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This commit is contained in:
Jakob Meier 2022-02-03 10:31:15 +01:00
commit 348274c145
883 changed files with 55609 additions and 51234 deletions
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7
.clang-format Normal file
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@ -0,0 +1,7 @@
---
BasedOnStyle: Google
IndentWidth: 2
---
Language: Cpp
ColumnLimit: 100
---

31
CMakeLists.txt
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@ -4,6 +4,9 @@ set(FSFW_VERSION 2)
set(FSFW_SUBVERSION 0) set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0) set(FSFW_REVISION 0)
# Add the cmake folder so the FindSphinx module is found
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
option(FSFW_GENERATE_SECTIONS option(FSFW_GENERATE_SECTIONS
"Generate function and data sections. Required to remove unused code" ON "Generate function and data sections. Required to remove unused code" ON
) )
@ -12,6 +15,7 @@ if(FSFW_GENERATE_SECTIONS)
endif() endif()
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF) option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON) option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
endif() endif()
@ -36,7 +40,9 @@ option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw) set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests) set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
project(${LIB_FSFW_NAME})
add_library(${LIB_FSFW_NAME}) add_library(${LIB_FSFW_NAME})
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
@ -50,7 +56,7 @@ 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)
@ -59,7 +65,6 @@ if(FSFW_BUILD_UNITTESTS)
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h) configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h) configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in OBSWConfig.h)
project(${FSFW_TEST_TGT} CXX C) project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT}) add_executable(${FSFW_TEST_TGT})
@ -85,7 +90,7 @@ 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}
) )
@ -147,13 +152,8 @@ else()
set(OS_FSFW "host") set(OS_FSFW "host")
endif() endif()
if(FSFW_BUILD_UNITTESTS) 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.")
@ -163,6 +163,9 @@ if(FSFW_ADD_HAL)
add_subdirectory(hal) add_subdirectory(hal)
endif() endif()
add_subdirectory(contrib) add_subdirectory(contrib)
if(FSFW_BUILD_DOCS)
add_subdirectory(docs)
endif()
if(FSFW_BUILD_UNITTESTS) if(FSFW_BUILD_UNITTESTS)
if(FSFW_TESTS_GEN_COV) if(FSFW_TESTS_GEN_COV)
@ -189,13 +192,13 @@ 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()
@ -234,9 +237,11 @@ endif()
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning. # If this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH) if(NOT FSFW_CONFIG_PATH)
message(WARNING "Flight Software Framework configuration path not set!")
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig) set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
if(NOT FSFW_BUILD_DOCS)
message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..") message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
endif()
add_subdirectory(${DEF_CONF_PATH}) add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH}) set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
endif() endif()

26
README.md
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@ -42,7 +42,7 @@ There are some functions like `printChar` which are different depending on the t
and need to be implemented by the mission developer. and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](doc/README-config.md#top) provides more specific a starting point. The [configuration section](docs/README-config.md#top) provides more specific
information about the possible options. information about the possible options.
## Adding the library ## Adding the library
@ -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.
@ -107,16 +107,22 @@ 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.
## Formatting the sources
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.
## Index ## Index
[1. High-level overview](doc/README-highlevel.md#top) <br> [1. High-level overview](docs/README-highlevel.md#top) <br>
[2. Core components](doc/README-core.md#top) <br> [2. Core components](docs/README-core.md#top) <br>
[3. Configuration](doc/README-config.md#top) <br> [3. Configuration](docs/README-config.md#top) <br>
[4. OSAL overview](doc/README-osal.md#top) <br> [4. OSAL overview](docs/README-osal.md#top) <br>
[5. PUS services](doc/README-pus.md#top) <br> [5. PUS services](docs/README-pus.md#top) <br>
[6. Device Handler overview](doc/README-devicehandlers.md#top) <br> [6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
[7. Controller overview](doc/README-controllers.md#top) <br> [7. Controller overview](docs/README-controllers.md#top) <br>
[8. Local Data Pools](doc/README-localpools.md#top) <br> [8. Local Data Pools](docs/README-localpools.md#top) <br>

8
automation/Dockerfile
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@ -5,4 +5,10 @@ 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
RUN git clone https://github.com/catchorg/Catch2.git && \
cd Catch2 && \
git checkout v3.0.0-preview4 && \
cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
cmake --build build/ --target install

35
automation/Jenkinsfile vendored
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@ -1,28 +1,23 @@
pipeline { pipeline {
agent any
environment { environment {
BUILDDIR = 'build-unittests' BUILDDIR = 'build-tests'
} }
stages {
stage('Create Docker') {
agent { agent {
dockerfile { dockerfile {
dir 'automation' dir 'automation'
additionalBuildArgs '--no-cache' //force docker to redownload base image and rebuild all steps instead of caching them
//this way, we always get an up to date docker image one each build
additionalBuildArgs '--no-cache --pull'
reuseNode true reuseNode true
} }
} }
stages {
stage('Clean') {
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 +25,6 @@ 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 +32,6 @@ 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 +39,6 @@ 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'

