspFunctions(typedCfg);
} else if (transferMode == spi::TransferModes::INTERRUPT) {
mspCfg = new spi::MspIrqConfigStruct();
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiIrqMspFunctions(typedCfg);
} else if (transferMode == spi::TransferModes::POLLING) {
mspCfg = new spi::MspPollingConfigStruct();
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
stm32h7::h743zi::standardPollingCfg(*typedCfg);
spi::setSpiPollingMspFunctions(typedCfg);
}
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_): spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr);
spiHandle(spiHandle) { spi::assignTransferErrorCallback(&spiTransferErrorCallback, nullptr);
txDmaHandle = new DMA_HandleTypeDef();
rxDmaHandle = new DMA_HandleTypeDef();
spi::setSpiHandle(spiHandle);
spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
transferMode = transferMode_;
if(transferMode == spi::TransferModes::DMA) {
mspCfg = new spi::MspDmaConfigStruct();
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
spi::setDmaHandles(txDmaHandle, rxDmaHandle);
stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiDmaMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
mspCfg = new spi::MspIrqConfigStruct();
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::POLLING) {
mspCfg = new spi::MspPollingConfigStruct();
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
stm32h7::h743zi::standardPollingCfg(*typedCfg);
spi::setSpiPollingMspFunctions(typedCfg);
}
spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr); GPIO_InitTypeDef chipSelect = {};
spi::assignTransferErrorCallback(&spiTransferErrorCallback, nullptr); __HAL_RCC_GPIOD_CLK_ENABLE();
chipSelect.Pin = GPIO_PIN_14;
GPIO_InitTypeDef chipSelect = {}; chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
__HAL_RCC_GPIOD_CLK_ENABLE(); HAL_GPIO_Init(GPIOD, &chipSelect);
chipSelect.Pin = GPIO_PIN_14; HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(GPIOD, &chipSelect);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
} }
GyroL3GD20H::~GyroL3GD20H() { GyroL3GD20H::~GyroL3GD20H() {
delete txDmaHandle; delete txDmaHandle;
delete rxDmaHandle; delete rxDmaHandle;
if(mspCfg != nullptr) { if (mspCfg != nullptr) {
delete mspCfg; delete mspCfg;
} }
} }
ReturnValue_t GyroL3GD20H::initialize() { ReturnValue_t GyroL3GD20H::initialize() {
// Configure the SPI peripheral // Configure the SPI peripheral
spiHandle->Instance = SPI1; spiHandle->Instance = SPI1;
spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000); spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
spiHandle->Init.Direction = SPI_DIRECTION_2LINES; spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
spi::assignSpiMode(spi::SpiModes::MODE_3, *spiHandle); spi::assignSpiMode(spi::SpiModes::MODE_3, *spiHandle);
spiHandle->Init.DataSize = SPI_DATASIZE_8BIT; spiHandle->Init.DataSize = SPI_DATASIZE_8BIT;
spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB; spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB;
spiHandle->Init.TIMode = SPI_TIMODE_DISABLE; spiHandle->Init.TIMode = SPI_TIMODE_DISABLE;
spiHandle->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; spiHandle->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
spiHandle->Init.CRCPolynomial = 7; spiHandle->Init.CRCPolynomial = 7;
spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT; spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT;
spiHandle->Init.NSS = SPI_NSS_SOFT; spiHandle->Init.NSS = SPI_NSS_SOFT;
spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE; spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
// Recommended setting to avoid glitches // Recommended setting to avoid glitches
spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE; spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
spiHandle->Init.Mode = SPI_MODE_MASTER; spiHandle->Init.Mode = SPI_MODE_MASTER;
if(HAL_SPI_Init(spiHandle) != HAL_OK) { if (HAL_SPI_Init(spiHandle) != HAL_OK) {
sif::printWarning("Error initializing SPI\n"); sif::printWarning("Error initializing SPI\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
delete mspCfg;
transferState = TransferStates::WAIT;
sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
txBuffer[1] = 0;
switch (transferMode) {
case (spi::TransferModes::DMA): {
return handleDmaTransferInit();
} }
case (spi::TransferModes::INTERRUPT): {
delete mspCfg; return handleInterruptTransferInit();
transferState = TransferStates::WAIT;
sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
txBuffer[1] = 0;
switch(transferMode) {
case(spi::TransferModes::DMA): {
return handleDmaTransferInit();
} }
case(spi::TransferModes::INTERRUPT): { case (spi::TransferModes::POLLING): {
return handleInterruptTransferInit(); return handlePollingTransferInit();
}
case(spi::TransferModes::POLLING): {
return handlePollingTransferInit();
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroL3GD20H::performOperation() { ReturnValue_t GyroL3GD20H::performOperation() {
switch(transferMode) { switch (transferMode) {
case(spi::TransferModes::DMA): { case (spi::TransferModes::DMA): {
return handleDmaSensorRead(); return handleDmaSensorRead();
} }
case(spi::TransferModes::POLLING): { case (spi::TransferModes::POLLING): {
return handlePollingSensorRead(); return handlePollingSensorRead();
} }
case(spi::TransferModes::INTERRUPT): { case (spi::TransferModes::INTERRUPT): {
return handleInterruptSensorRead(); return handleInterruptSensorRead();
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroL3GD20H::handleDmaTransferInit() { ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
/* Clean D-cache */ /* Clean D-cache */
/* Make sure the address is 32-byte aligned and add 32-bytes to length, /* Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */ in case it overlaps cacheline */
// See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
HAL_StatusTypeDef result = performDmaTransfer(2); HAL_StatusTypeDef result = performDmaTransfer(2);
if(result != HAL_OK) { if (result != HAL_OK) {
// Transfer error in transmission process // Transfer error in transmission process
sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n"); sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
} }
// Wait for the transfer to complete // Wait for the transfer to complete
while (transferState == TransferStates::WAIT) { while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
switch(transferState) { switch (transferState) {
case(TransferStates::SUCCESS): { case (TransferStates::SUCCESS): {
uint8_t whoAmIVal = rxBuffer[1]; uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) { if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: " sif::printDebug(
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal); "GyroL3GD20H::initialize: "
} "Read WHO AM I value %d not equal to expected value!\n",
transferState = TransferStates::IDLE; whoAmIVal);
break; }
transferState = TransferStates::IDLE;
break;
} }
case(TransferStates::FAILURE): { case (TransferStates::FAILURE): {
sif::printWarning("Transfer failure\n"); sif::printWarning("Transfer failure\n");
transferState = TransferStates::FAILURE; transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
sif::printInfo("GyroL3GD20H::initialize: Configuring device\n"); sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
// Configure the 5 configuration registers // Configure the 5 configuration registers
uint8_t configRegs[5]; uint8_t configRegs[5];
prepareConfigRegs(configRegs); prepareConfigRegs(configRegs);
result = performDmaTransfer(6); result = performDmaTransfer(6);
if(result != HAL_OK) { if (result != HAL_OK) {
// Transfer error in transmission process // Transfer error in transmission process
sif::printWarning("Error transmitting SPI with DMA\n"); sif::printWarning("Error transmitting SPI with DMA\n");
} }
// Wait for the transfer to complete // Wait for the transfer to complete
while (transferState == TransferStates::WAIT) { while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
switch(transferState) { switch (transferState) {
case(TransferStates::SUCCESS): { case (TransferStates::SUCCESS): {
sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n"); sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
transferState = TransferStates::IDLE; transferState = TransferStates::IDLE;
break; break;
} }
case(TransferStates::FAILURE): { case (TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n"); sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
transferState = TransferStates::FAILURE; transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0, 5);
result = performDmaTransfer(6);
if (result != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("Error transmitting SPI with DMA\n");
}
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK; switch (transferState) {
std::memset(txBuffer.data() + 1, 0 , 5); case (TransferStates::SUCCESS): {
result = performDmaTransfer(6); if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
if(result != HAL_OK) { rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
// Transfer error in transmission process rxBuffer[5] != configRegs[4]) {
sif::printWarning("Error transmitting SPI with DMA\n"); sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
} else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
transferState = TransferStates::IDLE;
break;
} }
// Wait for the transfer to complete case (TransferStates::FAILURE): {
while (transferState == TransferStates::WAIT) { sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
TaskFactory::delayTask(1); transferState = TransferStates::FAILURE;
} return HasReturnvaluesIF::RETURN_FAILED;
switch(transferState) {
case(TransferStates::SUCCESS): {
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroL3GD20H::handleDmaSensorRead() { ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK; txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 14); std::memset(txBuffer.data() + 1, 0, 14);
HAL_StatusTypeDef result = performDmaTransfer(15); HAL_StatusTypeDef result = performDmaTransfer(15);
if(result != HAL_OK) { if (result != HAL_OK) {
// Transfer error in transmission process // Transfer error in transmission process
sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n"); sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
} }
// Wait for the transfer to complete // Wait for the transfer to complete
while (transferState == TransferStates::WAIT) { while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
switch(transferState) { switch (transferState) {
case(TransferStates::SUCCESS): { case (TransferStates::SUCCESS): {
handleSensorReadout(); handleSensorReadout();
break; break;
} }
case(TransferStates::FAILURE): { case (TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n"); sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
transferState = TransferStates::FAILURE; transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) { HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
transferState = TransferStates::WAIT; transferState = TransferStates::WAIT;
#if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0 #if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F), SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
txBuffer.size()+32); txBuffer.size() + 32);
#endif #endif
// Start SPI transfer via DMA // Start SPI transfer via DMA
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize); return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
} }
ReturnValue_t GyroL3GD20H::handlePollingTransferInit() { ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000); auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) { switch (result) {
case(HAL_OK): { case (HAL_OK): {
sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n"); sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
uint8_t whoAmIVal = rxBuffer[1]; uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) { if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::performOperation: " sif::printDebug(
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal); "GyroL3GD20H::performOperation: "
} "Read WHO AM I value %d not equal to expected value!\n",
break; whoAmIVal);
}
break;
} }
case(HAL_TIMEOUT): { case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
case(HAL_ERROR): { case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
sif::printInfo("GyroL3GD20H::initialize: Configuring device\n"); sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
// Configure the 5 configuration registers // Configure the 5 configuration registers
uint8_t configRegs[5]; uint8_t configRegs[5];
prepareConfigRegs(configRegs); prepareConfigRegs(configRegs);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000); result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) { switch (result) {
case(HAL_OK): { case (HAL_OK): {
break; break;
} }
case(HAL_TIMEOUT): { case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
case(HAL_ERROR): { case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK; txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 5); std::memset(txBuffer.data() + 1, 0, 5);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000); result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) { switch (result) {
case(HAL_OK): { case (HAL_OK): {
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) { rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n"); sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
} } else {
else { sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n"); }
} break;
break;
} }
case(HAL_TIMEOUT): { case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
case(HAL_ERROR): { case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroL3GD20H::handlePollingSensorRead() { ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK; txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 14); std::memset(txBuffer.data() + 1, 0, 14);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000); auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) { switch (result) {
case(HAL_OK): { case (HAL_OK): {
handleSensorReadout(); handleSensorReadout();
break; break;
} }
case(HAL_TIMEOUT): { case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
case(HAL_ERROR): { case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n"); sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() { ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) { switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
case(HAL_OK): { case (HAL_OK): {
sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n"); sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
// Wait for the transfer to complete // Wait for the transfer to complete
while (transferState == TransferStates::WAIT) { while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
uint8_t whoAmIVal = rxBuffer[1]; uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) { if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: " sif::printDebug(
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal); "GyroL3GD20H::initialize: "
} "Read WHO AM I value %d not equal to expected value!\n",
break; whoAmIVal);
} }
case(HAL_BUSY): break;
case(HAL_ERROR):
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
} }
case (HAL_BUSY):
case (HAL_ERROR):
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
} }
}
sif::printInfo("GyroL3GD20H::initialize: Configuring device\n"); sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
transferState = TransferStates::WAIT; transferState = TransferStates::WAIT;
// Configure the 5 configuration registers // Configure the 5 configuration registers
uint8_t configRegs[5]; uint8_t configRegs[5];
prepareConfigRegs(configRegs); prepareConfigRegs(configRegs);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) { switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case(HAL_OK): { case (HAL_OK): {
// Wait for the transfer to complete // Wait for the transfer to complete
while (transferState == TransferStates::WAIT) { while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
break; break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
} }
case (HAL_BUSY):
case (HAL_ERROR):
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
} }
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK; txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 5); std::memset(txBuffer.data() + 1, 0, 5);
transferState = TransferStates::WAIT; transferState = TransferStates::WAIT;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) { switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case(HAL_OK): { case (HAL_OK): {
// Wait for the transfer to complete // Wait for the transfer to complete
while (transferState == TransferStates::WAIT) { while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) { rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n"); sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
} } else {
else { sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n"); }
} break;
break;
} }
case(HAL_BUSY): case (HAL_BUSY):
case(HAL_ERROR): case (HAL_ERROR):
case(HAL_TIMEOUT): { case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n"); sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() { ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
transferState = TransferStates::WAIT; transferState = TransferStates::WAIT;
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK; txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 14); std::memset(txBuffer.data() + 1, 0, 14);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) { switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
case(HAL_OK): { case (HAL_OK): {
// Wait for the transfer to complete // Wait for the transfer to complete
while (transferState == TransferStates::WAIT) { while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
handleSensorReadout(); handleSensorReadout();
break; break;
} }
case(HAL_BUSY): case (HAL_BUSY):
case(HAL_ERROR): case (HAL_ERROR):
case(HAL_TIMEOUT): { case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n"); sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) { void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
// Enable sensor // Enable sensor
configRegs[0] = 0b00001111; configRegs[0] = 0b00001111;
configRegs[1] = 0b00000000; configRegs[1] = 0b00000000;
configRegs[2] = 0b00000000; configRegs[2] = 0b00000000;
// Big endian select // Big endian select
configRegs[3] = 0b01000000; configRegs[3] = 0b01000000;
configRegs[4] = 0b00000000; configRegs[4] = 0b00000000;
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK; txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
std::memcpy(txBuffer.data() + 1, configRegs, 5); std::memcpy(txBuffer.data() + 1, configRegs, 5);
} }
uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) { uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
uint8_t rxBuf[2] = {}; uint8_t rxBuf[2] = {};
uint8_t txBuf[2] = {}; uint8_t txBuf[2] = {};
txBuf[0] = reg | STM_READ_MASK; txBuf[0] = reg | STM_READ_MASK;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000); auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
if(result) {}; if (result) {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET); };
return rxBuf[1]; HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
return rxBuf[1];
} }
void GyroL3GD20H::handleSensorReadout() { void GyroL3GD20H::handleSensorReadout() {
uint8_t statusReg = rxBuffer[8]; uint8_t statusReg = rxBuffer[8];
int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10]; int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
float gyroX = static_cast<float>(gyroXRaw) * 0.00875; float gyroX = static_cast<float>(gyroXRaw) * 0.00875;
int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12]; int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
float gyroY = static_cast<float>(gyroYRaw) * 0.00875; float gyroY = static_cast<float>(gyroYRaw) * 0.00875;
int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14]; int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
float gyroZ = static_cast<float>(gyroZRaw) * 0.00875; float gyroZ = static_cast<float>(gyroZRaw) * 0.00875;
sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg)); sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
sif::printInfo("Gyro X: %f\n", gyroX); sif::printInfo("Gyro X: %f\n", gyroX);
sif::printInfo("Gyro Y: %f\n", gyroY); sif::printInfo("Gyro Y: %f\n", gyroY);
sif::printInfo("Gyro Z: %f\n", gyroZ); sif::printInfo("Gyro Z: %f\n", gyroZ);
} }
void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args) { transferState = TransferStates::SUCCESS;
transferState = TransferStates::SUCCESS; HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET); if (GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
if(GyroL3GD20H::transferMode == spi::TransferModes::DMA) { // Invalidate cache prior to access by CPU
// Invalidate cache prior to access by CPU SCB_InvalidateDCache_by_Addr((uint32_t *)GyroL3GD20H::rxBuffer.data(),
SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(), GyroL3GD20H::recvBufferSize);
GyroL3GD20H::recvBufferSize); }
}
} }
/** /**
@ -553,6 +551,6 @@ void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* arg
* add your own implementation. * add your own implementation.
* @retval None * @retval None
*/ */
void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args) { void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
transferState = TransferStates::FAILURE; transferState = TransferStates::FAILURE;
} }

87
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
View File

@ -1,70 +1,61 @@
#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ #ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ #define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#include "stm32h7xx_hal.h" #include <array>
#include "stm32h7xx_hal_spi.h" #include <cstdint>
#include "../spi/mspInit.h" #include "../spi/mspInit.h"
#include "../spi/spiDefinitions.h" #include "../spi/spiDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#include <cstdint> enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
#include <array>
enum class TransferStates {
IDLE,
WAIT,
SUCCESS,
FAILURE
};
class GyroL3GD20H { class GyroL3GD20H {
public: public:
GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode); GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
~GyroL3GD20H(); ~GyroL3GD20H();
ReturnValue_t initialize(); ReturnValue_t initialize();
ReturnValue_t performOperation(); ReturnValue_t performOperation();
private: private:
const uint8_t WHO_AM_I_REG = 0b00001111;
const uint8_t STM_READ_MASK = 0b10000000;
const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
const uint8_t CTRL_REG_1 = 0b00100000;
const uint32_t L3G_RANGE = 245;
const uint8_t WHO_AM_I_REG = 0b00001111; SPI_HandleTypeDef* spiHandle;
const uint8_t STM_READ_MASK = 0b10000000;
const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
const uint8_t CTRL_REG_1 = 0b00100000;
const uint32_t L3G_RANGE = 245;
SPI_HandleTypeDef* spiHandle; static spi::TransferModes transferMode;
static constexpr size_t recvBufferSize = 32 * 10;
static std::array<uint8_t, recvBufferSize> rxBuffer;
static constexpr size_t txBufferSize = 32;
static std::array<uint8_t, txBufferSize> txBuffer;
static spi::TransferModes transferMode; ReturnValue_t handleDmaTransferInit();
static constexpr size_t recvBufferSize = 32 * 10; ReturnValue_t handlePollingTransferInit();
static std::array<uint8_t, recvBufferSize> rxBuffer; ReturnValue_t handleInterruptTransferInit();
static constexpr size_t txBufferSize = 32;
static std::array<uint8_t, txBufferSize> txBuffer;
ReturnValue_t handleDmaTransferInit(); ReturnValue_t handleDmaSensorRead();
ReturnValue_t handlePollingTransferInit(); HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
ReturnValue_t handleInterruptTransferInit(); ReturnValue_t handlePollingSensorRead();
ReturnValue_t handleInterruptSensorRead();
ReturnValue_t handleDmaSensorRead(); uint8_t readRegPolling(uint8_t reg);
HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
ReturnValue_t handlePollingSensorRead();
ReturnValue_t handleInterruptSensorRead();
uint8_t readRegPolling(uint8_t reg); static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args); void prepareConfigRegs(uint8_t* configRegs);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args); void handleSensorReadout();
DMA_HandleTypeDef* txDmaHandle = {};
void prepareConfigRegs(uint8_t* configRegs); DMA_HandleTypeDef* rxDmaHandle = {};
void handleSensorReadout(); spi::MspCfgBase* mspCfg = {};
DMA_HandleTypeDef* txDmaHandle = {};
DMA_HandleTypeDef* rxDmaHandle = {};
spi::MspCfgBase* mspCfg = {};
}; };
#endif /* FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */ #endif /* FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */

