hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -14,3 +14,5 @@ if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
 	add_subdirectory(i2c)
 	add_subdirectory(uart)
 endif()
+
+add_subdirectory(uio)

hal/src/fsfw_hal/linux/uio/CMakeLists.txt

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

hal/src/fsfw_hal/linux/uio/UioMapper.cpp

@@ -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;
+}

hal/src/fsfw_hal/linux/uio/UioMapper.h

@@ -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_ */

src/fsfw/globalfunctions/CRC.cpp

@@ -116,8 +116,8 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti
   //	for (int i=0; i<16 ;i++)
   //	{
   //		 if  (xor_out[i] == true)
-  //			 crc_value = crc_value + pow(2,(15 -i));   // reverse CrC result before Final
-  //XOR
+  //			 crc_value = crc_value + pow(2,(15 -i));   // reverse CrC result before
+  //Final XOR
   //	}
   //
   //	crc_value = 0;// for debug mode

src/fsfw/osal/linux/PeriodicPosixTask.h

@@ -65,8 +65,8 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
   /**
    * @brief	The function containing the actual functionality of the task.
    * @details	The method sets and starts
-   * 			the task's period, then enters a loop that is repeated indefinitely. Within the loop,
-   * all performOperation methods of the added objects are called. Afterwards the task will be
+   * 			the task's period, then enters a loop that is repeated indefinitely. Within the
+   * loop, all performOperation methods of the added objects are called. Afterwards the task will be
    * blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
    */
   virtual void taskFunctionality(void);

src/fsfw/osal/rtems/PeriodicTask.h

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

src/fsfw/osal/rtems/RTEMSTaskBase.h

@@ -25,8 +25,8 @@ class RTEMSTaskBase {
    * all other attributes are set with default values.
    * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
    * @param stack_size	The stack size reserved by the operating system for the task.
-   * @param nam			The name of the Task, as a null-terminated String. Currently max 4 chars
-   * supported (excluding Null-terminator), rest will be truncated
+   * @param nam			The name of the Task, as a null-terminated String. Currently max 4
+   * chars supported (excluding Null-terminator), rest will be truncated
    */
   RTEMSTaskBase(rtems_task_priority priority, size_t stack_size, const char *name);
   /**

src/fsfw/rmap/RMAP.h

@@ -51,9 +51,9 @@ class RMAP : public HasReturnvaluesIF {
   // MAKE_RETURN_CODE(0xE4); //the data that was to be sent was too long for the hw to handle (write
   // command) or the expected len was bigger than maximal expected len (read command) command was
   // not sent
-  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t COMMAND_NULLPOINTER
-  // = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write command, or
-  // nullpointer in read command
+  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t
+  // COMMAND_NULLPOINTER = MAKE_RETURN_CODE(0xE5); //datalen was != 0 but data was == NULL in write
+  // command, or nullpointer in read command
   static const ReturnValue_t COMMAND_CHANNEL_DEACTIVATED =
       MAKE_RETURN_CODE(0xE6);  // the channel has no port set
   static const ReturnValue_t COMMAND_PORT_OUT_OF_RANGE =
@@ -73,8 +73,8 @@ class RMAP : public HasReturnvaluesIF {
   static const ReturnValue_t REPLY_MISSMATCH = MAKE_RETURN_CODE(
       0xD3);  // a read command was issued, but get_write_rply called, or other way round
   static const ReturnValue_t REPLY_TIMEOUT = MAKE_RETURN_CODE(0xD4);  // timeout
-  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t REPLY_NULLPOINTER =
-  // MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for
+  // replaced by DeviceCommunicationIF::NULLPOINTER	static const ReturnValue_t REPLY_NULLPOINTER
+  // = MAKE_RETURN_CODE(0xD5);//one of the arguments in a read reply was NULL return values for
   // get_reply
   static const ReturnValue_t REPLY_INTERFACE_BUSY =
       MAKE_RETURN_CODE(0xC0);  // Interface is busy (transmission buffer still being processed)
@@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param buffer the data to write
    * @param length length of data
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in write
-   * command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
+   * write command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
@@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
    * @param cookie to cookie to read from
    * @param expLength the expected maximum length of the reply
    * @return
-   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in write
-   * command, or nullpointer in read command
+   *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in
+   * write command, or nullpointer in read command
    *      - return codes of RMAPChannelIF::sendCommand()
    */
   static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);

src/fsfw/rmap/RMAPChannelIF.h

@@ -73,16 +73,16 @@ class RMAPChannelIF {
    * @param datalen length of data
    * @return
    *      - @c RETURN_OK
-   *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending command;
-   * command was not sent
-   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len; command
-   * was not sent
-   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the hw to
-   * handle (write command) or the expected len was bigger than maximal expected len (read command)
+   *      - @c COMMAND_NO_DESCRIPTORS_AVAILABLE 	no descriptors available for sending
+   * command; command was not sent
+   *      - @c COMMAND_BUFFER_FULL				no receiver buffer available for expected len;
    * command was not sent
+   *      - @c COMMAND_TOO_BIG					the data that was to be sent was too long for the hw
+   * to handle (write command) or the expected len was bigger than maximal expected len (read
+   * command) command was not sent
    *      - @c COMMAND_CHANNEL_DEACTIVATED		the channel has no port set
-   *      - @c NOT_SUPPORTED						if you dont feel like implementing
-   * something...
+   *      - @c NOT_SUPPORTED						if you dont feel like
+   * implementing something...
    */
   virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction, const uint8_t *data,
                                     size_t datalen) = 0;
@@ -97,8 +97,8 @@ class RMAPChannelIF {
    *      - @c REPLY_NO_REPLY				no reply was received
    *      - @c REPLY_NOT_SENT				command was not sent, implies no reply
    *      - @c REPLY_NOT_YET_SENT			command is still waiting to be sent
-   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer still being
-   * processed)
+   *      - @c WRITE_REPLY_INTERFACE_BUSY			Interface is busy (transmission buffer still
+   * being processed)
    *      - @c WRITE_REPLY_TRANSMISSION_ERROR		Interface encountered errors during last
    * operation, data could not be processed. (transmission error)
    *      - @c WRITE_REPLY_INVALID_DATA			Invalid data (amount / value)

src/fsfw/rmap/rmapStructs.h

@@ -32,8 +32,8 @@ static const uint8_t RMAP_COMMAND_READ = ((1 << RMAP_COMMAND_BIT) | (1 << RMAP_C
 static const uint8_t RMAP_REPLY_WRITE =
     ((1 << RMAP_COMMAND_BIT_WRITE) | (1 << RMAP_COMMAND_BIT_REPLY));
 static const uint8_t RMAP_REPLY_READ = ((1 << RMAP_COMMAND_BIT_REPLY));
-//#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE) |
-//(1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY	((1<<RMAP_COMMAND_BIT) |
+//#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE)
+//| (1<<RMAP_COMMAND_BIT_REPLY)) #define RMAP_COMMAND_WRITE_VERIFY	((1<<RMAP_COMMAND_BIT) |
 //(1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY)) #define
 // RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))