13
cmake/FindSphinx.cmake Normal file
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@ -0,0 +1,13 @@
# Look for an executable called sphinx-build
find_program(SPHINX_EXECUTABLE
NAMES sphinx-build
DOC "Path to sphinx-build executable")
include(FindPackageHandleStandardArgs)
# Handle standard arguments to find_package like REQUIRED and QUIET
find_package_handle_standard_args(
Sphinx
"Failed to find sphinx-build executable"
SPHINX_EXECUTABLE
)

1
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@ -0,0 +1 @@
/_build

66
docs/CMakeLists.txt Normal file
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@ -0,0 +1,66 @@
# This is based on this excellent posting provided by Sy:
# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
find_package(Doxygen REQUIRED)
find_package(Sphinx REQUIRED)
get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
# TODO: Add HAL as well
file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
# Replace variables inside @@ with the current values
configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
# Doxygen won't create this for us
file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
# Only regenerate Doxygen when the Doxyfile or public headers change
add_custom_command(
OUTPUT ${DOXYGEN_INDEX_FILE}
DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
COMMENT "Generating docs"
VERBATIM
)
# Nice named target so we can run the job easily
add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
# Only regenerate Sphinx when:
# - Doxygen has rerun
# - Our doc files have been updated
# - The Sphinx config has been updated
add_custom_command(
OUTPUT ${SPHINX_INDEX_FILE}
COMMAND
${SPHINX_EXECUTABLE} -b html
# Tell Breathe where to find the Doxygen output
-Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
${SPHINX_SOURCE} ${SPHINX_BUILD}
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
DEPENDS
# Other docs files you want to track should go here (or in some variable)
${RST_DOC_FILES}
${DOXYGEN_INDEX_FILE}
MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
COMMENT "Generating documentation with Sphinx"
)
# Nice named target so we can run the job easily
add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
# Add an install target to install the docs
include(GNUInstallDirs)
install(DIRECTORY ${SPHINX_BUILD}
DESTINATION ${CMAKE_INSTALL_DOCDIR})

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@ -0,0 +1,7 @@
INPUT = "@DOXYGEN_INPUT_DIR@"
RECURSIVE = YES
OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
GENERATE_XML = YES

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@ -0,0 +1,20 @@
# Minimal makefile for Sphinx documentation
#
# You can set these variables from the command line, and also
# from the environment for the first two.
SPHINXOPTS ?=
SPHINXBUILD ?= sphinx-build
SOURCEDIR = .
BUILDDIR = _build
# Put it first so that "make" without argument is like "make help".
help:
@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
.PHONY: help Makefile
# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile
@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

0
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0
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0
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0
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0
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4
doc/README-localpools.md → docs/README-localpools.md
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@ -31,7 +31,9 @@ cohesive pool variables. These sets simply iterator over the list of variables a
`read` and `commit` functions of each variable. The following diagram shows the `read` and `commit` functions of each variable. The following diagram shows the
high-level architecture of the local data pools. high-level architecture of the local data pools.
<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br> .. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
An example is shown for using the local data pools with a Gyroscope. An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken For example, the following code shows an implementation to access data from a Gyroscope taken

0
doc/README-osal.md → docs/README-osal.md
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0
doc/README-pus.md → docs/README-pus.md
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docs/api.rst Normal file
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@ -0,0 +1,16 @@
API
====
.. toctree::
:maxdepth: 4
api/objectmanager
api/task
api/ipc
api/returnvalue
api/event
api/modes
api/health
api/action
api/devicehandler
api/controller

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@ -0,0 +1,15 @@
Action Module API
=================
``ActionHelper``
-----------------
.. doxygenclass:: ActionHelper
:members:
``HasActionsIF``
-----------------
.. doxygenclass:: HasActionsIF
:members:
:protected-members:

16
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@ -0,0 +1,16 @@
Controller API
=================
``ControllerBase``
-------------------------
.. doxygenclass:: ControllerBase
:members:
:protected-members:
``ExtendedControllerBase``
-----------------------------
.. doxygenclass:: ExtendedControllerBase
:members:
:protected-members:

16
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@ -0,0 +1,16 @@
Device Handler Base API
=========================
``DeviceHandlerBase``
-----------------------
.. doxygenclass:: DeviceHandlerBase
:members:
:protected-members:
``DeviceHandlerIF``
-----------------------
.. doxygenclass:: DeviceHandlerIF
:members:
:protected-members:

6
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@ -0,0 +1,6 @@
.. _eventapi:
Event API
============
.. doxygenfile:: Event.h

9
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@ -0,0 +1,9 @@
Health API
===========
``HasHealthIF``
------------------
.. doxygenclass:: HasHealthIF
:members:
:protected-members:

9
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@ -0,0 +1,9 @@
IPC Module API
=================
``MessageQueueIF``
-------------------
.. doxygenclass:: MessageQueueIF
:members:
:protected-members:

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@ -0,0 +1,10 @@
Modes API
=========
``HasModesIF``
---------------
.. doxygenclass:: HasModesIF
:members:
:protected-members:

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@ -0,0 +1,30 @@
Object Manager API
=========================
``SystemObject``
--------------------
.. doxygenclass:: SystemObject
:members:
:protected-members:
``ObjectManager``
-----------------------
.. doxygenclass:: ObjectManager
:members:
:protected-members:
``SystemObjectIF``
--------------------
.. doxygenclass:: SystemObjectIF
:members:
:protected-members:
``ObjectManagerIF``
-----------------------
.. doxygenclass:: ObjectManagerIF
:members:
:protected-members:

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@ -0,0 +1,10 @@
.. _retvalapi:
Returnvalue API
==================
.. doxygenfile:: HasReturnvaluesIF.h
.. _fwclassids:
.. doxygenfile:: FwClassIds.h

8
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@ -0,0 +1,8 @@
Task API
=========
``ExecutableObjectIF``
-----------------------
.. doxygenclass:: ExecutableObjectIF
:members:

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@ -0,0 +1,56 @@
# Configuration file for the Sphinx documentation builder.
#
# This file only contains a selection of the most common options. For a full
# list see the documentation:
# https://www.sphinx-doc.org/en/master/usage/configuration.html
# -- Path setup --------------------------------------------------------------
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
#
# import os
# import sys
# sys.path.insert(0, os.path.abspath('.'))
# -- Project information -----------------------------------------------------
project = 'Flight Software Framework'
copyright = '2021, Institute of Space Systems (IRS)'
author = 'Institute of Space Systems (IRS)'
# The full version, including alpha/beta/rc tags
release = '2.0.1'
# -- General configuration ---------------------------------------------------
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [ "breathe" ]
breathe_default_project = "fsfw"
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
# -- Options for HTML output -------------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
#
html_theme = 'alabaster'
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = []

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@ -0,0 +1,41 @@
Configuring the FSFW
=====================
The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
``misc/defaultcfg`` to have a starting point for this. The folder should be added
to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
of the available options will be explained in more detail here.
Auto-Translation of Events
----------------------------
The FSFW allows the automatic translation of events, which allows developers to track triggered
events directly via console output. Using this feature requires:
1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
2. Special auto-generated translation files which translate event IDs and object IDs into
human readable strings. These files can be generated using the
`fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
An example implementations of these translation file generators can be found as part
of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
Configuring the Event Manager
----------------------------------
The number of allowed subscriptions can be modified with the following
parameters:
.. code-block:: cpp
namespace fsfwconfig {
//! Configure the allocated pool sizes for the event manager.
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
}

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Controllers
=============

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@ -0,0 +1,70 @@
.. _core:
Core Modules
=============
The core modules provide the most important functionalities of the Flight Software Framework.
Clock
------
- This is a class of static functions that can be used at anytime
- Leap Seconds must be set if any time conversions from UTC to other times is used
Object Manager
---------------
- Must be created during program startup
- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
component.
- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
framework objects.
- A reference to an object can be retrieved by calling the ``get`` function of
:cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
A ``nullptr`` check of the returning pointer must be done. This function is based on
run-time type information.
.. code-block:: cpp
template <typename T> T* ObjectManagerIF::get(object_id_t id);
- A typical way to create all objects on startup is a handing a static produce function to the
ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
afterwards.
Event Manager
---------------
- Component which allows routing of events
- Other objects can subscribe to specific events, ranges of events or all events of an object.
- Subscriptions can be done during runtime but should be done during initialization
- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
Health Table
---------------
- A component which holds every health state
- Provides a thread safe way to access all health states without the need of message exchanges
Stores
--------------
- The message based communication can only exchange a few bytes of information inside the message
itself. Therefore, additional information can be exchanged with Stores. With this, only the
store address must be exchanged in the message.
- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
Store is used. For outgoing TM a TM store is used.
- All of them should use the Thread Safe Class storagemanager/PoolManager
Tasks
---------
There are two different types of tasks:
- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
insertion to the Tasks.
- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
DeviceHandlers, where polling should be in a defined order. An example can be found in
``defaultcfg/fsfwconfig/pollingSequence`` folder

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Device Handlers
==================

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Getting Started
================
Getting started
----------------
The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
It is recommended to get started by building and playing around with the demo application.
There are also other examples provided for all OSALs using the popular embedded platforms
Raspberry Pi, Beagle Bone Black and STM32H7.
Generally, the FSFW is included in a project by providing
a configuration folder, building the static library and linking against it.
There are some functions like ``printChar`` which are different depending on the target architecture
and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](docs/README-config.md#top) provides more specific
information about the possible options.
Adding the library
-------------------
The following steps show how to add and use FSFW components. It is still recommended to
try out the example mentioned above to get started, but the following steps show how to
add and link against the FSFW library in general.
1. Add this repository as a submodule
.. code-block:: console
git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
.. code-block:: cmake
add_subdirectory(fsfw)
3. Make sure to provide a configuration folder and supply the path to that folder with
the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
It is also necessary to provide the `printChar` function. You can find an example
implementation for a hosted build
`here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
4. Link against the FSFW library
.. code-block:: cmake
target_link_libraries(<YourProjectName> PRIVATE fsfw)
5. It should now be possible use the FSFW as a static library from the user code.
Building the unittests
-------------------------
The FSFW also has unittests which use the `Catch2 library`_.
These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
from your project `CMakeLists.txt` file or from the command line.
The fsfw-tests binary will be built as part of the static library and dropped alongside it.
If the unittests are built, the library and the tests will be built with coverage information by
default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
You can use the following commands inside the ``fsfw`` folder to set up the build system
.. code-block:: console
mkdir build-tests && cd build-tests
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
To build the unittests, run them and then generare the coverage data in this format,
the following command can be used inside the build directory after the build system was set up
.. code-block:: console
cmake --build . -- fsfw-tests_coverage -j
The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the unittests conveniently. Try ``helper.py -h`` for more information.
Building the documentation
----------------------------
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
documentation build system using the following commands
.. code-block:: bash
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
Then you can generate the documentation using
.. code-block:: bash
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.
.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
.. _`Catch2 library`: https://github.com/catchorg/Catch2
.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