95
hal/src/fsfw_hal/stm32h7/dma.cpp
View File

@ -1,7 +1,7 @@
#include <fsfw_hal/stm32h7/dma.h> #include <fsfw_hal/stm32h7/dma.h>
#include <cstdint>
#include <cstddef> #include <cstddef>
#include <cstdint>
user_handler_t DMA_1_USER_HANDLERS[8]; user_handler_t DMA_1_USER_HANDLERS[8];
user_args_t DMA_1_USER_ARGS[8]; user_args_t DMA_1_USER_ARGS[8];
@ -10,15 +10,14 @@ user_handler_t DMA_2_USER_HANDLERS[8];
user_args_t DMA_2_USER_ARGS[8]; user_args_t DMA_2_USER_ARGS[8];
void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
user_handler_t user_handler, user_args_t user_args) { user_handler_t user_handler, user_args_t user_args) {
if(dma_idx == DMA_1) { if (dma_idx == DMA_1) {
DMA_1_USER_HANDLERS[stream_idx] = user_handler; DMA_1_USER_HANDLERS[stream_idx] = user_handler;
DMA_1_USER_ARGS[stream_idx] = user_args; DMA_1_USER_ARGS[stream_idx] = user_args;
} } else if (dma_idx == DMA_2) {
else if(dma_idx == DMA_2) { DMA_2_USER_HANDLERS[stream_idx] = user_handler;
DMA_2_USER_HANDLERS[stream_idx] = user_handler; DMA_2_USER_ARGS[stream_idx] = user_args;
DMA_2_USER_ARGS[stream_idx] = user_args; }
}
} }
// The interrupt handlers in the format required for the IRQ vector table // The interrupt handlers in the format required for the IRQ vector table
@ -26,59 +25,27 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
/* Do not change these function names! They need to be exactly equal to the name of the functions /* Do not change these function names! They need to be exactly equal to the name of the functions
defined in the startup_stm32h743xx.s files! */ defined in the startup_stm32h743xx.s files! */
#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX) \ #define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX) \
if(DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) { \ if (DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) { \
DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \ DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
return; \ return; \
} \ } \
Default_Handler() \ Default_Handler()
extern"C" void DMA1_Stream0_IRQHandler() { extern "C" void DMA1_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 0); }
GENERIC_DMA_IRQ_HANDLER(1, 0); extern "C" void DMA1_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 1); }
} extern "C" void DMA1_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 2); }
extern"C" void DMA1_Stream1_IRQHandler() { extern "C" void DMA1_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 3); }
GENERIC_DMA_IRQ_HANDLER(1, 1); extern "C" void DMA1_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 4); }
} extern "C" void DMA1_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 5); }
extern"C" void DMA1_Stream2_IRQHandler() { extern "C" void DMA1_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 6); }
GENERIC_DMA_IRQ_HANDLER(1, 2); extern "C" void DMA1_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 7); }
}
extern"C" void DMA1_Stream3_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 3);
}
extern"C" void DMA1_Stream4_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 4);
}
extern"C" void DMA1_Stream5_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 5);
}
extern"C" void DMA1_Stream6_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 6);
}
extern"C" void DMA1_Stream7_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 7);
}
extern"C" void DMA2_Stream0_IRQHandler() { extern "C" void DMA2_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 0); }
GENERIC_DMA_IRQ_HANDLER(2, 0); extern "C" void DMA2_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 1); }
} extern "C" void DMA2_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 2); }
extern"C" void DMA2_Stream1_IRQHandler() { extern "C" void DMA2_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 3); }
GENERIC_DMA_IRQ_HANDLER(2, 1); extern "C" void DMA2_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 4); }
} extern "C" void DMA2_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 5); }
extern"C" void DMA2_Stream2_IRQHandler() { extern "C" void DMA2_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 6); }
GENERIC_DMA_IRQ_HANDLER(2, 2); extern "C" void DMA2_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 7); }
}
extern"C" void DMA2_Stream3_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 3);
}
extern"C" void DMA2_Stream4_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 4);
}
extern"C" void DMA2_Stream5_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 5);
}
extern"C" void DMA2_Stream6_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 6);
}
extern"C" void DMA2_Stream7_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 7);
}

37
hal/src/fsfw_hal/stm32h7/dma.h
View File

@ -5,31 +5,26 @@
extern "C" { extern "C" {
#endif #endif
#include "interrupts.h"
#include <cstdint> #include <cstdint>
#include "interrupts.h"
namespace dma { namespace dma {
enum DMAType { enum DMAType { TX = 0, RX = 1 };
TX = 0,
RX = 1
};
enum DMAIndexes: uint8_t { enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
DMA_1 = 1,
DMA_2 = 2
};
enum DMAStreams { enum DMAStreams {
STREAM_0 = 0, STREAM_0 = 0,
STREAM_1 = 1, STREAM_1 = 1,
STREAM_2 = 2, STREAM_2 = 2,
STREAM_3 = 3, STREAM_3 = 3,
STREAM_4 = 4, STREAM_4 = 4,
STREAM_5 = 5, STREAM_5 = 5,
STREAM_6 = 6, STREAM_6 = 6,
STREAM_7 = 7, STREAM_7 = 7,
} ; };
/** /**
* Assign user interrupt handlers for DMA streams, allowing to pass an * Assign user interrupt handlers for DMA streams, allowing to pass an
@ -37,10 +32,10 @@ enum DMAStreams {
* @param user_handler * @param user_handler
* @param user_args * @param user_args
*/ */
void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
user_handler_t user_handler, user_args_t user_args); user_args_t user_args);
} } // namespace dma
#ifdef __cplusplus #ifdef __cplusplus
} }

66
hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
View File

@ -4,68 +4,68 @@
void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) { void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
#ifdef GPIOA #ifdef GPIOA
if(gpioPort == GPIOA) { if (gpioPort == GPIOA) {
__HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOB #ifdef GPIOB
if(gpioPort == GPIOB) { if (gpioPort == GPIOB) {
__HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOC #ifdef GPIOC
if(gpioPort == GPIOC) { if (gpioPort == GPIOC) {
__HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOD #ifdef GPIOD
if(gpioPort == GPIOD) { if (gpioPort == GPIOD) {
__HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOE #ifdef GPIOE
if(gpioPort == GPIOE) { if (gpioPort == GPIOE) {
__HAL_RCC_GPIOE_CLK_ENABLE(); __HAL_RCC_GPIOE_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOF #ifdef GPIOF
if(gpioPort == GPIOF) { if (gpioPort == GPIOF) {
__HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOF_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOG #ifdef GPIOG
if(gpioPort == GPIOG) { if (gpioPort == GPIOG) {
__HAL_RCC_GPIOG_CLK_ENABLE(); __HAL_RCC_GPIOG_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOH #ifdef GPIOH
if(gpioPort == GPIOH) { if (gpioPort == GPIOH) {
__HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOI #ifdef GPIOI
if(gpioPort == GPIOI) { if (gpioPort == GPIOI) {
__HAL_RCC_GPIOI_CLK_ENABLE(); __HAL_RCC_GPIOI_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOJ #ifdef GPIOJ
if(gpioPort == GPIOJ) { if (gpioPort == GPIOJ) {
__HAL_RCC_GPIOJ_CLK_ENABLE(); __HAL_RCC_GPIOJ_CLK_ENABLE();
} }
#endif #endif
#ifdef GPIOK #ifdef GPIOK
if(gpioPort == GPIOK) { if (gpioPort == GPIOK) {
__HAL_RCC_GPIOK_CLK_ENABLE(); __HAL_RCC_GPIOK_CLK_ENABLE();
} }
#endif #endif
} }

8
hal/src/fsfw_hal/stm32h7/interrupts.h
View File

@ -12,14 +12,10 @@ extern "C" {
*/ */
extern void Default_Handler(); extern void Default_Handler();
typedef void (*user_handler_t) (void*); typedef void (*user_handler_t)(void*);
typedef void* user_args_t; typedef void* user_args_t;
enum IrqPriorities: uint8_t { enum IrqPriorities : uint8_t { HIGHEST = 0, HIGHEST_FREERTOS = 6, LOWEST = 15 };
HIGHEST = 0,
HIGHEST_FREERTOS = 6,
LOWEST = 15
};
#ifdef __cplusplus #ifdef __cplusplus
} }

648
hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
View File

@ -1,11 +1,11 @@
#include "fsfw_hal/stm32h7/spi/SpiComIF.h" #include "fsfw_hal/stm32h7/spi/SpiComIF.h"
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
#include "fsfw/tasks/SemaphoreFactory.h" #include "fsfw/tasks/SemaphoreFactory.h"
#include "fsfw_hal/stm32h7/gpio/gpio.h"
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h" #include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h" #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/gpio/gpio.h"
// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete // FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently // instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
@ -13,468 +13,462 @@
#if defined FSFW_OSAL_RTEMS #if defined FSFW_OSAL_RTEMS
#include "fsfw/osal/rtems/BinarySemaphore.h" #include "fsfw/osal/rtems/BinarySemaphore.h"
#elif defined FSFW_OSAL_FREERTOS #elif defined FSFW_OSAL_FREERTOS
#include "fsfw/osal/freertos/TaskManagement.h"
#include "fsfw/osal/freertos/BinarySemaphore.h" #include "fsfw/osal/freertos/BinarySemaphore.h"
#include "fsfw/osal/freertos/TaskManagement.h"
#endif #endif
#include "stm32h7xx_hal_gpio.h" #include "stm32h7xx_hal_gpio.h"
SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) { SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
void* irqArgsVoided = reinterpret_cast<void*>(&irqArgs); void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided); spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided); spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided); spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided); spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
} }
void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) { void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
this->cacheMaintenanceOnTxBuffer = enable; this->cacheMaintenanceOnTxBuffer = enable;
} }
void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) { void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) {
spi::setDmaHandles(txHandle, rxHandle); spi::setDmaHandles(txHandle, rxHandle);
} }
ReturnValue_t SpiComIF::initialize() { ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) { ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl; sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
#else #else
sif::printError("SpiComIF::initializeInterface: Invalid cookie\n"); sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
#endif #endif
return NULLPOINTER; return NULLPOINTER;
} }
auto transferMode = spiCookie->getTransferMode(); auto transferMode = spiCookie->getTransferMode();
if(transferMode == spi::TransferModes::DMA) { if (transferMode == spi::TransferModes::DMA) {
DMA_HandleTypeDef *txHandle = nullptr; DMA_HandleTypeDef *txHandle = nullptr;
DMA_HandleTypeDef *rxHandle = nullptr; DMA_HandleTypeDef *rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle); spi::getDmaHandles(&txHandle, &rxHandle);
if(txHandle == nullptr or rxHandle == nullptr) { if (txHandle == nullptr or rxHandle == nullptr) {
sif::printError("SpiComIF::initialize: DMA handles not set!\n"); sif::printError("SpiComIF::initialize: DMA handles not set!\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
// This semaphore ensures thread-safety for a given bus }
spiSemaphore = dynamic_cast<BinarySemaphore*>( // This semaphore ensures thread-safety for a given bus
SemaphoreFactory::instance()->createBinarySemaphore()); spiSemaphore =
address_t spiAddress = spiCookie->getDeviceAddress(); dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
address_t spiAddress = spiCookie->getDeviceAddress();
auto iter = spiDeviceMap.find(spiAddress); auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) { if (iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxRecvSize(); size_t bufferSize = spiCookie->getMaxRecvSize();
auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize)); auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
if (not statusPair.second) { if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " << sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
spiAddress << "to SPI device map" << std::endl; << spiAddress << "to SPI device map" << std::endl;
#else #else
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address " sif::printError(
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress)); "SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n",
static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
auto gpioPin = spiCookie->getChipSelectGpioPin(); }
auto gpioPort = spiCookie->getChipSelectGpioPort(); auto gpioPin = spiCookie->getChipSelectGpioPin();
auto gpioPort = spiCookie->getChipSelectGpioPort();
SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle(); SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
auto spiIdx = spiCookie->getSpiIdx(); auto spiIdx = spiCookie->getSpiIdx();
if(spiIdx == spi::SpiBus::SPI_1) { if (spiIdx == spi::SpiBus::SPI_1) {
#ifdef SPI1 #ifdef SPI1
spiHandle.Instance = SPI1; spiHandle.Instance = SPI1;
#endif #endif
} } else if (spiIdx == spi::SpiBus::SPI_2) {
else if(spiIdx == spi::SpiBus::SPI_2) {
#ifdef SPI2 #ifdef SPI2
spiHandle.Instance = SPI2; spiHandle.Instance = SPI2;
#endif #endif
} } else {
else { printCfgError("SPI Bus Index");
printCfgError("SPI Bus Index"); return HasReturnvaluesIF::RETURN_FAILED;
return HasReturnvaluesIF::RETURN_FAILED; }
}
auto mspCfg = spiCookie->getMspCfg(); auto mspCfg = spiCookie->getMspCfg();
if(transferMode == spi::TransferModes::POLLING) { if (transferMode == spi::TransferModes::POLLING) {
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg); auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
if(typedCfg == nullptr) { if (typedCfg == nullptr) {
printCfgError("Polling MSP"); printCfgError("Polling MSP");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiPollingMspFunctions(typedCfg);
} }
else if(transferMode == spi::TransferModes::INTERRUPT) { spi::setSpiPollingMspFunctions(typedCfg);
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg); } else if (transferMode == spi::TransferModes::INTERRUPT) {
if(typedCfg == nullptr) { auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
printCfgError("IRQ MSP"); if (typedCfg == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; printCfgError("IRQ MSP");
} return HasReturnvaluesIF::RETURN_FAILED;
spi::setSpiIrqMspFunctions(typedCfg);
} }
else if(transferMode == spi::TransferModes::DMA) { spi::setSpiIrqMspFunctions(typedCfg);
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg); } else if (transferMode == spi::TransferModes::DMA) {
if(typedCfg == nullptr) { auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
printCfgError("DMA MSP"); if (typedCfg == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; printCfgError("DMA MSP");
} return HasReturnvaluesIF::RETURN_FAILED;
// Check DMA handles
DMA_HandleTypeDef* txHandle = nullptr;
DMA_HandleTypeDef* rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle);
if(txHandle == nullptr or rxHandle == nullptr) {
printCfgError("DMA Handle");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiDmaMspFunctions(typedCfg);
} }
// Check DMA handles
DMA_HandleTypeDef *txHandle = nullptr;
DMA_HandleTypeDef *rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle);
if (txHandle == nullptr or rxHandle == nullptr) {
printCfgError("DMA Handle");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiDmaMspFunctions(typedCfg);
}
if(gpioPort != nullptr) { if (gpioPort != nullptr) {
gpio::initializeGpioClock(gpioPort); gpio::initializeGpioClock(gpioPort);
GPIO_InitTypeDef chipSelect = {}; GPIO_InitTypeDef chipSelect = {};
chipSelect.Pin = gpioPin; chipSelect.Pin = gpioPin;
chipSelect.Mode = GPIO_MODE_OUTPUT_PP; chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(gpioPort, &chipSelect); HAL_GPIO_Init(gpioPort, &chipSelect);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET); HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
} }
if(HAL_SPI_Init(&spiHandle) != HAL_OK) { if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
sif::printWarning("SpiComIF::initialize: Error initializing SPI\n"); sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
// The MSP configuration struct is not required anymore // The MSP configuration struct is not required anymore
spiCookie->deleteMspCfg(); spiCookie->deleteMspCfg();
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) { ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle(); SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress()); auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if(iter == spiDeviceMap.end()) { if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
iter->second.currentTransferLen = sendLen; iter->second.currentTransferLen = sendLen;
auto transferMode = spiCookie->getTransferMode(); auto transferMode = spiCookie->getTransferMode();
switch(spiCookie->getTransferState()) { switch (spiCookie->getTransferState()) {
case(spi::TransferStates::IDLE): { case (spi::TransferStates::IDLE): {
break; break;
} }
case(spi::TransferStates::WAIT): case (spi::TransferStates::WAIT):
case(spi::TransferStates::FAILURE): case (spi::TransferStates::FAILURE):
case(spi::TransferStates::SUCCESS): case (spi::TransferStates::SUCCESS):
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
switch(transferMode) { switch (transferMode) {
case(spi::TransferModes::POLLING): { case (spi::TransferModes::POLLING): {
return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie, return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen); sendData, sendLen);
} }
case(spi::TransferModes::INTERRUPT): { case (spi::TransferModes::INTERRUPT): {
return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie, return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen); sendData, sendLen);
} }
case(spi::TransferModes::DMA): { case (spi::TransferModes::DMA): {
return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie, return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen); sendData, sendLen);
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) { ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) { ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
}
switch (spiCookie->getTransferState()) {
case (spi::TransferStates::SUCCESS): {
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = iter->second.replyBuffer.data();
*size = iter->second.currentTransferLen;
spiCookie->setTransferState(spi::TransferStates::IDLE);
break;
} }
switch(spiCookie->getTransferState()) { case (spi::TransferStates::FAILURE): {
case(spi::TransferStates::SUCCESS): {
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if(iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = iter->second.replyBuffer.data();
*size = iter->second.currentTransferLen;
spiCookie->setTransferState(spi::TransferStates::IDLE);
break;
}
case(spi::TransferStates::FAILURE): {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl; sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
#else #else
sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n"); sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
#endif #endif
#endif #endif
spiCookie->setTransferState(spi::TransferStates::IDLE); spiCookie->setTransferState(spi::TransferStates::IDLE);
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
case(spi::TransferStates::WAIT): case (spi::TransferStates::WAIT):
case(spi::TransferStates::IDLE): { case (spi::TransferStates::IDLE): {
break; break;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) { void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
this->defaultPollingTimeout = timeout; this->defaultPollingTimeout = timeout;
} }
ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) { SpiCookie &spiCookie, const uint8_t *sendData,
auto gpioPort = spiCookie.getChipSelectGpioPort(); size_t sendLen) {
auto gpioPin = spiCookie.getChipSelectGpioPin(); auto gpioPort = spiCookie.getChipSelectGpioPort();
auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs); auto gpioPin = spiCookie.getChipSelectGpioPin();
if(returnval != HasReturnvaluesIF::RETURN_OK) { auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
return returnval; if (returnval != HasReturnvaluesIF::RETURN_OK) {
} return returnval;
spiCookie.setTransferState(spi::TransferStates::WAIT); }
if(gpioPort != nullptr) { spiCookie.setTransferState(spi::TransferStates::WAIT);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET); if (gpioPort != nullptr) {
} HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
}
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData), auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
recvPtr, sendLen, defaultPollingTimeout); sendLen, defaultPollingTimeout);
if(gpioPort != nullptr) { if (gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET); HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
}
spiSemaphore->release();
switch (result) {
case (HAL_OK): {
spiCookie.setTransferState(spi::TransferStates::SUCCESS);
break;
} }
spiSemaphore->release(); case (HAL_TIMEOUT): {
switch(result) {
case(HAL_OK): {
spiCookie.setTransferState(spi::TransferStates::SUCCESS);
break;
}
case(HAL_TIMEOUT): {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" << sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
spiCookie->getDeviceAddress() << std::endl; << spiCookie->getDeviceAddress() << std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n", sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
spiCookie.getDeviceAddress()); spiCookie.getDeviceAddress());
#endif #endif
#endif #endif
spiCookie.setTransferState(spi::TransferStates::FAILURE); spiCookie.setTransferState(spi::TransferStates::FAILURE);
return spi::HAL_TIMEOUT_RETVAL; return spi::HAL_TIMEOUT_RETVAL;
} }
case(HAL_ERROR): case (HAL_ERROR):
default: { default: {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" << sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
spiCookie->getDeviceAddress() << std::endl; << spiCookie->getDeviceAddress() << std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n", sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
spiCookie.getDeviceAddress()); spiCookie.getDeviceAddress());
#endif #endif
#endif #endif
spiCookie.setTransferState(spi::TransferStates::FAILURE); spiCookie.setTransferState(spi::TransferStates::FAILURE);
return spi::HAL_ERROR_RETVAL; return spi::HAL_ERROR_RETVAL;
} }
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) { SpiCookie &spiCookie, const uint8_t *sendData,
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen); size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
} }
ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) { SpiCookie &spiCookie, const uint8_t *sendData,
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen); size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
} }
ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) { SpiCookie &spiCookie, const uint8_t *sendData,
ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen); size_t sendLen) {
if(result != HasReturnvaluesIF::RETURN_OK) { ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
return result; if (result != HasReturnvaluesIF::RETURN_OK) {
}
// yet another HAL driver which is not const-correct..
HAL_StatusTypeDef status = HAL_OK;
auto transferMode = spiCookie.getTransferMode();
if(transferMode == spi::TransferModes::DMA) {
if(cacheMaintenanceOnTxBuffer) {
/* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */
SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F),
sendLen + 32);
}
status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t*>(sendData),
currentRecvPtr, sendLen);
}
else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
currentRecvPtr, sendLen);
}
switch(status) {
case(HAL_OK): {
break;
}
default: {
return halErrorHandler(status, transferMode);
}
}
return result; return result;
}
// yet another HAL driver which is not const-correct..
HAL_StatusTypeDef status = HAL_OK;
auto transferMode = spiCookie.getTransferMode();
if (transferMode == spi::TransferModes::DMA) {
if (cacheMaintenanceOnTxBuffer) {
/* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */
SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
}
status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
currentRecvPtr, sendLen);
} else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
sendLen);
}
switch (status) {
case (HAL_OK): {
break;
}
default: {
return halErrorHandler(status, transferMode);
}
}
return result;
} }
ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) { ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
char modeString[10]; char modeString[10];
if(transferMode == spi::TransferModes::DMA) { if (transferMode == spi::TransferModes::DMA) {
std::snprintf(modeString, sizeof(modeString), "Dma"); std::snprintf(modeString, sizeof(modeString), "Dma");
} else {
std::snprintf(modeString, sizeof(modeString), "Interrupt");
}
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
switch (status) {
case (HAL_BUSY): {
return spi::HAL_BUSY_RETVAL;
} }
else { case (HAL_ERROR): {
std::snprintf(modeString, sizeof(modeString), "Interrupt"); return spi::HAL_ERROR_RETVAL;
} }
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, case (HAL_TIMEOUT): {
status); return spi::HAL_TIMEOUT_RETVAL;
switch(status) {
case(HAL_BUSY): {
return spi::HAL_BUSY_RETVAL;
}
case(HAL_ERROR): {
return spi::HAL_ERROR_RETVAL;
}
case(HAL_TIMEOUT): {
return spi::HAL_TIMEOUT_RETVAL;
} }
default: { default: {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
}
} }
}
} }
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
currentRecvPtr = recvPtr;
currentRecvBuffSize = sendLen;
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle, // Take the semaphore which will be released by a callback when the transfer is complete
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) { ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
currentRecvPtr = recvPtr; if (result != HasReturnvaluesIF::RETURN_OK) {
currentRecvBuffSize = sendLen; // Configuration error
sif::printWarning(
// Take the semaphore which will be released by a callback when the transfer is complete "SpiComIF::handleInterruptSendOperation: Semaphore "
ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs); "could not be acquired after %d ms\n",
if(result != HasReturnvaluesIF::RETURN_OK) { timeoutMs);
// Configuration error return result;
sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore " }
"could not be acquired after %d ms\n", timeoutMs); // Cache the current SPI handle in any case
return result; spi::setSpiHandle(&spiHandle);
} // Assign the IRQ arguments for the user callbacks
// Cache the current SPI handle in any case irqArgs.comIF = this;
spi::setSpiHandle(&spiHandle); irqArgs.spiCookie = &spiCookie;
// Assign the IRQ arguments for the user callbacks // The SPI handle is passed to the default SPI callback as a void argument. This callback
irqArgs.comIF = this; // is different from the user callbacks specified above!
irqArgs.spiCookie = &spiCookie; spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
// The SPI handle is passed to the default SPI callback as a void argument. This callback if (spiCookie.getChipSelectGpioPort() != nullptr) {
// is different from the user callbacks specified above! HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle)); GPIO_PIN_RESET);
if(spiCookie.getChipSelectGpioPort() != nullptr) { }
HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(), return HasReturnvaluesIF::RETURN_OK;
GPIO_PIN_RESET);
}
return HasReturnvaluesIF::RETURN_OK;
} }
void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) { void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::SUCCESS); genericIrqHandler(args, spi::TransferStates::SUCCESS);
} }
void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) { void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::SUCCESS); genericIrqHandler(args, spi::TransferStates::SUCCESS);
} }
void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) { void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::SUCCESS); genericIrqHandler(args, spi::TransferStates::SUCCESS);
} }
void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) { void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::FAILURE); genericIrqHandler(args, spi::TransferStates::FAILURE);
} }
void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) { void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
IrqArgs* irqArgs = reinterpret_cast<IrqArgs*>(irqArgsVoid); IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
if(irqArgs == nullptr) { if (irqArgs == nullptr) {
return; return;
} }
SpiCookie* spiCookie = irqArgs->spiCookie; SpiCookie *spiCookie = irqArgs->spiCookie;
SpiComIF* comIF = irqArgs->comIF; SpiComIF *comIF = irqArgs->comIF;
if(spiCookie == nullptr or comIF == nullptr) { if (spiCookie == nullptr or comIF == nullptr) {
return; return;
} }
spiCookie->setTransferState(targetState); spiCookie->setTransferState(targetState);
if(spiCookie->getChipSelectGpioPort() != nullptr) {
// Pull CS pin high again
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET);
}
if (spiCookie->getChipSelectGpioPort() != nullptr) {
// Pull CS pin high again
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET);
}
#if defined FSFW_OSAL_FREERTOS #if defined FSFW_OSAL_FREERTOS
// Release the task semaphore // Release the task semaphore
BaseType_t taskWoken = pdFALSE; BaseType_t taskWoken = pdFALSE;
ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), ReturnValue_t result =
&taskWoken); BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
#elif defined FSFW_OSAL_RTEMS #elif defined FSFW_OSAL_RTEMS
ReturnValue_t result = comIF->spiSemaphore->release(); ReturnValue_t result = comIF->spiSemaphore->release();
#endif #endif
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error // Configuration error
printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n"); printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
} }
// Perform cache maintenance operation for DMA transfers // Perform cache maintenance operation for DMA transfers
if(spiCookie->getTransferMode() == spi::TransferModes::DMA) { if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
// Invalidate cache prior to access by CPU // Invalidate cache prior to access by CPU
SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr, SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
comIF->currentRecvBuffSize); }
}
#if defined FSFW_OSAL_FREERTOS #if defined FSFW_OSAL_FREERTOS
/* Request a context switch if the SPI ComIF task was woken up and has a higher priority /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
than the currently running task */ than the currently running task */
if(taskWoken == pdTRUE) { if (taskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(CallContext::ISR); TaskManagement::requestContextSwitch(CallContext::ISR);
} }
#endif #endif
} }
void SpiComIF::printCfgError(const char *const type) { void SpiComIF::printCfgError(const char *const type) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration" sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
<< std::endl; << std::endl;
#else #else
sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type); sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
#endif #endif
} }

165
hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h
View File

@ -1,16 +1,15 @@
#ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ #ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
#define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ #define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
#include "fsfw/tasks/SemaphoreIF.h" #include <map>
#include <vector>
#include "fsfw/devicehandlers/DeviceCommunicationIF.h" #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h" #include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/SemaphoreIF.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h" #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h743xx.h" #include "stm32h743xx.h"
#include "stm32h7xx_hal_spi.h"
#include <vector>
#include <map>
class SpiCookie; class SpiCookie;
class BinarySemaphore; class BinarySemaphore;
@ -28,102 +27,100 @@ class BinarySemaphore;
* implementation limits the transfer mode for a given SPI bus. * implementation limits the transfer mode for a given SPI bus.
* @author R. Mueller * @author R. Mueller
*/ */
class SpiComIF: class SpiComIF : public SystemObject, public DeviceCommunicationIF {
public SystemObject, public:
public DeviceCommunicationIF { /**
public: * Create a SPI communication interface for the given SPI peripheral (spiInstance)
/** * @param objectId
* Create a SPI communication interface for the given SPI peripheral (spiInstance) * @param spiInstance
* @param objectId * @param spiHandle
* @param spiInstance * @param transferMode
* @param spiHandle */
* @param transferMode SpiComIF(object_id_t objectId);
*/
SpiComIF(object_id_t objectId);
/** /**
* Allows the user to disable cache maintenance on the TX buffer. This can be done if the * Allows the user to disable cache maintenance on the TX buffer. This can be done if the
* TX buffers are places and MPU protected properly like specified in this link: * TX buffers are places and MPU protected properly like specified in this link:
* https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices * https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
* The cache maintenace is enabled by default. * The cache maintenace is enabled by default.
* @param enable * @param enable
*/ */
void configureCacheMaintenanceOnTxBuffer(bool enable); void configureCacheMaintenanceOnTxBuffer(bool enable);
void setDefaultPollingTimeout(dur_millis_t timeout); void setDefaultPollingTimeout(dur_millis_t timeout);
/** /**
* Add the DMA handles. These need to be set in the DMA transfer mode is used. * Add the DMA handles. These need to be set in the DMA transfer mode is used.
* @param txHandle * @param txHandle
* @param rxHandle * @param rxHandle
*/ */
void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle); void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
// DeviceCommunicationIF overrides // DeviceCommunicationIF overrides
virtual ReturnValue_t initializeInterface(CookieIF * cookie) override; virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie, virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
const uint8_t * sendData, size_t sendLen) override; size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override; virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
size_t requestLen) override; virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, size_t* size) override;
uint8_t **buffer, size_t *size) override;
protected: protected:
struct SpiInstance {
SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
size_t currentTransferLen = 0;
};
struct SpiInstance { struct IrqArgs {
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {} SpiComIF* comIF = nullptr;
std::vector<uint8_t> replyBuffer; SpiCookie* spiCookie = nullptr;
size_t currentTransferLen = 0; };
};
struct IrqArgs { IrqArgs irqArgs;
SpiComIF* comIF = nullptr;
SpiCookie* spiCookie = nullptr;
};
IrqArgs irqArgs; uint32_t defaultPollingTimeout = 50;
uint32_t defaultPollingTimeout = 50; SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING;
dur_millis_t timeoutMs = 20;
SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING; BinarySemaphore* spiSemaphore = nullptr;
dur_millis_t timeoutMs = 20; bool cacheMaintenanceOnTxBuffer = true;
BinarySemaphore* spiSemaphore = nullptr; using SpiDeviceMap = std::map<address_t, SpiInstance>;
bool cacheMaintenanceOnTxBuffer = true; using SpiDeviceMapIter = SpiDeviceMap::iterator;
using SpiDeviceMap = std::map<address_t, SpiInstance>; uint8_t* currentRecvPtr = nullptr;
using SpiDeviceMapIter = SpiDeviceMap::iterator; size_t currentRecvBuffSize = 0;
uint8_t* currentRecvPtr = nullptr; SpiDeviceMap spiDeviceMap;
size_t currentRecvBuffSize = 0;
SpiDeviceMap spiDeviceMap; ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen); static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen); static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args); static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState); void printCfgError(const char* const type);
void printCfgError(const char* const type);
}; };
#endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */ #endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

96
hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
View File

@ -1,78 +1,60 @@
#include "fsfw_hal/stm32h7/spi/SpiCookie.h" #include "fsfw_hal/stm32h7/spi/SpiCookie.h"
SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode, SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
size_t maxRecvSize, stm32h7::GpioCfg csGpio): size_t maxRecvSize, stm32h7::GpioCfg csGpio)
deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode), : deviceAddress(deviceAddress),
transferMode(transferMode), csGpio(csGpio), spiIdx(spiIdx),
mspCfg(mspCfg), maxRecvSize(maxRecvSize) { spiSpeed(spiSpeed),
spiHandle.Init.DataSize = SPI_DATASIZE_8BIT; spiMode(spiMode),
spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB; transferMode(transferMode),
spiHandle.Init.TIMode = SPI_TIMODE_DISABLE; csGpio(csGpio),
spiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; mspCfg(mspCfg),
spiHandle.Init.CRCPolynomial = 7; maxRecvSize(maxRecvSize) {
spiHandle.Init.CRCLength = SPI_CRC_LENGTH_8BIT; spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
spiHandle.Init.NSS = SPI_NSS_SOFT; spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
spiHandle.Init.NSSPMode = SPI_NSS_PULSE_DISABLE; spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
spiHandle.Init.Direction = SPI_DIRECTION_2LINES; spiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
// Recommended setting to avoid glitches spiHandle.Init.CRCPolynomial = 7;
spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE; spiHandle.Init.CRCLength = SPI_CRC_LENGTH_8BIT;
spiHandle.Init.Mode = SPI_MODE_MASTER; spiHandle.Init.NSS = SPI_NSS_SOFT;
spi::assignSpiMode(spiMode, spiHandle); spiHandle.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed); spiHandle.Init.Direction = SPI_DIRECTION_2LINES;
// Recommended setting to avoid glitches
spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
spiHandle.Init.Mode = SPI_MODE_MASTER;
spi::assignSpiMode(spiMode, spiHandle);
spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
} }
uint16_t SpiCookie::getChipSelectGpioPin() const { uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
return csGpio.pin;
}
GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
return csGpio.port;
}
address_t SpiCookie::getDeviceAddress() const { address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
return deviceAddress;
}
spi::SpiBus SpiCookie::getSpiIdx() const { spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
return spiIdx;
}
spi::SpiModes SpiCookie::getSpiMode() const { spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
return spiMode;
}
uint32_t SpiCookie::getSpiSpeed() const { uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
return spiSpeed;
}
size_t SpiCookie::getMaxRecvSize() const { size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
return maxRecvSize;
}
SPI_HandleTypeDef& SpiCookie::getSpiHandle() { SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
return spiHandle;
}
spi::MspCfgBase* SpiCookie::getMspCfg() { spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
return mspCfg;
}
void SpiCookie::deleteMspCfg() { void SpiCookie::deleteMspCfg() {
if(mspCfg != nullptr) { if (mspCfg != nullptr) {
delete mspCfg; delete mspCfg;
} }
} }
spi::TransferModes SpiCookie::getTransferMode() const { spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
return transferMode;
}
void SpiCookie::setTransferState(spi::TransferStates transferState) { void SpiCookie::setTransferState(spi::TransferStates transferState) {
this->transferState = transferState; this->transferState = transferState;
} }
spi::TransferStates SpiCookie::getTransferState() const { spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }
return this->transferState;
}

114
hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h
View File

@ -1,16 +1,14 @@
#ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ #ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
#define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ #define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
#include "spiDefinitions.h"
#include "mspInit.h"
#include "../definitions.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "stm32h743xx.h"
#include <utility> #include <utility>
#include "../definitions.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "mspInit.h"
#include "spiDefinitions.h"
#include "stm32h743xx.h"
/** /**
* @brief SPI cookie implementation for the STM32H7 device family * @brief SPI cookie implementation for the STM32H7 device family
* @details * @details
@ -18,63 +16,61 @@
* SPI communication interface * SPI communication interface
* @author R. Mueller * @author R. Mueller
*/ */
class SpiCookie: public CookieIF { class SpiCookie : public CookieIF {
friend class SpiComIF; friend class SpiComIF;
public:
/** public:
* Allows construction of a SPI cookie for a connected SPI device /**
* @param deviceAddress * Allows construction of a SPI cookie for a connected SPI device
* @param spiIdx SPI bus, e.g. SPI1 or SPI2 * @param deviceAddress
* @param transferMode * @param spiIdx SPI bus, e.g. SPI1 or SPI2
* @param mspCfg This is the MSP configuration. The user is expected to supply * @param transferMode
* a valid MSP configuration. See mspInit.h for functions * @param mspCfg This is the MSP configuration. The user is expected to supply
* to create one. * a valid MSP configuration. See mspInit.h for functions
* @param spiSpeed * to create one.
* @param spiMode * @param spiSpeed
* @param chipSelectGpioPin GPIO port. Don't use a number here, use the 16 bit type * @param spiMode
* definitions supplied in the MCU header file! (e.g. GPIO_PIN_X) * @param chipSelectGpioPin GPIO port. Don't use a number here, use the 16 bit type
* @param chipSelectGpioPort GPIO port (e.g. GPIOA) * definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
* @param maxRecvSize Maximum expected receive size. Chose as small as possible. * @param chipSelectGpioPort GPIO port (e.g. GPIOA)
* @param csGpio Optional CS GPIO definition. * @param maxRecvSize Maximum expected receive size. Chose as small as possible.
*/ * @param csGpio Optional CS GPIO definition.
SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode, */
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0)); spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
uint16_t getChipSelectGpioPin() const; uint16_t getChipSelectGpioPin() const;
GPIO_TypeDef* getChipSelectGpioPort(); GPIO_TypeDef* getChipSelectGpioPort();
address_t getDeviceAddress() const; address_t getDeviceAddress() const;
spi::SpiBus getSpiIdx() const; spi::SpiBus getSpiIdx() const;
spi::SpiModes getSpiMode() const; spi::SpiModes getSpiMode() const;
spi::TransferModes getTransferMode() const; spi::TransferModes getTransferMode() const;
uint32_t getSpiSpeed() const; uint32_t getSpiSpeed() const;
size_t getMaxRecvSize() const; size_t getMaxRecvSize() const;
SPI_HandleTypeDef& getSpiHandle(); SPI_HandleTypeDef& getSpiHandle();
private: private:
address_t deviceAddress; address_t deviceAddress;
SPI_HandleTypeDef spiHandle = {}; SPI_HandleTypeDef spiHandle = {};
spi::SpiBus spiIdx; spi::SpiBus spiIdx;
uint32_t spiSpeed; uint32_t spiSpeed;
spi::SpiModes spiMode; spi::SpiModes spiMode;
spi::TransferModes transferMode; spi::TransferModes transferMode;
volatile spi::TransferStates transferState = spi::TransferStates::IDLE; volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
stm32h7::GpioCfg csGpio; stm32h7::GpioCfg csGpio;
// The MSP configuration is cached here. Be careful when using this, it is automatically // The MSP configuration is cached here. Be careful when using this, it is automatically
// deleted by the SPI communication interface if it is not required anymore! // deleted by the SPI communication interface if it is not required anymore!
spi::MspCfgBase* mspCfg = nullptr; spi::MspCfgBase* mspCfg = nullptr;
const size_t maxRecvSize; const size_t maxRecvSize;
// Only the SpiComIF is allowed to use this to prevent dangling pointers issues // Only the SpiComIF is allowed to use this to prevent dangling pointers issues
spi::MspCfgBase* getMspCfg(); spi::MspCfgBase* getMspCfg();
void deleteMspCfg(); void deleteMspCfg();
void setTransferState(spi::TransferStates transferState); void setTransferState(spi::TransferStates transferState);
spi::TransferStates getTransferState() const; spi::TransferStates getTransferState() const;
}; };
#endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */ #endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