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.. _highlevel:
High-level overview
===================
Structure
----------
The general structure is driven by the usage of interfaces provided by objects.
The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
widely available, even with older compilers.
The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
This simplifies the instantiation of objects and allows the usage of some standard containers.
Dynamic Allocation after initialization is discouraged and different solutions are provided in the
FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
Failure Handling
-----------------
Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
``fsfwconfig`` folder.
OSAL
------------
The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
The :ref:`OSAL README <osal>` provides more detailed information on provided components
and how to use them.
Core Components
----------------
The FSFW has following core components. More detailed informations can be found in the
:ref:`core component section <core>`:
1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
with fixed timeslots
2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
to the object handles.
3. Static Stores: Different stores are provided to store data of variable size (like telecommands
or small telemetry) in a pool structure without using dynamic memory allocation.
These pools are allocated up front.
4. Clock: This module provided common time related functions
5. EventManager: This module allows routing of events generated by `SystemObjects`
6. HealthTable: A component which stores the health states of objects
Static IDs in the framework
--------------------------------
Some parts of the framework use a static routing address for communication.
An example setup of IDs can be found in the example config in ``misc/defaultcfg/fsfwconfig/objects``
inside the function ``Factory::setStaticFrameworkObjectIds``.
Events
----------------
Events are tied to objects. EventIds can be generated by calling the
:ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
This works analog to the returnvalues. Every object that needs own Event IDs has to get a
unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
:cpp:func:`SystemObject::triggerEvent` from the parent class.
Therefore, event messages contain the specific EventId and the objectId of the object that
has triggered.
Internal Communication
-------------------------
Components communicate mostly via Messages through Queues.
Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
will create `MessageQueue` instances for the used OSAL.
External Communication
--------------------------
The external communication with the mission control system is mostly up to the user implementation.
The FSFW provides PUS Services which can be used to but don't need to be used.
The services can be seen as a conversion from a TC to a message based communication and back.
TMTC Communication
~~~~~~~~~~~~~~~~~~~
The FSFW provides some components to facilitate TMTC handling via the PUS commands.
For example, a UDP or TCP PUS server socket can be opened on a specific port using the
files located in ``osal/common``. The FSFW example uses this functionality to allow sending
telecommands and receiving telemetry using the
`TMTC commander application <https://github.com/robamu-org/tmtccmd>`_.
Simple commands like the PUS Service 17 ping service can be tested by simply running the
``tmtc_client_cli.py`` or ``tmtc_client_gui.py`` utility in
the `example tmtc folder <https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc>`_
while the `fsfw_example` application is running.
More generally, any class responsible for handling incoming telecommands and sending telemetry
can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
also use a dedicated polling task for reading telecommands which passes telecommands
to the ``TmTcBridge`` implementation.
CCSDS Frames, CCSDS Space Packets and PUS
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
distributed the packets to the corresponding services. Those can be found in ``tcdistribution``.
If Space Packets are used, a timestamper has to be provided by the user.
An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
Device Handlers
--------------------------
DeviceHandlers are another important component of the FSFW. The idea is, to have a software
counterpart of every physical device to provide a simple mode, health and commanding interface.
By separating the underlying Communication Interface with
``DeviceCommunicationIF``, a device handler (DH) can be tested on different hardware.
The DH has mechanisms to monitor the communication with the physical device which allow
for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``.
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
related [documentation section](doc/README-devicehandlers.md#top).
Modes and Health
--------------------
The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
of components. On-board mode management is implement in hierarchy system.
- Device handlers and controllers are the lowest part of the hierarchy.
- The next layer are assemblies. Those assemblies act as a component which handle
redundancies of handlers. Assemblies share a common core with the top level subsystem components
- The top level subsystem components are used to group assemblies, controllers and device handlers.
For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
Those assemblies are intended to act as auto-generated components from a database which describes
the subsystem modes. The definitions contain transition and target tables which contain the DH,
Assembly and Controller Modes to be commanded.
Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
controller as last component.
The target table is used to describe the state that is checked continuously by the subsystem.
All of this allows System Modes to be generated as Subsystem object as well from the same database.
This System contains list of subsystem modes in the transition and target tables.
Therefore, it allows a modular system to create system modes and easy commanding of those, because
only the highest components must be commanded.
The health state represents if the component is able to perform its tasks.
This can be used to signal the system to avoid using this component instead of a redundant one.
The on-board FDIR uses the health state for isolation and recovery.

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.. Flight Software Framework documentation master file, created by
sphinx-quickstart on Tue Nov 30 10:56:03 2021.
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
Flight Software Framework (FSFW) documentation
================================================
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
:alt: FSFW Logo
The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
automated systems like Satellites.
The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the University of Stuttgart in cooperation
with Airbus Defence and Space GmbH.
Quick facts
---------------
The framework is designed for systems, which communicate with external devices, perform control
loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
Therefore, a mode and health system provides control over the states of the software and the
controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
recovery is implemented as well.