311
hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
View File

@ -1,15 +1,15 @@
#include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h" #include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_def.h"
#include <cstdio> #include <cstdio>
#include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_def.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_spi.h"
spi::msp_func_t mspInitFunc = nullptr; spi::msp_func_t mspInitFunc = nullptr;
spi::MspCfgBase* mspInitArgs = nullptr; spi::MspCfgBase* mspInitArgs = nullptr;
@ -27,56 +27,55 @@ spi::MspCfgBase* mspDeinitArgs = nullptr;
* @retval None * @retval None
*/ */
void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) { void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase); auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if(hspi == nullptr or cfg == nullptr) { if (hspi == nullptr or cfg == nullptr) {
return; return;
} }
setSpiHandle(hspi); setSpiHandle(hspi);
DMA_HandleTypeDef* hdma_tx = nullptr; DMA_HandleTypeDef* hdma_tx = nullptr;
DMA_HandleTypeDef* hdma_rx = nullptr; DMA_HandleTypeDef* hdma_rx = nullptr;
spi::getDmaHandles(&hdma_tx, &hdma_rx); spi::getDmaHandles(&hdma_tx, &hdma_rx);
if(hdma_tx == nullptr or hdma_rx == nullptr) { if (hdma_tx == nullptr or hdma_rx == nullptr) {
printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n"); printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
return; return;
} }
spi::halMspInitInterrupt(hspi, cfg); spi::halMspInitInterrupt(hspi, cfg);
// DMA setup // DMA setup
if(cfg->dmaClkEnableWrapper == nullptr) { if (cfg->dmaClkEnableWrapper == nullptr) {
mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid"); mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid");
} }
cfg->dmaClkEnableWrapper(); cfg->dmaClkEnableWrapper();
// Configure the DMA // Configure the DMA
/* Configure the DMA handler for Transmission process */ /* Configure the DMA handler for Transmission process */
if(hdma_tx->Instance == nullptr) { if (hdma_tx->Instance == nullptr) {
// Assume it was not configured properly // Assume it was not configured properly
mspErrorHandler("spi::halMspInitDma", "DMA TX handle invalid"); mspErrorHandler("spi::halMspInitDma", "DMA TX handle invalid");
} }
HAL_DMA_Init(hdma_tx); HAL_DMA_Init(hdma_tx);
/* Associate the initialized DMA handle to the the SPI handle */ /* Associate the initialized DMA handle to the the SPI handle */
__HAL_LINKDMA(hspi, hdmatx, *hdma_tx); __HAL_LINKDMA(hspi, hdmatx, *hdma_tx);
HAL_DMA_Init(hdma_rx); HAL_DMA_Init(hdma_rx);
/* Associate the initialized DMA handle to the the SPI handle */ /* Associate the initialized DMA handle to the the SPI handle */
__HAL_LINKDMA(hspi, hdmarx, *hdma_rx); __HAL_LINKDMA(hspi, hdmarx, *hdma_rx);
/*##-4- Configure the NVIC for DMA #########################################*/ /*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */ /* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */
// Assign the interrupt handler // Assign the interrupt handler
dma::assignDmaUserHandler(cfg->rxDmaIndex, cfg->rxDmaStream, &spi::dmaRxIrqHandler, hdma_rx); dma::assignDmaUserHandler(cfg->rxDmaIndex, cfg->rxDmaStream, &spi::dmaRxIrqHandler, hdma_rx);
HAL_NVIC_SetPriority(cfg->rxDmaIrqNumber, cfg->rxPreEmptPriority, cfg->rxSubpriority); HAL_NVIC_SetPriority(cfg->rxDmaIrqNumber, cfg->rxPreEmptPriority, cfg->rxSubpriority);
HAL_NVIC_EnableIRQ(cfg->rxDmaIrqNumber); HAL_NVIC_EnableIRQ(cfg->rxDmaIrqNumber);
/* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */ /* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
// Assign the interrupt handler // Assign the interrupt handler
dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, &spi::dmaTxIrqHandler, hdma_tx);
&spi::dmaTxIrqHandler, hdma_tx); HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority); HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
} }
/** /**
@ -88,128 +87,126 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
* @retval None * @retval None
*/ */
void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) { void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase); auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if(hspi == nullptr or cfg == nullptr) { if (hspi == nullptr or cfg == nullptr) {
return; return;
} }
spi::halMspDeinitInterrupt(hspi, cfgBase); spi::halMspDeinitInterrupt(hspi, cfgBase);
DMA_HandleTypeDef* hdma_tx = NULL; DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL; DMA_HandleTypeDef* hdma_rx = NULL;
spi::getDmaHandles(&hdma_tx, &hdma_rx); spi::getDmaHandles(&hdma_tx, &hdma_rx);
if(hdma_tx == NULL || hdma_rx == NULL) { if (hdma_tx == NULL || hdma_rx == NULL) {
printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n"); printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
} } else {
else { // Disable the DMA
// Disable the DMA /* De-Initialize the DMA associated to transmission process */
/* De-Initialize the DMA associated to transmission process */ HAL_DMA_DeInit(hdma_tx);
HAL_DMA_DeInit(hdma_tx); /* De-Initialize the DMA associated to reception process */
/* De-Initialize the DMA associated to reception process */ HAL_DMA_DeInit(hdma_rx);
HAL_DMA_DeInit(hdma_rx); }
}
// Disable the NVIC for DMA
HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
// Disable the NVIC for DMA
HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
} }
void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) { void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspPollingConfigStruct*>(cfgBase); auto cfg = dynamic_cast<MspPollingConfigStruct*>(cfgBase);
GPIO_InitTypeDef GPIO_InitStruct = {}; GPIO_InitTypeDef GPIO_InitStruct = {};
/*##-1- Enable peripherals and GPIO Clocks #################################*/ /*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable GPIO TX/RX clock */ /* Enable GPIO TX/RX clock */
cfg->setupCb(); cfg->setupCb();
/*##-2- Configure peripheral GPIO ##########################################*/ /*##-2- Configure peripheral GPIO ##########################################*/
/* SPI SCK GPIO pin configuration */ /* SPI SCK GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->sck.pin; GPIO_InitStruct.Pin = cfg->sck.pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = cfg->sck.altFnc; GPIO_InitStruct.Alternate = cfg->sck.altFnc;
HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct); HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct);
/* SPI MISO GPIO pin configuration */ /* SPI MISO GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->miso.pin; GPIO_InitStruct.Pin = cfg->miso.pin;
GPIO_InitStruct.Alternate = cfg->miso.altFnc; GPIO_InitStruct.Alternate = cfg->miso.altFnc;
HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct); HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct);
/* SPI MOSI GPIO pin configuration */ /* SPI MOSI GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->mosi.pin; GPIO_InitStruct.Pin = cfg->mosi.pin;
GPIO_InitStruct.Alternate = cfg->mosi.altFnc; GPIO_InitStruct.Alternate = cfg->mosi.altFnc;
HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct); HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct);
} }
void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) { void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase); auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
// Reset peripherals // Reset peripherals
cfg->cleanupCb(); cfg->cleanupCb();
// Disable peripherals and GPIO Clocks // Disable peripherals and GPIO Clocks
/* Configure SPI SCK as alternate function */ /* Configure SPI SCK as alternate function */
HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin); HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin);
/* Configure SPI MISO as alternate function */ /* Configure SPI MISO as alternate function */
HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin); HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin);
/* Configure SPI MOSI as alternate function */ /* Configure SPI MOSI as alternate function */
HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin); HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin);
} }
void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) { void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase); auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
if(cfg == nullptr or hspi == nullptr) { if (cfg == nullptr or hspi == nullptr) {
return; return;
} }
spi::halMspInitPolling(hspi, cfg); spi::halMspInitPolling(hspi, cfg);
// Configure the NVIC for SPI // Configure the NVIC for SPI
spi::assignSpiUserHandler(cfg->spiBus, cfg->spiIrqHandler, cfg->spiUserArgs); spi::assignSpiUserHandler(cfg->spiBus, cfg->spiIrqHandler, cfg->spiUserArgs);
HAL_NVIC_SetPriority(cfg->spiIrqNumber, cfg->preEmptPriority, cfg->subpriority); HAL_NVIC_SetPriority(cfg->spiIrqNumber, cfg->preEmptPriority, cfg->subpriority);
HAL_NVIC_EnableIRQ(cfg->spiIrqNumber); HAL_NVIC_EnableIRQ(cfg->spiIrqNumber);
} }
void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) { void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase); auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
spi::halMspDeinitPolling(hspi, cfg); spi::halMspDeinitPolling(hspi, cfg);
// Disable the NVIC for SPI // Disable the NVIC for SPI
HAL_NVIC_DisableIRQ(cfg->spiIrqNumber); HAL_NVIC_DisableIRQ(cfg->spiIrqNumber);
} }
void spi::getMspInitFunction(msp_func_t* init_func, MspCfgBase** args) { void spi::getMspInitFunction(msp_func_t* init_func, MspCfgBase** args) {
if(init_func != NULL && args != NULL) { if (init_func != NULL && args != NULL) {
*init_func = mspInitFunc; *init_func = mspInitFunc;
*args = mspInitArgs; *args = mspInitArgs;
} }
} }
void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) { void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) {
if(deinit_func != NULL && args != NULL) { if (deinit_func != NULL && args != NULL) {
*deinit_func = mspDeinitFunc; *deinit_func = mspDeinitFunc;
*args = mspDeinitArgs; *args = mspDeinitArgs;
} }
} }
void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
msp_func_t initFunc, msp_func_t deinitFunc) { msp_func_t deinitFunc) {
mspInitFunc = initFunc; mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc; mspDeinitFunc = deinitFunc;
mspInitArgs = cfg; mspInitArgs = cfg;
mspDeinitArgs = cfg; mspDeinitArgs = cfg;
} }
void spi::setSpiIrqMspFunctions(MspIrqConfigStruct *cfg, msp_func_t initFunc, void spi::setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) { msp_func_t deinitFunc) {
mspInitFunc = initFunc; mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc; mspDeinitFunc = deinitFunc;
mspInitArgs = cfg; mspInitArgs = cfg;
mspDeinitArgs = cfg; mspDeinitArgs = cfg;
} }
void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t initFunc, void spi::setSpiPollingMspFunctions(MspPollingConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) { msp_func_t deinitFunc) {
mspInitFunc = initFunc; mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc; mspDeinitFunc = deinitFunc;
mspInitArgs = cfg; mspInitArgs = cfg;
mspDeinitArgs = cfg; mspDeinitArgs = cfg;
} }
/** /**
@ -222,13 +219,12 @@ void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t init
* @param hspi: SPI handle pointer * @param hspi: SPI handle pointer
* @retval None * @retval None
*/ */
extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) { extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
if(mspInitFunc != NULL) { if (mspInitFunc != NULL) {
mspInitFunc(hspi, mspInitArgs); mspInitFunc(hspi, mspInitArgs);
} } else {
else { printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n"); }
}
} }
/** /**
@ -239,15 +235,14 @@ extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
* @param hspi: SPI handle pointer * @param hspi: SPI handle pointer
* @retval None * @retval None
*/ */
extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) { extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
if(mspDeinitFunc != NULL) { if (mspDeinitFunc != NULL) {
mspDeinitFunc(hspi, mspDeinitArgs); mspDeinitFunc(hspi, mspDeinitArgs);
} } else {
else { printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n"); }
}
} }
void spi::mspErrorHandler(const char* const function, const char *const message) { void spi::mspErrorHandler(const char* const function, const char* const message) {
printf("%s failure: %s\n", function, message); printf("%s failure: %s\n", function, message);
} }

129
hal/src/fsfw_hal/stm32h7/spi/mspInit.h
View File

@ -1,19 +1,18 @@
#ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_ #ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#define FSFW_HAL_STM32H7_SPI_MSPINIT_H_ #define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#include "spiDefinitions.h" #include <cstdint>
#include "../definitions.h" #include "../definitions.h"
#include "../dma.h" #include "../dma.h"
#include "spiDefinitions.h"
#include "stm32h7xx_hal_spi.h" #include "stm32h7xx_hal_spi.h"
#include <cstdint>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
using mspCb = void (*) (void); using mspCb = void (*)(void);
/** /**
* @brief This file provides MSP implementation for DMA, IRQ and Polling mode for the * @brief This file provides MSP implementation for DMA, IRQ and Polling mode for the
@ -22,74 +21,72 @@ using mspCb = void (*) (void);
namespace spi { namespace spi {
struct MspCfgBase { struct MspCfgBase {
MspCfgBase(); MspCfgBase();
MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso, MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr): mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}
setupCb(setupCb) {}
virtual ~MspCfgBase() = default; virtual ~MspCfgBase() = default;
stm32h7::GpioCfg sck; stm32h7::GpioCfg sck;
stm32h7::GpioCfg mosi; stm32h7::GpioCfg mosi;
stm32h7::GpioCfg miso; stm32h7::GpioCfg miso;
mspCb cleanupCb = nullptr; mspCb cleanupCb = nullptr;
mspCb setupCb = nullptr; mspCb setupCb = nullptr;
}; };
struct MspPollingConfigStruct: public MspCfgBase { struct MspPollingConfigStruct : public MspCfgBase {
MspPollingConfigStruct(): MspCfgBase() {}; MspPollingConfigStruct() : MspCfgBase(){};
MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso, MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr): mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {} : MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
}; };
/* A valid instance of this struct must be passed to the MSP initialization function as a void* /* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */ argument */
struct MspIrqConfigStruct: public MspPollingConfigStruct { struct MspIrqConfigStruct : public MspPollingConfigStruct {
MspIrqConfigStruct(): MspPollingConfigStruct() {}; MspIrqConfigStruct() : MspPollingConfigStruct(){};
MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso, MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr): mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {} : MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
SpiBus spiBus = SpiBus::SPI_1; SpiBus spiBus = SpiBus::SPI_1;
user_handler_t spiIrqHandler = nullptr; user_handler_t spiIrqHandler = nullptr;
user_args_t spiUserArgs = nullptr; user_args_t spiUserArgs = nullptr;
IRQn_Type spiIrqNumber = SPI1_IRQn; IRQn_Type spiIrqNumber = SPI1_IRQn;
// Priorities for NVIC // Priorities for NVIC
// Pre-Empt priority ranging from 0 to 15. If FreeRTOS calls are used, only 5-15 are allowed // Pre-Empt priority ranging from 0 to 15. If FreeRTOS calls are used, only 5-15 are allowed
IrqPriorities preEmptPriority = IrqPriorities::LOWEST; IrqPriorities preEmptPriority = IrqPriorities::LOWEST;
IrqPriorities subpriority = IrqPriorities::LOWEST; IrqPriorities subpriority = IrqPriorities::LOWEST;
}; };
/* A valid instance of this struct must be passed to the MSP initialization function as a void* /* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */ argument */
struct MspDmaConfigStruct: public MspIrqConfigStruct { struct MspDmaConfigStruct : public MspIrqConfigStruct {
MspDmaConfigStruct(): MspIrqConfigStruct() {}; MspDmaConfigStruct() : MspIrqConfigStruct(){};
MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso, MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr): mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {} : MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
void (* dmaClkEnableWrapper) (void) = nullptr; void (*dmaClkEnableWrapper)(void) = nullptr;
dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1; dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1; dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0; dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0;
dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0; dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0;
IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn; IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn; IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
// Priorities for NVIC // Priorities for NVIC
IrqPriorities txPreEmptPriority = IrqPriorities::LOWEST; IrqPriorities txPreEmptPriority = IrqPriorities::LOWEST;
IrqPriorities rxPreEmptPriority = IrqPriorities::LOWEST; IrqPriorities rxPreEmptPriority = IrqPriorities::LOWEST;
IrqPriorities txSubpriority = IrqPriorities::LOWEST; IrqPriorities txSubpriority = IrqPriorities::LOWEST;
IrqPriorities rxSubpriority = IrqPriorities::LOWEST; IrqPriorities rxSubpriority = IrqPriorities::LOWEST;
}; };
using msp_func_t = void (*) (SPI_HandleTypeDef* hspi, MspCfgBase* cfg); using msp_func_t = void (*)(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void getMspInitFunction(msp_func_t* init_func, MspCfgBase** args);
void getMspInitFunction(msp_func_t* init_func, MspCfgBase **args); void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args);
void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase **args);
void halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg); void halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg); void halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
@ -107,23 +104,17 @@ void halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
* @param deinit_func * @param deinit_func
* @param deinit_args * @param deinit_args
*/ */
void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitDma,
msp_func_t initFunc = &spi::halMspInitDma, msp_func_t deinitFunc = &spi::halMspDeinitDma);
msp_func_t deinitFunc= &spi::halMspDeinitDma void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitInterrupt,
); msp_func_t deinitFunc = &spi::halMspDeinitInterrupt);
void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitInterrupt,
msp_func_t deinitFunc= &spi::halMspDeinitInterrupt
);
void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg, void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitPolling, msp_func_t initFunc = &spi::halMspInitPolling,
msp_func_t deinitFunc= &spi::halMspDeinitPolling msp_func_t deinitFunc = &spi::halMspDeinitPolling);
);
void mspErrorHandler(const char* const function, const char *const message); void mspErrorHandler(const char* const function, const char* const message);
}
} // namespace spi
#ifdef __cplusplus #ifdef __cplusplus
} }