The FSFW provides abstraction layers for operating systems to provide a uniform operating system
abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
also very useful for developers to implement the same application logic on different operating
systems with a uniform interface.
Currently, the FSFW provides the following OSALs:
- Linux
- Host
- FreeRTOS
- RTEMS
The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
ISISPACE IOBC or a Zynq-7020 SoC. The ``fsfw`` was also successfully run on the
STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
satellite mission Flying Laptop.
Index
-------
.. toctree::
:maxdepth: 2
:caption: Contents:
getting_started
highlevel
core
config
osal
pus
devicehandlers
controllers
localpools
api
Indices and tables
==================
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

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Local Data Pools
=========================================
The following text is targeted towards mission software developers which would like
to use the local data pools provided by the FSFW to store data like sensor values so they can be
used by other software objects like controllers as well. If a custom class should have a local
pool which can be used by other software objects as well, following steps have to be performed:
1. Create a ``LocalDataPoolManager`` member object in the custom class
2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
manager and the class owning the local pool.
The local data pool manager is also able to process housekeeping service requests in form
of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
variables and datasets and process notifications and snapshots coming from other objects.
The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
while the later two are related to data consumers like controllers only acting on data change
detected by the data creator instead of checking the data manually each cycle. Two important
framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
shown above so the steps required are altered slightly.
Storing and Accessing pool data
-------------------------------------
The pool manager is responsible for thread-safe access of the pool data, but the actual
access to the pool data from the point of view of a mission software developer happens via proxy
classes like pool variable classes. These classes store a copy
of the pool variable with the matching datatype and copy the actual data from the local pool
on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
and data consumers. Generally, a user will create a dataset class which in turn groups all
cohesive pool variables. These sets simply iterator over the list of variables and call the
``read`` and ``commit`` functions of each variable. The following diagram shows the
high-level architecture of the local data pools.
.. image:: ../docs/images/PoolArchitecture.png
:alt: Pool Architecture
An example is shown for using the local data pools with a Gyroscope.
For example, the following code shows an implementation to access data from a Gyroscope taken
from the SOURCE CubeSat project:
.. code-block:: cpp
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/**
* Constructor for data users
* @param gyroId
*/
GyroPrimaryDataset(object_id_t gyroId):
StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_X, this);
lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Y, this);
lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
gyrodefs::ANGULAR_VELOCITY_Z, this);
private:
friend class GyroHandler;
/**
* Constructor for data creator
* @param hkOwner
*/
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
};
There is a public constructor for users which sets all variables to read-only and there is a
constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
as a friend class. Both the atittude controller and the ``GyroHandler`` can now
use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
in a thread-safe way. Generally, each class requiring access will have the set class as a member
class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
steps are necessary to expose the set for housekeeping purposes.
Using the local data pools in a ``DeviceHandlerBase`` subclass
--------------------------------------------------------------
It is very common to store data generated by devices like a sensor into a pool which can
then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
as a member:
.. code-block:: cpp
class GyroHandler: ... {
public:
...
private:
...
GyroPrimaryDataset gyroData;
...
};
The constructor used for the creators expects the owner class as a parameter, so we initialize
the object in the `GyroHandler` constructor like this:
.. code-block:: cpp
GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie, uint8_t switchId):
DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
gyroData(this) {}
We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
generating update messages. We need to assign our custom set class in some way so that the local
pool manager can access the custom data sets as well.
By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
``DeviceHandlerBase`` subclass will use the internal command map to retrieve
a handle to a dataset from a given reply ID. Therefore,
we assign the set in the ``fillCommandAndReplyMap`` function:
.. code-block:: cpp
void GyroHandler::fillCommandAndReplyMap() {
...
this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
...
}
Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
function. Here, we also immediately subscribe for periodic housekeeping packets
with an interval of 4 seconds. They are still disabled in this example and can be enabled
with a housekeeping service command.
.. code-block:: cpp
ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
new PoolEntry<uint8_t>({0}));
poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
return HasReturnvaluesIF::RETURN_OK;
}
Now, if we receive some sensor data and converted them into the right format,
we can write it into the pool like this, using a guard class to ensure the set is commited back
in any case:
.. code-block:: cpp
PoolReadGuard readHelper(&gyroData);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(not gyroData.isValid()) {
gyroData.setValidity(true, true);
}
gyroData.angVelocityX = angularVelocityX;
gyroData.angVelocityY = angularVelocityY;
gyroData.angVelocityZ = angularVelocityZ;
}
The guard class will commit the changed data on destruction automatically.
Using the local data pools in a ``ExtendedControllerBase`` subclass
----------------------------------------------------------------------
Coming soon

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@ECHO OFF
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REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
)
set SOURCEDIR=.
set BUILDDIR=_build
if "%1" == "" goto help
%SPHINXBUILD% >NUL 2>NUL
if errorlevel 9009 (
echo.
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point
echo.to the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.
echo.If you don't have Sphinx installed, grab it from
echo.http://sphinx-doc.org/
exit /b 1
)
%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
goto end
:help
%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
:end
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.. _osal:
Operating System Abstraction Layer (OSAL)
============================================
Some specific information on the provided OSALs are provided.
Linux