434
hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp
View File

@ -1,8 +1,9 @@
#include "fsfw_hal/stm32h7/spi/spiCore.h" #include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include <cstdio> #include <cstdio>
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
SPI_HandleTypeDef* spiHandle = nullptr; SPI_HandleTypeDef* spiHandle = nullptr;
DMA_HandleTypeDef* hdmaTx = nullptr; DMA_HandleTypeDef* hdmaTx = nullptr;
DMA_HandleTypeDef* hdmaRx = nullptr; DMA_HandleTypeDef* hdmaRx = nullptr;
@ -17,117 +18,109 @@ spi_transfer_cb_t errorCb = nullptr;
void* errorArgs = nullptr; void* errorArgs = nullptr;
void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx, void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber); dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber);
void mapSpiBus(DMA_HandleTypeDef *handle, dma::DMAType dmaType, spi::SpiBus spiBus); void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus);
void spi::configureDmaHandle(DMA_HandleTypeDef *handle, spi::SpiBus spiBus, dma::DMAType dmaType, void spi::configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber, dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream,
uint32_t dmaMode, uint32_t dmaPriority) { IRQn_Type* dmaIrqNumber, uint32_t dmaMode, uint32_t dmaPriority) {
using namespace dma; using namespace dma;
mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber); mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber);
mapSpiBus(handle, dmaType, spiBus); mapSpiBus(handle, dmaType, spiBus);
if(dmaType == DMAType::TX) { if (dmaType == DMAType::TX) {
handle->Init.Direction = DMA_MEMORY_TO_PERIPH; handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
} } else {
else { handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
handle->Init.Direction = DMA_PERIPH_TO_MEMORY; }
}
handle->Init.Priority = dmaPriority; handle->Init.Priority = dmaPriority;
handle->Init.Mode = dmaMode; handle->Init.Mode = dmaMode;
// Standard settings for the rest for now // Standard settings for the rest for now
handle->Init.FIFOMode = DMA_FIFOMODE_DISABLE; handle->Init.FIFOMode = DMA_FIFOMODE_DISABLE;
handle->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; handle->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
handle->Init.MemBurst = DMA_MBURST_INC4; handle->Init.MemBurst = DMA_MBURST_INC4;
handle->Init.PeriphBurst = DMA_PBURST_INC4; handle->Init.PeriphBurst = DMA_PBURST_INC4;
handle->Init.PeriphInc = DMA_PINC_DISABLE; handle->Init.PeriphInc = DMA_PINC_DISABLE;
handle->Init.MemInc = DMA_MINC_ENABLE; handle->Init.MemInc = DMA_MINC_ENABLE;
handle->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; handle->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
handle->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; handle->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
} }
void spi::setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) { void spi::setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) {
hdmaTx = txHandle; hdmaTx = txHandle;
hdmaRx = rxHandle; hdmaRx = rxHandle;
} }
void spi::getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) { void spi::getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) {
*txHandle = hdmaTx; *txHandle = hdmaTx;
*rxHandle = hdmaRx; *rxHandle = hdmaRx;
} }
void spi::setSpiHandle(SPI_HandleTypeDef *spiHandle_) { void spi::setSpiHandle(SPI_HandleTypeDef* spiHandle_) {
if(spiHandle_ == NULL) { if (spiHandle_ == NULL) {
return; return;
} }
spiHandle = spiHandle_; spiHandle = spiHandle_;
} }
void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) { void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
rxTxCb = callback; rxTxCb = callback;
rxTxArgs = userArgs; rxTxArgs = userArgs;
} }
void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) { void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
rxCb = callback; rxCb = callback;
rxArgs = userArgs; rxArgs = userArgs;
} }
void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) { void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
txCb = callback; txCb = callback;
txArgs = userArgs; txArgs = userArgs;
} }
void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void *userArgs) { void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs) {
errorCb = callback; errorCb = callback;
errorArgs = userArgs; errorArgs = userArgs;
} }
SPI_HandleTypeDef* spi::getSpiHandle() { SPI_HandleTypeDef* spi::getSpiHandle() { return spiHandle; }
return spiHandle;
}
/** /**
* @brief TxRx Transfer completed callback. * @brief TxRx Transfer completed callback.
* @param hspi: SPI handle * @param hspi: SPI handle
*/ */
extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) { extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi) {
if(rxTxCb != NULL) { if (rxTxCb != NULL) {
rxTxCb(hspi, rxTxArgs); rxTxCb(hspi, rxTxArgs);
} } else {
else { printf("HAL_SPI_TxRxCpltCallback: No user callback specified\n");
printf("HAL_SPI_TxRxCpltCallback: No user callback specified\n"); }
}
} }
/** /**
* @brief TxRx Transfer completed callback. * @brief TxRx Transfer completed callback.
* @param hspi: SPI handle * @param hspi: SPI handle
*/ */
extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) { extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef* hspi) {
if(txCb != NULL) { if (txCb != NULL) {
txCb(hspi, txArgs); txCb(hspi, txArgs);
} } else {
else { printf("HAL_SPI_TxCpltCallback: No user callback specified\n");
printf("HAL_SPI_TxCpltCallback: No user callback specified\n"); }
}
} }
/** /**
* @brief TxRx Transfer completed callback. * @brief TxRx Transfer completed callback.
* @param hspi: SPI handle * @param hspi: SPI handle
*/ */
extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) { extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* hspi) {
if(rxCb != nullptr) { if (rxCb != nullptr) {
rxCb(hspi, rxArgs); rxCb(hspi, rxArgs);
} } else {
else { printf("HAL_SPI_RxCpltCallback: No user callback specified\n");
printf("HAL_SPI_RxCpltCallback: No user callback specified\n"); }
}
} }
/** /**
@ -137,205 +130,200 @@ extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
* add your own implementation. * add your own implementation.
* @retval None * @retval None
*/ */
extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) { extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef* hspi) {
if(errorCb != nullptr) { if (errorCb != nullptr) {
errorCb(hspi, rxArgs); errorCb(hspi, rxArgs);
} } else {
else { printf("HAL_SPI_ErrorCallback: No user callback specified\n");
printf("HAL_SPI_ErrorCallback: No user callback specified\n"); }
}
} }
void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx, void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber) { dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber) {
using namespace dma; using namespace dma;
if(dmaIdx == DMAIndexes::DMA_1) { if (dmaIdx == DMAIndexes::DMA_1) {
#ifdef DMA1 #ifdef DMA1
switch(dmaStream) { switch (dmaStream) {
case(DMAStreams::STREAM_0): { case (DMAStreams::STREAM_0): {
#ifdef DMA1_Stream0 #ifdef DMA1_Stream0
handle->Instance = DMA1_Stream0; handle->Instance = DMA1_Stream0;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream0_IRQn; *dmaIrqNumber = DMA1_Stream0_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_1): { #endif
break;
}
case (DMAStreams::STREAM_1): {
#ifdef DMA1_Stream1 #ifdef DMA1_Stream1
handle->Instance = DMA1_Stream1; handle->Instance = DMA1_Stream1;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream1_IRQn; *dmaIrqNumber = DMA1_Stream1_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_2): { #endif
break;
}
case (DMAStreams::STREAM_2): {
#ifdef DMA1_Stream2 #ifdef DMA1_Stream2
handle->Instance = DMA1_Stream2; handle->Instance = DMA1_Stream2;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream2_IRQn; *dmaIrqNumber = DMA1_Stream2_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_3): { #endif
break;
}
case (DMAStreams::STREAM_3): {
#ifdef DMA1_Stream3 #ifdef DMA1_Stream3
handle->Instance = DMA1_Stream3; handle->Instance = DMA1_Stream3;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream3_IRQn; *dmaIrqNumber = DMA1_Stream3_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_4): { #endif
break;
}
case (DMAStreams::STREAM_4): {
#ifdef DMA1_Stream4 #ifdef DMA1_Stream4
handle->Instance = DMA1_Stream4; handle->Instance = DMA1_Stream4;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream4_IRQn; *dmaIrqNumber = DMA1_Stream4_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_5): { #endif
break;
}
case (DMAStreams::STREAM_5): {
#ifdef DMA1_Stream5 #ifdef DMA1_Stream5
handle->Instance = DMA1_Stream5; handle->Instance = DMA1_Stream5;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream5_IRQn; *dmaIrqNumber = DMA1_Stream5_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_6): { #endif
break;
}
case (DMAStreams::STREAM_6): {
#ifdef DMA1_Stream6 #ifdef DMA1_Stream6
handle->Instance = DMA1_Stream6; handle->Instance = DMA1_Stream6;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream6_IRQn; *dmaIrqNumber = DMA1_Stream6_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_7): { #endif
break;
}
case (DMAStreams::STREAM_7): {
#ifdef DMA1_Stream7 #ifdef DMA1_Stream7
handle->Instance = DMA1_Stream7; handle->Instance = DMA1_Stream7;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream7_IRQn; *dmaIrqNumber = DMA1_Stream7_IRQn;
} }
#endif #endif
break; break;
} }
} }
if(dmaType == DMAType::TX) { if (dmaType == DMAType::TX) {
handle->Init.Request = DMA_REQUEST_SPI1_TX; handle->Init.Request = DMA_REQUEST_SPI1_TX;
} } else {
else { handle->Init.Request = DMA_REQUEST_SPI1_RX;
handle->Init.Request = DMA_REQUEST_SPI1_RX; }
}
#endif /* DMA1 */ #endif /* DMA1 */
} }
if(dmaIdx == DMAIndexes::DMA_2) { if (dmaIdx == DMAIndexes::DMA_2) {
#ifdef DMA2 #ifdef DMA2
switch(dmaStream) { switch (dmaStream) {
case(DMAStreams::STREAM_0): { case (DMAStreams::STREAM_0): {
#ifdef DMA2_Stream0 #ifdef DMA2_Stream0
handle->Instance = DMA2_Stream0; handle->Instance = DMA2_Stream0;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream0_IRQn; *dmaIrqNumber = DMA2_Stream0_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_1): { #endif
break;
}
case (DMAStreams::STREAM_1): {
#ifdef DMA2_Stream1 #ifdef DMA2_Stream1
handle->Instance = DMA2_Stream1; handle->Instance = DMA2_Stream1;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream1_IRQn; *dmaIrqNumber = DMA2_Stream1_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_2): { #endif
break;
}
case (DMAStreams::STREAM_2): {
#ifdef DMA2_Stream2 #ifdef DMA2_Stream2
handle->Instance = DMA2_Stream2; handle->Instance = DMA2_Stream2;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream2_IRQn; *dmaIrqNumber = DMA2_Stream2_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_3): { #endif
break;
}
case (DMAStreams::STREAM_3): {
#ifdef DMA2_Stream3 #ifdef DMA2_Stream3
handle->Instance = DMA2_Stream3; handle->Instance = DMA2_Stream3;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream3_IRQn; *dmaIrqNumber = DMA2_Stream3_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_4): { #endif
break;
}
case (DMAStreams::STREAM_4): {
#ifdef DMA2_Stream4 #ifdef DMA2_Stream4
handle->Instance = DMA2_Stream4; handle->Instance = DMA2_Stream4;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream4_IRQn; *dmaIrqNumber = DMA2_Stream4_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_5): { #endif
break;
}
case (DMAStreams::STREAM_5): {
#ifdef DMA2_Stream5 #ifdef DMA2_Stream5
handle->Instance = DMA2_Stream5; handle->Instance = DMA2_Stream5;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream5_IRQn; *dmaIrqNumber = DMA2_Stream5_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_6): { #endif
break;
}
case (DMAStreams::STREAM_6): {
#ifdef DMA2_Stream6 #ifdef DMA2_Stream6
handle->Instance = DMA2_Stream6; handle->Instance = DMA2_Stream6;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream6_IRQn; *dmaIrqNumber = DMA2_Stream6_IRQn;
}
#endif
break;
} }
case(DMAStreams::STREAM_7): { #endif
break;
}
case (DMAStreams::STREAM_7): {
#ifdef DMA2_Stream7 #ifdef DMA2_Stream7
handle->Instance = DMA2_Stream7; handle->Instance = DMA2_Stream7;
if(dmaIrqNumber != nullptr) { if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream7_IRQn; *dmaIrqNumber = DMA2_Stream7_IRQn;
} }
#endif #endif
break; break;
} }
}
#endif /* DMA2 */
} }
#endif /* DMA2 */
}
} }
void mapSpiBus(DMA_HandleTypeDef *handle, dma::DMAType dmaType, spi::SpiBus spiBus) { void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus) {
if(dmaType == dma::DMAType::TX) { if (dmaType == dma::DMAType::TX) {
if(spiBus == spi::SpiBus::SPI_1) { if (spiBus == spi::SpiBus::SPI_1) {
#ifdef DMA_REQUEST_SPI1_TX #ifdef DMA_REQUEST_SPI1_TX
handle->Init.Request = DMA_REQUEST_SPI1_TX; handle->Init.Request = DMA_REQUEST_SPI1_TX;
#endif #endif
} } else if (spiBus == spi::SpiBus::SPI_2) {
else if(spiBus == spi::SpiBus::SPI_2) {
#ifdef DMA_REQUEST_SPI2_TX #ifdef DMA_REQUEST_SPI2_TX
handle->Init.Request = DMA_REQUEST_SPI2_TX; handle->Init.Request = DMA_REQUEST_SPI2_TX;
#endif #endif
}
} }
else { } else {
if(spiBus == spi::SpiBus::SPI_1) { if (spiBus == spi::SpiBus::SPI_1) {
#ifdef DMA_REQUEST_SPI1_RX #ifdef DMA_REQUEST_SPI1_RX
handle->Init.Request = DMA_REQUEST_SPI1_RX; handle->Init.Request = DMA_REQUEST_SPI1_RX;
#endif #endif
} } else if (spiBus == spi::SpiBus::SPI_2) {
else if(spiBus == spi::SpiBus::SPI_2) {
#ifdef DMA_REQUEST_SPI2_RX #ifdef DMA_REQUEST_SPI2_RX
handle->Init.Request = DMA_REQUEST_SPI2_RX; handle->Init.Request = DMA_REQUEST_SPI2_RX;
#endif #endif
}
} }
}
} }

14
hal/src/fsfw_hal/stm32h7/spi/spiCore.h
View File

@ -3,7 +3,6 @@
#include "fsfw_hal/stm32h7/dma.h" #include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h" #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h7xx_hal.h" #include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h" #include "stm32h7xx_hal_dma.h"
@ -11,14 +10,13 @@
extern "C" { extern "C" {
#endif #endif
using spi_transfer_cb_t = void (*) (SPI_HandleTypeDef *hspi, void* userArgs); using spi_transfer_cb_t = void (*)(SPI_HandleTypeDef* hspi, void* userArgs);
namespace spi { namespace spi {
void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
dma::DMAType dmaType, dma::DMAIndexes dmaIdx, dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber, uint32_t dmaMode = DMA_NORMAL, uint32_t dmaMode = DMA_NORMAL, uint32_t dmaPriority = DMA_PRIORITY_LOW);
uint32_t dmaPriority = DMA_PRIORITY_LOW);
/** /**
* Assign DMA handles. Required to use DMA for SPI transfers. * Assign DMA handles. Required to use DMA for SPI transfers.
@ -32,7 +30,7 @@ void getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
* Assign SPI handle. Needs to be done before using the SPI * Assign SPI handle. Needs to be done before using the SPI
* @param spiHandle * @param spiHandle
*/ */
void setSpiHandle(SPI_HandleTypeDef *spiHandle); void setSpiHandle(SPI_HandleTypeDef* spiHandle);
void assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs); void assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
void assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs); void assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
@ -45,7 +43,7 @@ void assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs);
*/ */
SPI_HandleTypeDef* getSpiHandle(); SPI_HandleTypeDef* getSpiHandle();
} } // namespace spi
#ifdef __cplusplus #ifdef __cplusplus
} }

70
hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp
View File

@ -1,52 +1,46 @@
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h" #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) { void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) {
switch(spiMode) { switch (spiMode) {
case(SpiModes::MODE_0): { case (SpiModes::MODE_0): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW; spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE; spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
break; break;
} }
case(SpiModes::MODE_1): { case (SpiModes::MODE_1): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW; spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE; spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
break; break;
} }
case(SpiModes::MODE_2): { case (SpiModes::MODE_2): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH; spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE; spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
break; break;
}
case(SpiModes::MODE_3): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
break;
} }
case (SpiModes::MODE_3): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
break;
} }
}
} }
uint32_t spi::getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps) { uint32_t spi::getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps) {
uint32_t divisor = 0; uint32_t divisor = 0;
uint32_t spi_clk = clock_src_freq; uint32_t spi_clk = clock_src_freq;
uint32_t presc = 0; uint32_t presc = 0;
static const uint32_t baudrate[] = { static const uint32_t baudrate[] = {
SPI_BAUDRATEPRESCALER_2, SPI_BAUDRATEPRESCALER_2, SPI_BAUDRATEPRESCALER_4, SPI_BAUDRATEPRESCALER_8,
SPI_BAUDRATEPRESCALER_4, SPI_BAUDRATEPRESCALER_16, SPI_BAUDRATEPRESCALER_32, SPI_BAUDRATEPRESCALER_64,
SPI_BAUDRATEPRESCALER_8, SPI_BAUDRATEPRESCALER_128, SPI_BAUDRATEPRESCALER_256,
SPI_BAUDRATEPRESCALER_16, };
SPI_BAUDRATEPRESCALER_32,
SPI_BAUDRATEPRESCALER_64,
SPI_BAUDRATEPRESCALER_128,
SPI_BAUDRATEPRESCALER_256,
};
while( spi_clk > baudrate_mbps) { while (spi_clk > baudrate_mbps) {
presc = baudrate[divisor]; presc = baudrate[divisor];
if (++divisor > 7) if (++divisor > 7) break;
break;
spi_clk = ( spi_clk >> 1); spi_clk = (spi_clk >> 1);
} }
return presc; return presc;
} }

26
hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
View File

@ -2,37 +2,24 @@
#define FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ #define FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_
#include "../../common/spi/spiCommon.h" #include "../../common/spi/spiCommon.h"
#include "fsfw/returnvalues/FwClassIds.h" #include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "stm32h7xx_hal.h" #include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h" #include "stm32h7xx_hal_spi.h"
namespace spi { namespace spi {
static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI; static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0); static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL =
HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
static constexpr ReturnValue_t HAL_BUSY_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1); static constexpr ReturnValue_t HAL_BUSY_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1);
static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 2); static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 2);
enum class TransferStates { enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
IDLE,
WAIT,
SUCCESS,
FAILURE
};
enum SpiBus { enum SpiBus { SPI_1, SPI_2 };
SPI_1,
SPI_2
};
enum TransferModes { enum TransferModes { POLLING, INTERRUPT, DMA };
POLLING,
INTERRUPT,
DMA
};
void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle); void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle);
@ -44,7 +31,6 @@ void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle);
*/ */
uint32_t getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps); uint32_t getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps);
} } // namespace spi
#endif /* FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ */ #endif /* FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ */

111
hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp
View File

@ -1,12 +1,12 @@
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h" #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include <stddef.h>
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "stm32h7xx_hal.h" #include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h" #include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_spi.h" #include "stm32h7xx_hal_spi.h"
#include <stddef.h>
user_handler_t spi1UserHandler = &spi::spiIrqHandler; user_handler_t spi1UserHandler = &spi::spiIrqHandler;
user_args_t spi1UserArgs = nullptr; user_args_t spi1UserArgs = nullptr;
@ -18,11 +18,11 @@ user_args_t spi2UserArgs = nullptr;
* @param None * @param None
* @retval None * @retval None
*/ */
void spi::dmaRxIrqHandler(void* dmaHandle) { void spi::dmaRxIrqHandler(void *dmaHandle) {
if(dmaHandle == nullptr) { if (dmaHandle == nullptr) {
return; return;
} }
HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle); HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
} }
/** /**
@ -30,11 +30,11 @@ void spi::dmaRxIrqHandler(void* dmaHandle) {
* @param None * @param None
* @retval None * @retval None
*/ */
void spi::dmaTxIrqHandler(void* dmaHandle) { void spi::dmaTxIrqHandler(void *dmaHandle) {
if(dmaHandle == nullptr) { if (dmaHandle == nullptr) {
return; return;
} }
HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle); HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
} }
/** /**
@ -42,65 +42,62 @@ void spi::dmaTxIrqHandler(void* dmaHandle) {
* @param None * @param None
* @retval None * @retval None
*/ */
void spi::spiIrqHandler(void* spiHandle) { void spi::spiIrqHandler(void *spiHandle) {
if(spiHandle == nullptr) { if (spiHandle == nullptr) {
return; return;
} }
//auto currentSpiHandle = spi::getSpiHandle(); // auto currentSpiHandle = spi::getSpiHandle();
HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spiHandle); HAL_SPI_IRQHandler((SPI_HandleTypeDef *)spiHandle);
} }
void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler, void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
user_args_t userArgs) { user_args_t userArgs) {
if(spiIdx == spi::SpiBus::SPI_1) { if (spiIdx == spi::SpiBus::SPI_1) {
spi1UserHandler = userHandler; spi1UserHandler = userHandler;
spi1UserArgs = userArgs; spi1UserArgs = userArgs;
} } else {
else { spi2UserHandler = userHandler;
spi2UserHandler = userHandler; spi2UserArgs = userArgs;
spi2UserArgs = userArgs; }
}
} }
void spi::getSpiUserHandler(spi::SpiBus spiBus, user_handler_t *userHandler, void spi::getSpiUserHandler(spi::SpiBus spiBus, user_handler_t *userHandler,
user_args_t *userArgs) { user_args_t *userArgs) {
if(userHandler == nullptr or userArgs == nullptr) { if (userHandler == nullptr or userArgs == nullptr) {
return; return;
} }
if(spiBus == spi::SpiBus::SPI_1) { if (spiBus == spi::SpiBus::SPI_1) {
*userArgs = spi1UserArgs; *userArgs = spi1UserArgs;
*userHandler = spi1UserHandler; *userHandler = spi1UserHandler;
} } else {
else { *userArgs = spi2UserArgs;
*userArgs = spi2UserArgs; *userHandler = spi2UserHandler;
*userHandler = spi2UserHandler; }
}
} }
void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) { void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
if(spiBus == spi::SpiBus::SPI_1) { if (spiBus == spi::SpiBus::SPI_1) {
spi1UserArgs = userArgs; spi1UserArgs = userArgs;
} } else {
else { spi2UserArgs = userArgs;
spi2UserArgs = userArgs; }
}
} }
/* Do not change these function names! They need to be exactly equal to the name of the functions /* Do not change these function names! They need to be exactly equal to the name of the functions
defined in the startup_stm32h743xx.s files! */ defined in the startup_stm32h743xx.s files! */
extern "C" void SPI1_IRQHandler() { extern "C" void SPI1_IRQHandler() {
if(spi1UserHandler != NULL) { if (spi1UserHandler != NULL) {
spi1UserHandler(spi1UserArgs); spi1UserHandler(spi1UserArgs);
return; return;
} }
Default_Handler(); Default_Handler();
} }
extern "C" void SPI2_IRQHandler() { extern "C" void SPI2_IRQHandler() {
if(spi2UserHandler != nullptr) { if (spi2UserHandler != nullptr) {
spi2UserHandler(spi2UserArgs); spi2UserHandler(spi2UserArgs);
return; return;
} }
Default_Handler(); Default_Handler();
} }