-------
This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
to be configured specifically to allow the real-time functionalities required by the FSFW.
Hosted OSAL
-------------------
This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
Cross-platform serial port (USB) support might be added soon.
FreeRTOS OSAL
------------------
FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
adding the ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
extensively with the pre-emptive scheduler configuration so far but it should in principle also be
possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
the FreeRTOS configuration file to ensure thread-safety.
When using this OSAL, developers also need to provide an implementation for the
``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
the target architecture or device.
RTEMS OSAL
---------------
The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
TCP/IP socket abstraction
------------------------------
The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
have been imlemented. This is very useful to test TMTC handling either on the host computer
directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
TMTC packets via Ethernet.
Example Applications
----------------------
There are example applications available for each OSAL
- `Hosted OSAL <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted>`_
- `Linux OSAL for MCUs <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu>`_
- `FreeRTOS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos>`_
- `RTEMS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems>`_

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PUS Services
==============

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# 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()

18
hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
View File

@ -1,8 +1,8 @@
#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) {
@ -14,13 +14,13 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
auto gpioMapIter = gpioMap.find(gpioId); auto gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) { if (gpioMapIter == gpioMap.end()) {
auto statusPair = gpioMap.emplace(gpioId, gpioConfig); auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
if (statusPair.second == false) { if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
" to GPIO map" << std::endl; << std::endl;
#else #else
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId); sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
#endif #endif
@ -39,12 +39,10 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
return HasReturnvaluesIF::RETURN_FAILED; 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);
} }
} }

13
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
@ -17,9 +17,8 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class GpioCookie: public CookieIF { class GpioCookie : public CookieIF {
public: public:
GpioCookie(); GpioCookie();
virtual ~GpioCookie(); virtual ~GpioCookie();
@ -31,7 +30,7 @@ public:
*/ */
GpioMap getGpioMap() const; GpioMap getGpioMap() const;
private: private:
/** /**
* Returns a copy of the internal GPIO map. * Returns a copy of the internal GPIO map.
*/ */

10
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;
@ -13,9 +14,8 @@ 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. * @brief Called by the GPIO using object.

127
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -1,29 +1,19 @@
#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,
@ -35,10 +25,10 @@ enum class GpioTypes {
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
@ -55,15 +45,14 @@ 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, GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue): gpio::Levels initValue)
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {} : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
virtual~ GpioBase() {}; virtual ~GpioBase(){};
// Can be used to cast GpioBase to a concrete child implementation // Can be used to cast GpioBase to a concrete child implementation
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE; gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
@ -72,59 +61,53 @@ public:
gpio::Levels initValue = gpio::Levels::NONE; 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
};
} }

125
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -1,13 +1,14 @@
#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
@ -16,24 +17,23 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
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;
@ -41,19 +41,17 @@ void GyroHandlerL3GD20H::doStartUp() {
} }
} }
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;
@ -61,7 +59,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
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);
} }
@ -69,9 +67,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
#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(
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!\n"); "Unknown internal state!\n");
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -84,20 +84,20 @@ ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id
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;
} }
@ -110,13 +110,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
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 {
else {
sensitivity = L3GD20H::SENSITIVITY_11; sensitivity = L3GD20H::SENSITIVITY_11;
} }
@ -130,9 +128,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
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;
@ -157,32 +154,30 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
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; commandExecuted = true;
break; break;
} }
case(L3GD20H::READ_CTRL_REGS): { case (L3GD20H::READ_CTRL_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; commandExecuted = true;
} } else {
else {
// Attempt reconfiguration // Attempt reconfiguration
internalState = InternalState::CONFIGURE; internalState = InternalState::CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
} }
case(L3GD20H::READ_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) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} } else {
else { if (internalState == InternalState::CHECK_REGS) {
if(internalState == InternalState::CHECK_REGS) {
commandExecuted = true; commandExecuted = true;
} }
} }
@ -199,7 +194,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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;
@ -216,28 +211,25 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
#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) { if (std::abs(angVelocY) < this->absLimitY) {
dataset.angVelocY = angVelocY; dataset.angVelocY = angVelocY;
dataset.angVelocY.setValid(true); dataset.angVelocY.setValid(true);
} } else {
else {
dataset.angVelocY.setValid(false); dataset.angVelocY.setValid(false);
} }
if(std::abs(angVelocZ) < this->absLimitZ) { if (std::abs(angVelocZ) < this->absLimitZ) {
dataset.angVelocZ = angVelocZ; dataset.angVelocZ = angVelocZ;
dataset.angVelocZ.setValid(true); dataset.angVelocZ.setValid(true);
} } else {
else {
dataset.angVelocZ.setValid(false); dataset.angVelocZ.setValid(false);
} }
@ -252,17 +244,14 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
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}));
@ -276,9 +265,7 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
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;

45
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
View File

@ -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)
@ -16,10 +16,10 @@
* *
* 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();
/** /**
@ -35,22 +35,18 @@ public:
* @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:
protected:
/* DeviceHandlerBase overrides */ /* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand( ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
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(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
DeviceCommandId_t *foundId, size_t *foundLen) override; size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
const uint8_t *packet) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
void modeChanged() override; void modeChanged() override;
@ -58,7 +54,7 @@ protected:
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;
@ -66,12 +62,7 @@ private:
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,
CONFIGURE,
CHECK_REGS,
NORMAL
};
InternalState internalState = InternalState::NONE; InternalState internalState = InternalState::NONE;
bool commandExecuted = false; bool commandExecuted = false;
@ -90,10 +81,8 @@ private:
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_ */

226
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -8,9 +8,10 @@
#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
@ -20,39 +21,35 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
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; break;
} }
case(InternalState::STATE_SETUP): { case (InternalState::STATE_SETUP): {
internalState = InternalState::STATE_CHECK_REGISTERS; internalState = InternalState::STATE_CHECK_REGISTERS;
break; break;
} }
case(InternalState::STATE_CHECK_REGISTERS): { case (InternalState::STATE_CHECK_REGISTERS): {
/* Set up cached registers which will be used to configure the MGM. */ /* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) { if (commandExecuted) {
commandExecuted = false; commandExecuted = false;
if(goToNormalMode) { if (goToNormalMode) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} } else {
else {
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
} }
} }
@ -61,43 +58,38 @@ void MgmLIS3MDLHandler::doStartUp() {
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);
} }
@ -119,7 +111,6 @@ uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
} }
void MgmLIS3MDLHandler::setupMgm() { void MgmLIS3MDLHandler::setupMgm() {
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;
@ -129,27 +120,24 @@ void MgmLIS3MDLHandler::setupMgm() {
prepareCtrlRegisterWrite(); 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 {
else {
*id = MGMLIS3MDL::READ_TEMPERATURE; *id = MGMLIS3MDL::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA; communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0); 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);
@ -157,7 +145,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
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);
@ -165,17 +153,17 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
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:
@ -195,16 +183,15 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
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; *foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) { if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA; *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
// Check validity by checking config registers // Check validity by checking config registers
if (start[1] != registers[0] or start[2] != registers[1] or if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
start[3] != registers[2] or start[4] != registers[3] or start[4] != registers[3] or start[5] != registers[4]) {
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;
@ -214,57 +201,51 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
#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) {
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
*foundLen = len; *foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM; *foundId = MGMLIS3MDL::SETUP_MGM;
} } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len; *foundLen = len;
*foundId = getPendingCommand(); *foundId = getPendingCommand();
if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) { if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if(start[1] != MGMLIS3MDL::DEVICE_ID) { 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(
"MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!\n"); "Device identification failed!\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 {
else {
return DeviceHandlerIF::INVALID_DATA; return DeviceHandlerIF::INVALID_DATA;
} }
/* Data with SPI Interface always has this answer */ /* Data with SPI Interface always has this answer */
if (start[0] == 0b11111111) { if (start[0] == 0b11111111) {
return RETURN_OK; return RETURN_OK;
} } else {
else {
return DeviceHandlerIF::INVALID_DATA; 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;
@ -276,26 +257,27 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
// 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:"
<< std::endl;
sif::info << "X: " << mgmX << " uT" << std::endl; sif::info << "X: " << mgmX << " uT" << std::endl;
sif::info << "Y: " << mgmY << " uT" << std::endl; sif::info << "Y: " << mgmY << " uT" << std::endl;
sif::info << "Z: " << mgmZ << " uT" << std::endl; sif::info << "Z: " << mgmZ << " uT" << std::endl;
@ -308,28 +290,25 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
} }
#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) { if (std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY; dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthY.setValid(true); dataset.fieldStrengthY.setValid(true);
} } else {
else {
dataset.fieldStrengthY.setValid(false); dataset.fieldStrengthY.setValid(false);
} }
if(std::abs(mgmZ) < absLimitZ) { if (std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ; dataset.fieldStrengthZ = mgmZ;
dataset.fieldStrengthZ.setValid(true); dataset.fieldStrengthZ.setValid(true);
} } else {
else {
dataset.fieldStrengthZ.setValid(false); dataset.fieldStrengthZ.setValid(false);
} }
} }
@ -339,18 +318,17 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
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();
} }
@ -360,7 +338,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
default: { default: {
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
} }
} }
return RETURN_OK; return RETURN_OK;
} }
@ -380,17 +357,17 @@ MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2)
} }
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: {
@ -400,9 +377,8 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies 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);
@ -471,9 +447,7 @@ void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
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);
@ -488,28 +462,18 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
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,
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; return HasReturnvaluesIF::RETURN_OK;
} }

49
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;
@ -18,19 +17,16 @@ 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();
@ -44,22 +40,18 @@ public:
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 */ /** DeviceHandlerBase overrides */
void doShutDown() override; void doShutDown() override;