8
hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.h
View File

@ -18,10 +18,8 @@ void assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs);
* @param user_handler * @param user_handler
* @param user_args * @param user_args
*/ */
void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler, void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler, user_args_t user_args);
user_args_t user_args); void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler, user_args_t* user_args);
void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler,
user_args_t* user_args);
/** /**
* Generic interrupt handlers supplied for convenience. Do not call these directly! Set them * Generic interrupt handlers supplied for convenience. Do not call these directly! Set them
@ -32,7 +30,7 @@ void dmaRxIrqHandler(void* dma_handle);
void dmaTxIrqHandler(void* dma_handle); void dmaTxIrqHandler(void* dma_handle);
void spiIrqHandler(void* spi_handle); void spiIrqHandler(void* spi_handle);
} } // namespace spi
#ifdef __cplusplus #ifdef __cplusplus
} }

125
hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp
View File

@ -1,82 +1,81 @@
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h" #include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_rcc.h"
#include <cstdio> #include <cstdio>
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_rcc.h"
void spiSetupWrapper() { void spiSetupWrapper() {
__HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_SPI1_CLK_ENABLE(); __HAL_RCC_SPI1_CLK_ENABLE();
} }
void spiCleanUpWrapper() { void spiCleanUpWrapper() {
__HAL_RCC_SPI1_FORCE_RESET(); __HAL_RCC_SPI1_FORCE_RESET();
__HAL_RCC_SPI1_RELEASE_RESET(); __HAL_RCC_SPI1_RELEASE_RESET();
} }
void spiDmaClockEnableWrapper() { void spiDmaClockEnableWrapper() { __HAL_RCC_DMA2_CLK_ENABLE(); }
__HAL_RCC_DMA2_CLK_ENABLE();
}
void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) { void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) {
cfg.setupCb = &spiSetupWrapper; cfg.setupCb = &spiSetupWrapper;
cfg.cleanupCb = &spiCleanUpWrapper; cfg.cleanupCb = &spiCleanUpWrapper;
cfg.sck.port = GPIOA; cfg.sck.port = GPIOA;
cfg.sck.pin = GPIO_PIN_5; cfg.sck.pin = GPIO_PIN_5;
cfg.miso.port = GPIOA; cfg.miso.port = GPIOA;
cfg.miso.pin = GPIO_PIN_6; cfg.miso.pin = GPIO_PIN_6;
cfg.mosi.port = GPIOA; cfg.mosi.port = GPIOA;
cfg.mosi.pin = GPIO_PIN_7; cfg.mosi.pin = GPIO_PIN_7;
cfg.sck.altFnc = GPIO_AF5_SPI1; cfg.sck.altFnc = GPIO_AF5_SPI1;
cfg.mosi.altFnc = GPIO_AF5_SPI1; cfg.mosi.altFnc = GPIO_AF5_SPI1;
cfg.miso.altFnc = GPIO_AF5_SPI1; cfg.miso.altFnc = GPIO_AF5_SPI1;
} }
void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio, void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio) { IrqPriorities spiSubprio) {
// High, but works on FreeRTOS as well (priorities range from 0 to 15) // High, but works on FreeRTOS as well (priorities range from 0 to 15)
cfg.preEmptPriority = spiIrqPrio; cfg.preEmptPriority = spiIrqPrio;
cfg.subpriority = spiSubprio; cfg.subpriority = spiSubprio;
cfg.spiIrqNumber = SPI1_IRQn; cfg.spiIrqNumber = SPI1_IRQn;
cfg.spiBus = spi::SpiBus::SPI_1; cfg.spiBus = spi::SpiBus::SPI_1;
user_handler_t spiUserHandler = nullptr; user_handler_t spiUserHandler = nullptr;
user_args_t spiUserArgs = nullptr; user_args_t spiUserArgs = nullptr;
getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs); getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
if(spiUserHandler == nullptr) { if (spiUserHandler == nullptr) {
printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n"); printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n");
return; return;
} }
cfg.spiUserArgs = spiUserArgs; cfg.spiUserArgs = spiUserArgs;
cfg.spiIrqHandler = spiUserHandler; cfg.spiIrqHandler = spiUserHandler;
standardPollingCfg(cfg); standardPollingCfg(cfg);
} }
void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio, void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio, IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
IrqPriorities txSubprio, IrqPriorities rxSubprio) { IrqPriorities spiSubprio, IrqPriorities txSubprio,
cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper; IrqPriorities rxSubprio) {
cfg.rxDmaIndex = dma::DMAIndexes::DMA_2; cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;
cfg.txDmaIndex = dma::DMAIndexes::DMA_2; cfg.rxDmaIndex = dma::DMAIndexes::DMA_2;
cfg.txDmaStream = dma::DMAStreams::STREAM_3; cfg.txDmaIndex = dma::DMAIndexes::DMA_2;
cfg.rxDmaStream = dma::DMAStreams::STREAM_2; cfg.txDmaStream = dma::DMAStreams::STREAM_3;
DMA_HandleTypeDef* txHandle; cfg.rxDmaStream = dma::DMAStreams::STREAM_2;
DMA_HandleTypeDef* rxHandle; DMA_HandleTypeDef* txHandle;
spi::getDmaHandles(&txHandle, &rxHandle); DMA_HandleTypeDef* rxHandle;
if(txHandle == nullptr or rxHandle == nullptr) { spi::getDmaHandles(&txHandle, &rxHandle);
printf("spi::h743zi::standardDmaCfg: Invalid DMA handles\n"); if (txHandle == nullptr or rxHandle == nullptr) {
return; printf("spi::h743zi::standardDmaCfg: Invalid DMA handles\n");
} return;
spi::configureDmaHandle(txHandle, spi::SpiBus::SPI_1, dma::DMAType::TX, cfg.txDmaIndex, }
cfg.txDmaStream, &cfg.txDmaIrqNumber); spi::configureDmaHandle(txHandle, spi::SpiBus::SPI_1, dma::DMAType::TX, cfg.txDmaIndex,
spi::configureDmaHandle(rxHandle, spi::SpiBus::SPI_1, dma::DMAType::RX, cfg.rxDmaIndex, cfg.txDmaStream, &cfg.txDmaIrqNumber);
cfg.rxDmaStream, &cfg.rxDmaIrqNumber, DMA_NORMAL, DMA_PRIORITY_HIGH); spi::configureDmaHandle(rxHandle, spi::SpiBus::SPI_1, dma::DMAType::RX, cfg.rxDmaIndex,
cfg.txPreEmptPriority = txIrqPrio; cfg.rxDmaStream, &cfg.rxDmaIrqNumber, DMA_NORMAL, DMA_PRIORITY_HIGH);
cfg.rxPreEmptPriority = txSubprio; cfg.txPreEmptPriority = txIrqPrio;
cfg.txSubpriority = rxIrqPrio; cfg.rxPreEmptPriority = txSubprio;
cfg.rxSubpriority = rxSubprio; cfg.txSubpriority = rxIrqPrio;
standardInterruptCfg(cfg, spiIrqPrio, spiSubprio); cfg.rxSubpriority = rxSubprio;
standardInterruptCfg(cfg, spiIrqPrio, spiSubprio);
} }

14
hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.h
View File

@ -9,14 +9,12 @@ namespace h743zi {
void standardPollingCfg(spi::MspPollingConfigStruct& cfg); void standardPollingCfg(spi::MspPollingConfigStruct& cfg);
void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio, void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio = HIGHEST); IrqPriorities spiSubprio = HIGHEST);
void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio, void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio, IrqPriorities txIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio = HIGHEST,
IrqPriorities spiSubprio = HIGHEST, IrqPriorities txSubPrio = HIGHEST, IrqPriorities txSubPrio = HIGHEST, IrqPriorities rxSubprio = HIGHEST);
IrqPriorities rxSubprio = HIGHEST);
} // namespace h743zi
} } // namespace stm32h7
}
#endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */ #endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */

2
misc/defaultcfg/fsfwconfig/devices/logicalAddresses.h
View File

@ -10,7 +10,7 @@
*/ */
namespace addresses { namespace addresses {
/* Logical addresses have uint32_t datatype */ /* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t { enum LogAddr: address_t {
}; };
} }

94
scripts/helper.py
View File

@ -9,36 +9,44 @@ import webbrowser
import shutil import shutil
import sys import sys
import time import time
from shutil import which
from typing import List from typing import List
UNITTEST_FOLDER_NAME = 'build-tests' UNITTEST_FOLDER_NAME = "build-tests"
DOCS_FOLDER_NAME = 'build-docs' DOCS_FOLDER_NAME = "build-docs"
def main(): def main():
parser = argparse.ArgumentParser(description="FSFW helper script") parser = argparse.ArgumentParser(description="FSFW helper script")
choices = ('docs', 'tests') choices = ("docs", "tests")
parser.add_argument( parser.add_argument(
'type', metavar='type', choices=choices, "type", metavar="type", choices=choices, help=f"Target type. Choices: {choices}"
help=f'Target type. Choices: {choices}'
) )
parser.add_argument( parser.add_argument(
'-a', '--all', action='store_true', "-a", "--all", action="store_true", help="Create, build and open specified type"
help='Create, build and open specified type'
) )
parser.add_argument( parser.add_argument(
'-c', '--create', action='store_true', "-c",
help='Create docs or test build configuration' "--create",
action="store_true",
help="Create docs or test build configuration",
) )
parser.add_argument( parser.add_argument(
'-b', '--build', action='store_true', "-b", "--build", action="store_true", help="Build the specified type"
help='Build the specified type'
) )
parser.add_argument( parser.add_argument(
'-o', '--open', action='store_true', "-o",
help='Open test or documentation data in webbrowser' "--open",
action="store_true",
help="Open test or documentation data in webbrowser",
)
parser.add_argument(
"-v",
"--valgrind",
action="store_true",
help="Run valgrind on generated test binary",
) )
args = parser.parse_args() args = parser.parse_args()
@ -46,26 +54,26 @@ def main():
args.build = True args.build = True
args.create = True args.create = True
args.open = True args.open = True
elif not args.build and not args.create and not args.open: elif not args.build and not args.create and not args.open and not args.valgrind:
print( print(
'Please select at least one operation to perform. ' "Please select at least one operation to perform. "
'Use helper.py -h for more information' "Use helper.py -h for more information"
) )
sys.exit(1) sys.exit(1)
# This script can be called from root and from script folder # This script can be called from root and from script folder
if not os.path.isfile('README.md'): if not os.path.isfile("README.md"):
os.chdir('..') os.chdir("..")
build_dir_list = [] build_dir_list = []
if not args.create: if not args.create:
build_dir_list = build_build_dir_list() build_dir_list = build_build_dir_list()
if args.type == 'tests': if args.type == "tests":
handle_tests_type(args, build_dir_list) handle_tests_type(args, build_dir_list)
elif args.type == 'docs': elif args.type == "docs":
handle_docs_type(args, build_dir_list) handle_docs_type(args, build_dir_list)
else: else:
print('Invalid or unknown type') print("Invalid or unknown type")
sys.exit(1) sys.exit(1)
@ -76,7 +84,9 @@ def handle_docs_type(args, build_dir_list: list):
create_docs_build_cfg() create_docs_build_cfg()
build_directory = DOCS_FOLDER_NAME build_directory = DOCS_FOLDER_NAME
elif len(build_dir_list) == 0: elif len(build_dir_list) == 0:
print('No valid CMake docs build directory found. Trying to set up docs build system') print(
"No valid CMake docs build directory found. Trying to set up docs build system"
)
shutil.rmtree(DOCS_FOLDER_NAME) shutil.rmtree(DOCS_FOLDER_NAME)
create_docs_build_cfg() create_docs_build_cfg()
build_directory = DOCS_FOLDER_NAME build_directory = DOCS_FOLDER_NAME
@ -87,18 +97,18 @@ def handle_docs_type(args, build_dir_list: list):
build_directory = determine_build_dir(build_dir_list) build_directory = determine_build_dir(build_dir_list)
os.chdir(build_directory) os.chdir(build_directory)
if args.build: if args.build:
os.system('cmake --build . -j') os.system("cmake --build . -j")
if args.open: if args.open:
if not os.path.isfile('docs/sphinx/index.html'): if not os.path.isfile("docs/sphinx/index.html"):
# try again.. # try again..
os.system('cmake --build . -j') os.system("cmake --build . -j")
if not os.path.isfile('docs/sphinx/index.html'): if not os.path.isfile("docs/sphinx/index.html"):
print( print(
"No Sphinx documentation file detected. " "No Sphinx documentation file detected. "
"Try to build it first with the -b argument" "Try to build it first with the -b argument"
) )
sys.exit(1) sys.exit(1)
webbrowser.open('docs/sphinx/index.html') webbrowser.open("docs/sphinx/index.html")
def handle_tests_type(args, build_dir_list: list): def handle_tests_type(args, build_dir_list: list):
@ -109,8 +119,8 @@ def handle_tests_type(args, build_dir_list: list):
build_directory = UNITTEST_FOLDER_NAME build_directory = UNITTEST_FOLDER_NAME
elif len(build_dir_list) == 0: elif len(build_dir_list) == 0:
print( print(
'No valid CMake tests build directory found. ' "No valid CMake tests build directory found. "
'Trying to set up test build system' "Trying to set up test build system"
) )
create_tests_build_cfg() create_tests_build_cfg()
build_directory = UNITTEST_FOLDER_NAME build_directory = UNITTEST_FOLDER_NAME
@ -123,24 +133,36 @@ def handle_tests_type(args, build_dir_list: list):
if args.build: if args.build:
perform_lcov_operation(build_directory, False) perform_lcov_operation(build_directory, False)
if args.open: if args.open:
if not os.path.isdir('fsfw-tests_coverage'): if not os.path.isdir("fsfw-tests_coverage"):
print("No Unittest folder detected. Try to build them first with the -b argument") print(
"No Unittest folder detected. Try to build them first with the -b argument"
)
sys.exit(1) sys.exit(1)
webbrowser.open('fsfw-tests_coverage/index.html') webbrowser.open("fsfw-tests_coverage/index.html")
if args.valgrind:
if which("valgrind") is None:
print("Please install valgrind first")
sys.exit(1)
if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
# If we are in a different directory we try to switch into it but
# this might fail
os.chdir(UNITTEST_FOLDER_NAME)
os.system("valgrind --leak-check=full ./fsfw-tests")
os.chdir("..")
def create_tests_build_cfg(): def create_tests_build_cfg():
os.mkdir(UNITTEST_FOLDER_NAME) os.mkdir(UNITTEST_FOLDER_NAME)
os.chdir(UNITTEST_FOLDER_NAME) os.chdir(UNITTEST_FOLDER_NAME)
os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..') os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
os.chdir('..') os.chdir("..")
def create_docs_build_cfg(): def create_docs_build_cfg():
os.mkdir(DOCS_FOLDER_NAME) os.mkdir(DOCS_FOLDER_NAME)
os.chdir(DOCS_FOLDER_NAME) os.chdir(DOCS_FOLDER_NAME)
os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..') os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
os.chdir('..') os.chdir("..")
def build_build_dir_list() -> list: def build_build_dir_list() -> list:

9
src/CMakeLists.txt
View File

@ -7,12 +7,3 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
) )
add_subdirectory(fsfw) add_subdirectory(fsfw)
# Configure File
target_include_directories(${LIB_FSFW_NAME} PRIVATE
${CMAKE_CURRENT_BINARY_DIR}
)
target_include_directories(${LIB_FSFW_NAME} INTERFACE
${CMAKE_CURRENT_BINARY_DIR}
)

1
src/fsfw/CMakeLists.txt
View File

@ -1,6 +1,7 @@
# Core # Core
add_subdirectory(action) add_subdirectory(action)
add_subdirectory(cfdp)
add_subdirectory(container) add_subdirectory(container)
add_subdirectory(controller) add_subdirectory(controller)
add_subdirectory(datapool) add_subdirectory(datapool)

8
src/fsfw/FSFW.h.in
View File

@ -18,6 +18,10 @@
// FSFW core defines // FSFW core defines
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
#endif
#ifndef FSFW_CPP_OSTREAM_ENABLED #ifndef FSFW_CPP_OSTREAM_ENABLED
#define FSFW_CPP_OSTREAM_ENABLED 1 #define FSFW_CPP_OSTREAM_ENABLED 1
#endif /* FSFW_CPP_OSTREAM_ENABLED */ #endif /* FSFW_CPP_OSTREAM_ENABLED */
@ -42,6 +46,10 @@
#define FSFW_USE_PUS_C_TELECOMMANDS 1 #define FSFW_USE_PUS_C_TELECOMMANDS 1
#endif #endif
#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
#endif
// FSFW HAL defines // FSFW HAL defines
// Can be used for low-level debugging of the SPI bus // Can be used for low-level debugging of the SPI bus

2
src/fsfw/action.h
View File

@ -4,8 +4,8 @@
#include "fsfw/action/ActionHelper.h" #include "fsfw/action/ActionHelper.h"
#include "fsfw/action/ActionMessage.h" #include "fsfw/action/ActionMessage.h"
#include "fsfw/action/CommandActionHelper.h" #include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/action/CommandsActionsIF.h" #include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/action/SimpleActionHelper.h" #include "fsfw/action/SimpleActionHelper.h"
#endif /* FSFW_INC_FSFW_ACTION_H_ */ #endif /* FSFW_INC_FSFW_ACTION_H_ */

268
src/fsfw/action/ActionHelper.cpp
View File

@ -1,177 +1,165 @@
#include "fsfw/action.h" #include "fsfw/action.h"
#include "fsfw/ipc/MessageQueueSenderIF.h" #include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h" #include "fsfw/serviceinterface/ServiceInterface.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
MessageQueueIF* useThisQueue) : : owner(setOwner), queueToUse(useThisQueue) {}
owner(setOwner), queueToUse(useThisQueue) {
}
ActionHelper::~ActionHelper() { ActionHelper::~ActionHelper() {}
}
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
ActionId_t currentAction = ActionMessage::getActionId(command); ActionId_t currentAction = ActionMessage::getActionId(command);
prepareExecution(command->getSender(), currentAction, prepareExecution(command->getSender(), currentAction, ActionMessage::getStoreId(command));
ActionMessage::getStoreId(command)); return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK; } else {
} else { return CommandMessage::UNKNOWN_COMMAND;
return CommandMessage::UNKNOWN_COMMAND; }
}
} }
ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE); ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) { if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if(queueToUse_ != nullptr) { if (queueToUse_ != nullptr) {
setQueueToUse(queueToUse_); setQueueToUse(queueToUse_);
} }
if(queueToUse == nullptr) { if (queueToUse == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ActionHelper::initialize: No queue set" << std::endl; sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
#else #else
sif::printWarning("ActionHelper::initialize: No queue set\n"); sif::printWarning("ActionHelper::initialize: No queue set\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
ActionId_t commandId, ReturnValue_t result) { ReturnValue_t result) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply); queueToUse->sendMessage(reportTo, &reply);
} }
void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId, void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) { ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, success, result);
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, success, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(reportTo, &reply); queueToUse->sendMessage(commandedBy, &reply);
} return;
}
void ActionHelper::setQueueToUse(MessageQueueIF* queue) { result = owner->executeAction(actionId, commandedBy, dataPtr, size);
queueToUse = queue; ipcStore->deleteData(dataAddress);
} if (result == HasActionsIF::EXECUTION_FINISHED) {
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, true, result);
queueToUse->sendMessage(commandedBy, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, SerializeIF* data, bool hideSender) {
CommandMessage reply; CommandMessage reply;
store_address_t storeAddress; ActionMessage::setCompletionReply(&reply, actionId, true, result);
uint8_t *dataPtr; queueToUse->sendMessage(commandedBy, &reply);
size_t maxSize = data->getSerializedSize(); }
if (maxSize == 0) { if (result != HasReturnvaluesIF::RETURN_OK) {
/* No error, there's simply nothing to report. */ CommandMessage reply;
return HasReturnvaluesIF::RETURN_OK; ActionMessage::setStepReply(&reply, actionId, 0, result);
} queueToUse->sendMessage(commandedBy, &reply);
size_t size = 0; return;
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, }
&dataPtr); }
if (result != HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
uint8_t* dataPtr;
size_t maxSize = data->getSerializedSize();
if (maxSize == 0) {
/* No error, there's simply nothing to report. */
return HasReturnvaluesIF::RETURN_OK;
}
size_t size = 0;
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" << sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
std::endl; << std::endl;
#else #else
sif::printWarning("ActionHelper::reportData: Getting free element from IPC " sif::printWarning(
"store failed!\n"); "ActionHelper::reportData: Getting free element from IPC "
"store failed!\n");
#endif #endif
return result;
}
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
/* We don't need to report the objectId, as we receive REQUESTED data before the completion
success message. True aperiodic replies need to be reported with another dedicated message. */
ActionMessage::setDataReply(&reply, replyId, storeAddress);
/* If the sender needs to be hidden, for example to handle packet
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
ipcStore->deleteData(storeAddress);
}
return result; return result;
}
result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
}
/* We don't need to report the objectId, as we receive REQUESTED data before the completion
success message. True aperiodic replies need to be reported with another dedicated message. */
ActionMessage::setDataReply(&reply, replyId, storeAddress);
/* If the sender needs to be hidden, for example to handle packet
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
}
return result;
} }
void ActionHelper::resetHelper() { void ActionHelper::resetHelper() {}
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
ActionId_t replyId, const uint8_t *data, size_t dataSize, const uint8_t* data, size_t dataSize, bool hideSender) {
bool hideSender) { CommandMessage reply;
CommandMessage reply; store_address_t storeAddress;
store_address_t storeAddress; ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize); if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl; sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
#else #else
sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n"); sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
#endif #endif
return result;
}
/* We don't need to report the objectId, as we receive REQUESTED data before the completion
success message. True aperiodic replies need to be reported with another dedicated message. */
ActionMessage::setDataReply(&reply, replyId, storeAddress);
/* If the sender needs to be hidden, for example to handle packet
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
}
return result; return result;
}
/* We don't need to report the objectId, as we receive REQUESTED data before the completion
success message. True aperiodic replies need to be reported with another dedicated message. */
ActionMessage::setDataReply(&reply, replyId, storeAddress);
/* If the sender needs to be hidden, for example to handle packet
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
}
return result;
} }

206
src/fsfw/action/ActionHelper.h
View File

@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_ACTIONHELPER_H_ #ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_ #define FSFW_ACTION_ACTIONHELPER_H_
#include "ActionMessage.h"
#include "../serialize/SerializeIF.h"
#include "../ipc/MessageQueueIF.h" #include "../ipc/MessageQueueIF.h"
#include "../serialize/SerializeIF.h"
#include "ActionMessage.h"
/** /**
* @brief Action Helper is a helper class which handles action messages * @brief Action Helper is a helper class which handles action messages
* *
@ -17,110 +17,110 @@
class HasActionsIF; class HasActionsIF;
class ActionHelper { class ActionHelper {
public: public:
/** /**
* Constructor of the action helper * Constructor of the action helper
* @param setOwner Pointer to the owner of the interface * @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during * @param useThisQueue messageQueue to be used, can be set during
* initialize function as well. * initialize function as well.
*/ */
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~ActionHelper(); virtual ~ActionHelper();
/** /**
* Function to be called from the owner with a new command message * Function to be called from the owner with a new command message
* *
* If the message is a valid action message the helper will use the * If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF. * executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be * If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically. * send to the sender of the message automatically.
* *
* @param command Pointer to a command message received by the owner * @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown * CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/ */
ReturnValue_t handleActionMessage(CommandMessage* command); ReturnValue_t handleActionMessage(CommandMessage* command);
/** /**
* Helper initialize function. Must be called before use of any other * Helper initialize function. Must be called before use of any other
* helper function * helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional * @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor * if queue was set in constructor
* @return Returns RETURN_OK if successful * @return Returns RETURN_OK if successful
*/ */
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/** /**
* Function to be called from the owner to send a step message. * Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value. * Success or failure will be determined by the result value.
* *
* @param step Number of steps already done * @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to * @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command * @param commandId ID of the executed command
* @param result Result of the execution * @param result Result of the execution
*/ */
void step(uint8_t step, MessageQueueId_t reportTo, void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/** /**
* Function to be called by the owner to send a action completion message * Function to be called by the owner to send a action completion message
* @param success Specify whether action was completed successfully or not. * @param success Specify whether action was completed successfully or not.
* @param reportTo MessageQueueId_t to report the action completion message to * @param reportTo MessageQueueId_t to report the action completion message to
* @param commandId ID of the executed command * @param commandId ID of the executed command
* @param result Result of the execution * @param result Result of the execution
*/ */
void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId, void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/** /**
* Function to be called by the owner if an action does report data. * Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store. * Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion * @param reportTo MessageQueueId_t to report the action completion
* message to * message to
* @param replyId ID of the executed command * @param replyId ID of the executed command
* @param data Pointer to the data * @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code * @return Returns RETURN_OK if successful, otherwise failure code
*/ */
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data,
SerializeIF* data, bool hideSender = false); bool hideSender = false);
/** /**
* Function to be called by the owner if an action does report data. * Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store. * Takes the raw data and writes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion * @param reportTo MessageQueueId_t to report the action completion
* message to * message to
* @param replyId ID of the executed command * @param replyId ID of the executed command
* @param data Pointer to the data * @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code * @return Returns RETURN_OK if successful, otherwise failure code
*/ */
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data,
const uint8_t* data, size_t dataSize, bool hideSender = false); size_t dataSize, bool hideSender = false);
/** /**
* Function to setup the MessageQueueIF* of the helper. Can be used to * Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction * set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions. * and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper * @param queue Queue to be used by the helper
*/ */
void setQueueToUse(MessageQueueIF *queue); void setQueueToUse(MessageQueueIF* queue);
protected:
//! Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
//! Pointer to the owner
HasActionsIF* owner;
//! Queue to be used as response sender, has to be set in ctor or with
//! setQueueToUse
MessageQueueIF* queueToUse;
//! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
/** protected:
* Internal function called by handleActionMessage //! Increase of value of this per step
* @param commandedBy MessageQueueID of Commander static const uint8_t STEP_OFFSET = 1;
* @param actionId ID of action to be done //! Pointer to the owner
* @param dataAddress Address of additional data in IPC Store HasActionsIF* owner;
*/ //! Queue to be used as response sender, has to be set in ctor or with
virtual void prepareExecution(MessageQueueId_t commandedBy, //! setQueueToUse
ActionId_t actionId, store_address_t dataAddress); MessageQueueIF* queueToUse;
/** //! Pointer to an IPC Store, initialized during construction or
* @brief Default implementation is empty. StorageManagerIF* ipcStore = nullptr;
*/
virtual void resetHelper(); /**
* Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
/**
* @brief Default implementation is empty.
*/
virtual void resetHelper();
}; };
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */ #endif /* FSFW_ACTION_ACTIONHELPER_H_ */

88
src/fsfw/action/ActionMessage.cpp
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@ -1,81 +1,77 @@
#include "fsfw/action.h" #include "fsfw/action.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/StorageManagerIF.h" #include "fsfw/storagemanager/StorageManagerIF.h"
ActionMessage::ActionMessage() { ActionMessage::ActionMessage() {}
}
ActionMessage::~ActionMessage() { ActionMessage::~ActionMessage() {}
}
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid, void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters) { store_address_t parameters) {
message->setCommand(EXECUTE_ACTION); message->setCommand(EXECUTE_ACTION);
message->setParameter(fid); message->setParameter(fid);
message->setParameter2(parameters.raw); message->setParameter2(parameters.raw);
} }
ActionId_t ActionMessage::getActionId(const CommandMessage* message) { ActionId_t ActionMessage::getActionId(const CommandMessage* message) {
return ActionId_t(message->getParameter()); return ActionId_t(message->getParameter());
} }
store_address_t ActionMessage::getStoreId(const CommandMessage* message) { store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
store_address_t temp; store_address_t temp;
temp.raw = message->getParameter2(); temp.raw = message->getParameter2();
return temp; return temp;
} }
void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
ReturnValue_t result) { ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
message->setCommand(STEP_SUCCESS); message->setCommand(STEP_SUCCESS);
} else { } else {
message->setCommand(STEP_FAILED); message->setCommand(STEP_FAILED);
} }
message->setParameter(fid); message->setParameter(fid);
message->setParameter2((step << 16) + result); message->setParameter2((step << 16) + result);
} }
uint8_t ActionMessage::getStep(const CommandMessage* message) { uint8_t ActionMessage::getStep(const CommandMessage* message) {
return uint8_t((message->getParameter2() >> 16) & 0xFF); return uint8_t((message->getParameter2() >> 16) & 0xFF);
} }
ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) { ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) {
return message->getParameter2() & 0xFFFF; return message->getParameter2() & 0xFFFF;
} }
void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId, void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data) { store_address_t data) {
message->setCommand(DATA_REPLY); message->setCommand(DATA_REPLY);
message->setParameter(actionId); message->setParameter(actionId);
message->setParameter2(data.raw); message->setParameter2(data.raw);
} }
void ActionMessage::setCompletionReply(CommandMessage* message, void ActionMessage::setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
ActionId_t fid, bool success, ReturnValue_t result) { ReturnValue_t result) {
if (success) { if (success) {
message->setCommand(COMPLETION_SUCCESS); message->setCommand(COMPLETION_SUCCESS);
} } else {
else { message->setCommand(COMPLETION_FAILED);
message->setCommand(COMPLETION_FAILED); }
} message->setParameter(fid);
message->setParameter(fid); message->setParameter2(result);
message->setParameter2(result);
} }
void ActionMessage::clear(CommandMessage* message) { void ActionMessage::clear(CommandMessage* message) {
switch(message->getCommand()) { switch (message->getCommand()) {
case EXECUTE_ACTION: case EXECUTE_ACTION:
case DATA_REPLY: { case DATA_REPLY: {
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>( StorageManagerIF* ipcStore =
objects::IPC_STORE); ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != NULL) { if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message)); ipcStore->deleteData(getStoreId(message));
} }
break; break;
} }
default: default:
break; break;
} }
} }

47
src/fsfw/action/ActionMessage.h
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@ -14,34 +14,33 @@ using ActionId_t = uint32_t;
* ActionHelper are able to process these messages. * ActionHelper are able to process these messages.
*/ */
class ActionMessage { class ActionMessage {
private: private:
ActionMessage(); ActionMessage();
public:
static const uint8_t MESSAGE_ID = messagetypes::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage(); public:
static void setCommand(CommandMessage* message, ActionId_t fid, static const uint8_t MESSAGE_ID = messagetypes::ACTION;
store_address_t parameters); static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
static ActionId_t getActionId(const CommandMessage* message ); virtual ~ActionMessage();
static store_address_t getStoreId(const CommandMessage* message); static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
static void setStepReply(CommandMessage* message, ActionId_t fid, static ActionId_t getActionId(const CommandMessage* message);
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); static store_address_t getStoreId(const CommandMessage* message);
static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid,
bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message); static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message);
static ReturnValue_t getReturnCode(const CommandMessage* message);
static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message);
}; };
#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */ #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

192
src/fsfw/action/CommandActionHelper.cpp
View File

@ -1,125 +1,115 @@
#include "fsfw/action.h" #include "fsfw/action.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) : CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
owner(setOwner), queueToUse(NULL), ipcStore( : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
NULL), commandCount(0), lastTarget(0) {
}
CommandActionHelper::~CommandActionHelper() { CommandActionHelper::~CommandActionHelper() {}
}
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
ActionId_t actionId, SerializeIF *data) { SerializeIF *data) {
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo); HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) { if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
} }
store_address_t storeId; store_address_t storeId;
uint8_t *storePointer; uint8_t *storePointer;
size_t maxSize = data->getSerializedSize(); size_t maxSize = data->getSerializedSize();
ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
&storePointer); if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t size = 0;
result = data->serialize(&storePointer, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, const uint8_t *data, uint32_t size) {
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
ReturnValue_t result = ipcStore->addData(&storeId, data, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
ActionId_t actionId, store_address_t storeId) {
CommandMessage command;
ActionMessage::setCommand(&command, actionId, storeId);
ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
}
lastTarget = queueId;
commandCount++;
return result; return result;
}
size_t size = 0;
result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
const uint8_t *data, uint32_t size) {
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
}
store_address_t storeId;
ReturnValue_t result = ipcStore->addData(&storeId, data, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
store_address_t storeId) {
CommandMessage command;
ActionMessage::setCommand(&command, actionId, storeId);
ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId);
}
lastTarget = queueId;
commandCount++;
return result;
} }
ReturnValue_t CommandActionHelper::initialize() { ReturnValue_t CommandActionHelper::initialize() {
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE); ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) { if (ipcStore == NULL) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
queueToUse = owner->getCommandQueuePtr(); queueToUse = owner->getCommandQueuePtr();
if (queueToUse == NULL) { if (queueToUse == NULL) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) { ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
if (reply->getSender() != lastTarget) { if (reply->getSender() != lastTarget) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
switch (reply->getCommand()) { switch (reply->getCommand()) {
case ActionMessage::COMPLETION_SUCCESS: case ActionMessage::COMPLETION_SUCCESS:
commandCount--; commandCount--;
owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::COMPLETION_FAILED: case ActionMessage::COMPLETION_FAILED:
commandCount--; commandCount--;
owner->completionFailedReceived(ActionMessage::getActionId(reply), owner->completionFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getReturnCode(reply)); ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_SUCCESS: case ActionMessage::STEP_SUCCESS:
owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply)); ActionMessage::getStep(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_FAILED: case ActionMessage::STEP_FAILED:
commandCount--; commandCount--;
owner->stepFailedReceived(ActionMessage::getActionId(reply), owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
ActionMessage::getStep(reply), ActionMessage::getReturnCode(reply));
ActionMessage::getReturnCode(reply)); return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::DATA_REPLY: case ActionMessage::DATA_REPLY:
extractDataForOwner(ActionMessage::getActionId(reply), extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
ActionMessage::getStoreId(reply)); return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
default: default:
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
uint8_t CommandActionHelper::getCommandCount() const { uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
return commandCount;
}
void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) { void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
const uint8_t * data = NULL; const uint8_t *data = NULL;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(storeId, &data, &size); ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return; return;
} }
owner->dataReceived(actionId, data, size); owner->dataReceived(actionId, data, size);
ipcStore->deleteData(storeId); ipcStore->deleteData(storeId);
} }

42
src/fsfw/action/CommandActionHelper.h
View File

@ -2,35 +2,35 @@
#define COMMANDACTIONHELPER_H_ #define COMMANDACTIONHELPER_H_
#include "ActionMessage.h" #include "ActionMessage.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/objectmanager/ObjectManagerIF.h" #include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serialize/SerializeIF.h" #include "fsfw/serialize/SerializeIF.h"
#include "fsfw/storagemanager/StorageManagerIF.h" #include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
class CommandsActionsIF; class CommandsActionsIF;
class CommandActionHelper { class CommandActionHelper {
friend class CommandsActionsIF; friend class CommandsActionsIF;
public:
CommandActionHelper(CommandsActionsIF* owner); public:
virtual ~CommandActionHelper(); CommandActionHelper(CommandsActionsIF* owner);
ReturnValue_t commandAction(object_id_t commandTo, virtual ~CommandActionHelper();
ActionId_t actionId, const uint8_t* data, uint32_t size); ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
ReturnValue_t commandAction(object_id_t commandTo, uint32_t size);
ActionId_t actionId, SerializeIF* data); ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize(); ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply); ReturnValue_t handleReply(CommandMessage* reply);
uint8_t getCommandCount() const; uint8_t getCommandCount() const;
private:
CommandsActionsIF* owner; private:
MessageQueueIF* queueToUse; CommandsActionsIF* owner;
StorageManagerIF* ipcStore; MessageQueueIF* queueToUse;
uint8_t commandCount; StorageManagerIF* ipcStore;
MessageQueueId_t lastTarget; uint8_t commandCount;
void extractDataForOwner(ActionId_t actionId, store_address_t storeId); MessageQueueId_t lastTarget;
ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
store_address_t storeId); ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, store_address_t storeId);
}; };
#endif /* COMMANDACTIONHELPER_H_ */ #endif /* COMMANDACTIONHELPER_H_ */

36
src/fsfw/action/CommandsActionsIF.h
View File

@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_ #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
#define FSFW_ACTION_COMMANDSACTIONSIF_H_ #define FSFW_ACTION_COMMANDSACTIONSIF_H_
#include "CommandActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h" #include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "CommandActionHelper.h"
/** /**
* Interface to separate commanding actions of other objects. * Interface to separate commanding actions of other objects.
@ -15,23 +15,21 @@
* - replyReceived(id, step, cause) (if cause == OK, it's a success). * - replyReceived(id, step, cause) (if cause == OK, it's a success).
*/ */
class CommandsActionsIF { class CommandsActionsIF {
friend class CommandActionHelper; friend class CommandActionHelper;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; public:
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
virtual ~CommandsActionsIF() {} static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual MessageQueueIF* getCommandQueuePtr() = 0; virtual ~CommandsActionsIF() {}
protected: virtual MessageQueueIF* getCommandQueuePtr() = 0;
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, protected:
ReturnValue_t returnCode) = 0; virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data, virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
uint32_t size) = 0; virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
virtual void completionSuccessfulReceived(ActionId_t actionId) = 0; virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
virtual void completionFailedReceived(ActionId_t actionId, virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
ReturnValue_t returnCode) = 0;
}; };
#endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */ #endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */

51
src/fsfw/action/HasActionsIF.h
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@ -1,11 +1,11 @@
#ifndef FSFW_ACTION_HASACTIONSIF_H_ #ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_ #define FSFW_ACTION_HASACTIONSIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "ActionHelper.h" #include "ActionHelper.h"
#include "ActionMessage.h" #include "ActionMessage.h"
#include "SimpleActionHelper.h" #include "SimpleActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h"
/** /**
* @brief * @brief
@ -34,30 +34,29 @@
* @ingroup interfaces * @ingroup interfaces
*/ */
class HasActionsIF { class HasActionsIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
virtual ~HasActionsIF() { } virtual ~HasActionsIF() {}
/** /**
* Function to get the MessageQueueId_t of the implementing object * Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object * @return MessageQueueId_t of the object
*/ */
virtual MessageQueueId_t getCommandQueue() const = 0; virtual MessageQueueId_t getCommandQueue() const = 0;
/** /**
* Execute or initialize the execution of a certain function. * Execute or initialize the execution of a certain function.
* The ActionHelpers will execute this function and behave differently * The ActionHelpers will execute this function and behave differently
* depending on the returnvalue. * depending on the returnvalue.
* *
* @return * @return
* -@c EXECUTION_FINISHED Finish reply will be generated * -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated * -@c Not RETURN_OK Step failure reply will be generated
*/ */
virtual ReturnValue_t executeAction(ActionId_t actionId, virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; const uint8_t* data, size_t size) = 0;
}; };
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */ #endif /* FSFW_ACTION_HASACTIONSIF_H_ */

99
src/fsfw/action/SimpleActionHelper.cpp
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@ -1,74 +1,67 @@
#include "fsfw/action.h" #include "fsfw/action.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
MessageQueueIF* useThisQueue) : : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
}
SimpleActionHelper::~SimpleActionHelper() { SimpleActionHelper::~SimpleActionHelper() {}
}
void SimpleActionHelper::step(ReturnValue_t result) { void SimpleActionHelper::step(ReturnValue_t result) {
// STEP_OFFESET is subtracted to compensate for adding offset in base // STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here. // method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
result); if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) { resetHelper();
resetHelper(); }
}
} }
void SimpleActionHelper::finish(ReturnValue_t result) { void SimpleActionHelper::finish(ReturnValue_t result) {
ActionHelper::finish(lastCommander, lastAction, result); ActionHelper::finish(lastCommander, lastAction, result);
resetHelper(); resetHelper();
} }
ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) { ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
return ActionHelper::reportData(lastCommander, lastAction, data); return ActionHelper::reportData(lastCommander, lastAction, data);
} }
void SimpleActionHelper::resetHelper() { void SimpleActionHelper::resetHelper() {
stepCount = 0; stepCount = 0;
isExecuting = false; isExecuting = false;
lastAction = 0; lastAction = 0;
lastCommander = 0; lastCommander = 0;
} }
void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
ActionId_t actionId, store_address_t dataAddress) { store_address_t dataAddress) {
CommandMessage reply; CommandMessage reply;
if (isExecuting) { if (isExecuting) {
ipcStore->deleteData(dataAddress);
ActionMessage::setStepReply(&reply, actionId, 0,
HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply);
}
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
lastCommander = commandedBy;
lastAction = actionId;
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress); ipcStore->deleteData(dataAddress);
switch (result) { ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply);
}
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply);
return;
}
lastCommander = commandedBy;
lastAction = actionId;
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
switch (result) {
case HasReturnvaluesIF::RETURN_OK: case HasReturnvaluesIF::RETURN_OK:
isExecuting = true; isExecuting = true;
stepCount++; stepCount++;
break; break;
case HasActionsIF::EXECUTION_FINISHED: case HasActionsIF::EXECUTION_FINISHED:
ActionMessage::setCompletionReply(&reply, actionId, ActionMessage::setCompletionReply(&reply, actionId, true, HasReturnvaluesIF::RETURN_OK);
true, HasReturnvaluesIF::RETURN_OK); queueToUse->sendMessage(commandedBy, &reply);
queueToUse->sendMessage(commandedBy, &reply); break;
break;
default: default:
ActionMessage::setStepReply(&reply, actionId, 0, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
break; break;
} }
} }

33
src/fsfw/action/SimpleActionHelper.h
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@ -8,23 +8,24 @@
* at a time but remembers last commander and last action which * at a time but remembers last commander and last action which
* simplifies usage * simplifies usage
*/ */
class SimpleActionHelper: public ActionHelper { class SimpleActionHelper : public ActionHelper {
public: public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper(); virtual ~SimpleActionHelper();
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
ReturnValue_t reportData(SerializeIF* data); ReturnValue_t reportData(SerializeIF* data);
protected: protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress); store_address_t dataAddress);
virtual void resetHelper(); virtual void resetHelper();
private:
bool isExecuting; private:
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; bool isExecuting;
ActionId_t lastAction = 0; MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
uint8_t stepCount = 0; ActionId_t lastAction = 0;
uint8_t stepCount = 0;
}; };
#endif /* SIMPLEACTIONHELPER_H_ */ #endif /* SIMPLEACTIONHELPER_H_ */

57
src/fsfw/cfdp/CFDPHandler.cpp Normal file
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#include "fsfw/cfdp/CFDPHandler.h"
#include "fsfw/cfdp/CFDPMessage.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/storeAddress.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
object_id_t CFDPHandler::packetSource = 0;
object_id_t CFDPHandler::packetDestination = 0;
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
: SystemObject(setObjectId) {
requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
distributor = dist;
}
CFDPHandler::~CFDPHandler() {}
ReturnValue_t CFDPHandler::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
this->distributor->registerHandler(this);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPHandler::handleRequest" << std::endl;
#else
sif::printDebug("CFDPHandler::handleRequest\n");
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif
// TODO read out packet from store using storeId
return RETURN_OK;
}
ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
CommandMessage currentMessage;
for (status = this->requestQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = this->requestQueue->receiveMessage(&currentMessage)) {
store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
this->handleRequest(storeId);
}
return RETURN_OK;
}
uint16_t CFDPHandler::getIdentifier() { return 0; }
MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }

63
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#ifndef FSFW_CFDP_CFDPHANDLER_H_
#define FSFW_CFDP_CFDPHANDLER_H_
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tcdistribution/CFDPDistributor.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
namespace Factory {
void setStaticFrameworkObjectIds();
}
class CFDPHandler : public ExecutableObjectIF,
public AcceptsTelecommandsIF,
public SystemObject,
public HasReturnvaluesIF {
friend void(Factory::setStaticFrameworkObjectIds)();
public:
CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
/**
* The destructor is empty.
*/
virtual ~CFDPHandler();
virtual ReturnValue_t handleRequest(store_address_t storeId);
virtual ReturnValue_t initialize() override;
virtual uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t performOperation(uint8_t opCode) override;
protected:
/**
* This is a complete instance of the telecommand reception queue
* of the class. It is initialized on construction of the class.
*/
MessageQueueIF* requestQueue = nullptr;
CFDPDistributor* distributor = nullptr;
/**
* The current CFDP packet to be processed.
* It is deleted after handleRequest was executed.
*/
CFDPPacketStored currentPacket;
static object_id_t packetSource;
static object_id_t packetDestination;
private:
/**
* This constant sets the maximum number of packets accepted per call.
* Remember that one packet must be completely handled in one
* #handleRequest call.
*/
static const uint8_t CFDP_HANDLER_MAX_RECEPTION = 100;
};
#endif /* FSFW_CFDP_CFDPHANDLER_H_ */

17
src/fsfw/cfdp/CFDPMessage.cpp Normal file
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#include "CFDPMessage.h"
CFDPMessage::CFDPMessage() {}
CFDPMessage::~CFDPMessage() {}
void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
message->setParameter(cfdpPacket.raw);
}
store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
store_address_t storeAddressCFDPPacket;
storeAddressCFDPPacket = message->getParameter();
return storeAddressCFDPPacket;
}
void CFDPMessage::clear(CommandMessage *message) {}

23
src/fsfw/cfdp/CFDPMessage.h Normal file
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#ifndef FSFW_CFDP_CFDPMESSAGE_H_
#define FSFW_CFDP_CFDPMESSAGE_H_
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
class CFDPMessage {
private:
CFDPMessage();
public:
static const uint8_t MESSAGE_ID = messagetypes::CFDP;
virtual ~CFDPMessage();
static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
static store_address_t getStoreId(const CommandMessage* message);
static void clear(CommandMessage* message);
};
#endif /* FSFW_CFDP_CFDPMESSAGE_H_ */

7
src/fsfw/cfdp/CMakeLists.txt Normal file
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@ -0,0 +1,7 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
CFDPHandler.cpp
CFDPMessage.cpp
)
add_subdirectory(pdu)
add_subdirectory(tlv)

78
src/fsfw/cfdp/FileSize.h Normal file
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#ifndef FSFW_SRC_FSFW_CFDP_FILESIZE_H_
#define FSFW_SRC_FSFW_CFDP_FILESIZE_H_
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serialize/SerializeIF.h"
namespace cfdp {
struct FileSize : public SerializeIF {
public:
FileSize() : largeFile(false){};
FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) {
this->largeFile = isLarge;
return serialize(buffer, size, maxSize, streamEndianness);
}
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override {
if (not largeFile) {
uint32_t fileSizeTyped = fileSize;
return SerializeAdapter::serialize(&fileSizeTyped, buffer, size, maxSize, streamEndianness);
}
return SerializeAdapter::serialize(&fileSize, buffer, size, maxSize, streamEndianness);
}
size_t getSerializedSize() const override {
if (largeFile) {
return 8;
} else {
return 4;
}
}
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override {
if (largeFile) {
return SerializeAdapter::deSerialize(&size, buffer, size, streamEndianness);
} else {
uint32_t sizeTmp = 0;
ReturnValue_t result =
SerializeAdapter::deSerialize(&sizeTmp, buffer, size, streamEndianness);
if (result == HasReturnvaluesIF::RETURN_OK) {
fileSize = sizeTmp;
}
return result;
}
}
ReturnValue_t setFileSize(uint64_t fileSize, bool largeFile) {
if (not largeFile and fileSize > UINT32_MAX) {
// TODO: emit warning here
return HasReturnvaluesIF::RETURN_FAILED;
}
this->fileSize = fileSize;
this->largeFile = largeFile;
return HasReturnvaluesIF::RETURN_OK;
}
bool isLargeFile() const { return largeFile; }
uint64_t getSize(bool *largeFile = nullptr) const {
if (largeFile != nullptr) {
*largeFile = this->largeFile;
}
return fileSize;
}
private:
uint64_t fileSize = 0;
bool largeFile = false;
};
} // namespace cfdp
#endif /* FSFW_SRC_FSFW_CFDP_FILESIZE_H_ */

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#ifndef FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_
#define FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_
#include <fsfw/serialize/SerializeIF.h>
#include <cstddef>
#include <cstdint>
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
namespace cfdp {
static constexpr uint8_t VERSION_BITS = 0b00100000;
static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
static constexpr ReturnValue_t INVALID_TLV_TYPE =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 1);
static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 2);
static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 3);
static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 4);
//! Can not parse options. This can also occur because there are options
//! available but the user did not pass a valid options array
static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 5);
static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 8);
//! Can not parse filestore response because user did not pass a valid instance
//! or remaining size is invalid
static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 9);
//! Checksum types according to the SANA Checksum Types registry
//! https://sanaregistry.org/r/checksum_identifiers/
enum ChecksumType {
// Modular legacy checksum
MODULAR = 0,
CRC_32_PROXIMITY_1 = 1,
CRC_32C = 2,
CRC_32 = 3,
NULL_CHECKSUM = 15
};
enum PduType : bool { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
enum TransmissionModes : bool { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
enum SegmentMetadataFlag : bool { NOT_PRESENT = 0, PRESENT = 1 };
enum Direction : bool { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
enum SegmentationControl : bool {
NO_RECORD_BOUNDARIES_PRESERVATION = 0,
RECORD_BOUNDARIES_PRESERVATION = 1
};
enum WidthInBytes : uint8_t {
// Only those are supported for now
ONE_BYTE = 1,
TWO_BYTES = 2,
FOUR_BYTES = 4,
};
enum FileDirectives : uint8_t {
INVALID_DIRECTIVE = 0x0f,
EOF_DIRECTIVE = 0x04,
FINISH = 0x05,
ACK = 0x06,
METADATA = 0x07,
NAK = 0x08,
PROMPT = 0x09,
KEEP_ALIVE = 0x0c
};
enum ConditionCode : uint8_t {
NO_CONDITION_FIELD = 0xff,
NO_ERROR = 0b0000,
POSITIVE_ACK_LIMIT_REACHED = 0b0001,
KEEP_ALIVE_LIMIT_REACHED = 0b0010,
INVALID_TRANSMISSION_MODE = 0b0011,
FILESTORE_REJECTION = 0b0100,
FILE_CHECKSUM_FAILURE = 0b0101,
FILE_SIZE_ERROR = 0b0110,
NAK_LIMIT_REACHED = 0b0111,
INACTIVITY_DETECTED = 0b1000,
CHECK_LIMIT_REACHED = 0b1010,
UNSUPPORTED_CHECKSUM_TYPE = 0b1011,
SUSPEND_REQUEST_RECEIVED = 0b1110,
CANCEL_REQUEST_RECEIVED = 0b1111
};
enum AckTransactionStatus {
UNDEFINED = 0b00,
ACTIVE = 0b01,
TERMINATED = 0b10,
UNRECOGNIZED = 0b11
};
enum FinishedDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
enum FinishedFileStatus {
DISCARDED_DELIBERATELY = 0,
DISCARDED_FILESTORE_REJECTION = 1,
RETAINED_IN_FILESTORE = 2,
FILE_STATUS_UNREPORTED = 3
};
enum PromptResponseRequired : bool { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
enum TlvTypes : uint8_t {
FILESTORE_REQUEST = 0x00,
FILESTORE_RESPONSE = 0x01,
MSG_TO_USER = 0x02,
FAULT_HANDLER = 0x04,
FLOW_LABEL = 0x05,
ENTITY_ID = 0x06,
INVALID_TLV = 0xff,
};
enum RecordContinuationState {
NO_START_NO_END = 0b00,
CONTAINS_START_NO_END = 0b01,
CONTAINS_END_NO_START = 0b10,
CONTAINS_START_AND_END = 0b11
};
} // namespace cfdp
#endif /* FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_ */

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src/fsfw/cfdp/pdu/AckInfo.cpp Normal file
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#include "AckInfo.h"
AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode)
: ackedDirective(ackedDirective),
ackedConditionCode(ackedConditionCode),
transactionStatus(transactionStatus),
directiveSubtypeCode(directiveSubtypeCode) {
if (ackedDirective == cfdp::FileDirectives::FINISH) {
this->directiveSubtypeCode = 0b0001;
} else {
this->directiveSubtypeCode = 0b0000;
}
}
cfdp::ConditionCode AckInfo::getAckedConditionCode() const { return ackedConditionCode; }
void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
this->ackedConditionCode = ackedConditionCode;
if (ackedDirective == cfdp::FileDirectives::FINISH) {
this->directiveSubtypeCode = 0b0001;
} else {
this->directiveSubtypeCode = 0b0000;
}
}
cfdp::FileDirectives AckInfo::getAckedDirective() const { return ackedDirective; }
void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective) {
this->ackedDirective = ackedDirective;
}
uint8_t AckInfo::getDirectiveSubtypeCode() const { return directiveSubtypeCode; }
void AckInfo::setDirectiveSubtypeCode(uint8_t directiveSubtypeCode) {
this->directiveSubtypeCode = directiveSubtypeCode;
}
cfdp::AckTransactionStatus AckInfo::getTransactionStatus() const { return transactionStatus; }
AckInfo::AckInfo() {}
void AckInfo::setTransactionStatus(cfdp::AckTransactionStatus transactionStatus) {
this->transactionStatus = transactionStatus;
}

31
src/fsfw/cfdp/pdu/AckInfo.h Normal file
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#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_
#define FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_
#include "../definitions.h"
class AckInfo {
public:
AckInfo();
AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode = 0);
cfdp::ConditionCode getAckedConditionCode() const;
void setAckedConditionCode(cfdp::ConditionCode ackedConditionCode);
cfdp::FileDirectives getAckedDirective() const;
void setAckedDirective(cfdp::FileDirectives ackedDirective);
uint8_t getDirectiveSubtypeCode() const;
void setDirectiveSubtypeCode(uint8_t directiveSubtypeCode);
cfdp::AckTransactionStatus getTransactionStatus() const;
void setTransactionStatus(cfdp::AckTransactionStatus transactionStatus);
private:
cfdp::FileDirectives ackedDirective = cfdp::FileDirectives::INVALID_DIRECTIVE;
cfdp::ConditionCode ackedConditionCode = cfdp::ConditionCode::NO_CONDITION_FIELD;
cfdp::AckTransactionStatus transactionStatus = cfdp::AckTransactionStatus::UNDEFINED;
uint8_t directiveSubtypeCode = 0;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_ */

37
src/fsfw/cfdp/pdu/AckPduDeserializer.cpp Normal file
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#include "AckPduDeserializer.h"
AckPduDeserializer::AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
: FileDirectiveDeserializer(pduBuf, maxSize), info(info) {}
ReturnValue_t AckPduDeserializer::parseData() {
ReturnValue_t result = FileDirectiveDeserializer::parseData();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
if (currentIdx + 2 > this->maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
if (not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
}
return HasReturnvaluesIF::RETURN_OK;
}
bool AckPduDeserializer::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
uint8_t ackedDirective = static_cast<cfdp::FileDirectives>(firstByte >> 4);
if (ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE and
ackedDirective != cfdp::FileDirectives::FINISH) {
return false;
}
this->info.setAckedDirective(static_cast<cfdp::FileDirectives>(ackedDirective));
uint8_t directiveSubtypeCode = firstByte & 0x0f;
if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
return false;
}
this->info.setDirectiveSubtypeCode(directiveSubtypeCode);
this->info.setAckedConditionCode(static_cast<cfdp::ConditionCode>(secondByte >> 4));
this->info.setTransactionStatus(static_cast<cfdp::AckTransactionStatus>(secondByte & 0x0f));
return true;
}

23
src/fsfw/cfdp/pdu/AckPduDeserializer.h Normal file
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#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
#define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
#include "AckInfo.h"
#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
class AckPduDeserializer : public FileDirectiveDeserializer {
public:
AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);
/**
*
* @return
* - cfdp::INVALID_DIRECTIVE_FIELDS: Invalid fields
*/
ReturnValue_t parseData();
private:
bool checkAndSetCodes(uint8_t rawAckedByte, uint8_t rawAckedConditionCode);
AckInfo& info;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_ */

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src/fsfw/cfdp/pdu/AckPduSerializer.cpp Normal file
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#include "AckPduSerializer.h"
AckPduSerializer::AckPduSerializer(AckInfo &ackInfo, PduConfig &pduConf)
: FileDirectiveSerializer(pduConf, cfdp::FileDirectives::ACK, 2), ackInfo(ackInfo) {}
size_t AckPduSerializer::getSerializedSize() const {
return FileDirectiveSerializer::getWholePduSize();
}
ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const {
ReturnValue_t result =
FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
cfdp::FileDirectives ackedDirective = ackInfo.getAckedDirective();
uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
if (ackedDirective != cfdp::FileDirectives::FINISH and
ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE) {
// TODO: better returncode
return HasReturnvaluesIF::RETURN_FAILED;
}
if (*size + 2 > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
**buffer = ackedDirective << 4 | directiveSubtypeCode;
*buffer += 1;
*size += 1;
**buffer = ackedConditionCode << 4 | transactionStatus;
*buffer += 1;
*size += 1;
return HasReturnvaluesIF::RETURN_OK;
}

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