void doStartUp() override; void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; void doTransition(Mode_t modeFrom, Submode_t subModeFrom) 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 buildCommandFromCommand( ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand( ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand( ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
DeviceCommandId_t *id) override; size_t *foundLen) 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 * 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 * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
@ -67,16 +59,15 @@ protected:
* @param packet * @param packet
* @return * @return
*/ */
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
const uint8_t *packet) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
void modeChanged(void) override; void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
MGMLIS3MDL::MgmPrimaryDataset dataset; MGMLIS3MDL::MgmPrimaryDataset dataset;
//Length a single command SPI answer // Length a single command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2; static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
uint32_t transitionDelay; uint32_t transitionDelay;
@ -159,16 +150,14 @@ private:
* @param commandData On or Off * @param commandData On or Off
* @param length of the commandData: has to be 1 * @param length of the commandData: has to be 1
*/ */
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
size_t commandDataLen);
/** /**
* Sets the accuracy of the measurement of the axis. The noise is changing. * Sets the accuracy of the measurement of the axis. The noise is changing.
* @param commandData LOW, MEDIUM, HIGH, ULTRA * @param commandData LOW, MEDIUM, HIGH, ULTRA
* @param length of the command, has to be 1 * @param length of the command, has to be 1
*/ */
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
size_t commandDataLen);
/** /**
* We always update all registers together, so this method updates * We always update all registers together, so this method updates
@ -179,7 +168,7 @@ private:
ReturnValue_t prepareCtrlRegisterWrite(); ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider; PeriodicOperationDivider *debugDivider;
#endif #endif
}; };

175
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -1,16 +1,16 @@
#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
@ -19,34 +19,33 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
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; break;
} }
case(InternalState::STATE_CONFIGURE_TMRC): { case (InternalState::STATE_CONFIGURE_TMRC): {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::STATE_READ_TMRC; internalState = InternalState::STATE_READ_TMRC;
} }
break; break;
} }
case(InternalState::STATE_READ_TMRC): { case (InternalState::STATE_READ_TMRC): {
if(commandExecuted) { if (commandExecuted) {
internalState = InternalState::NORMAL; internalState = InternalState::NORMAL;
if(goToNormalModeAtStartup) { if (goToNormalModeAtStartup) {
setMode(MODE_NORMAL); setMode(MODE_NORMAL);
} } else {
else {
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
} }
} }
@ -58,33 +57,30 @@ void MgmRM3100Handler::doStartUp() {
} }
} }
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;
} }
@ -93,9 +89,11 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
#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(
"MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n"); "Unknown internal state\n");
#endif #endif
#endif #endif
@ -106,43 +104,44 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
} }
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) {
case (RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER; commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE; commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer; rawPacket = commandBuffer;
rawPacketLen = 2; rawPacketLen = 2;
break; 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;
@ -154,16 +153,13 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
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 // For SPI, ID will always be the one of the last sent command
*foundId = this->getPendingCommand(); *foundId = this->getPendingCommand();
*foundLen = len; *foundLen = len;
@ -172,62 +168,60 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
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 // Reading TMRC was commanded. Trigger event to inform ground
if(mode != _MODE_START_UP) { if (mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0); triggerEvent(tmrcSet, tmrcRegValue, 0);
} }
} } else {
else {
// Attempt reconfiguration // Attempt reconfiguration
internalState = InternalState::STATE_CONFIGURE_TMRC; internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID; return DeviceHandlerIF::DEVICE_REPLY_INVALID;
} }
break; break;
} }
case(RM3100::READ_CYCLE_COUNT): { case (RM3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2]; uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4]; uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6]; uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) { cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID; 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; uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ); triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
} }
break; break;
} }
case(RM3100::READ_DATA): { case (RM3100::READ_DATA): {
result = handleDataReadout(packet); result = handleDataReadout(packet);
break; break;
} }
@ -239,19 +233,18 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
} }
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) {
if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; 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 {
else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
@ -264,21 +257,21 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
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;
} }
@ -289,8 +282,9 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
} }
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) {
if (commandData == nullptr or commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
@ -315,12 +309,10 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
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}));
@ -331,9 +323,7 @@ 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
@ -348,10 +338,11 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
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:"
<< std::endl;
sif::info << "X: " << fieldStrengthX << " uT" << std::endl; sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
@ -366,7 +357,7 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// 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;

46
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
View File

@ -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
@ -16,22 +16,21 @@
* 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();
/** /**
@ -40,18 +39,16 @@ public:
*/ */
void setToGoToNormalMode(bool enable); void setToGoToNormalMode(bool enable);
protected: protected:
/* DeviceHandlerBase overrides */ /* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand( ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
DeviceCommandId_t *id) override;
void doStartUp() override; void doStartUp() override;
void doShutDown() override; void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
const uint8_t *commandData, size_t commandDataLen) override; size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
DeviceCommandId_t *foundId, size_t *foundLen) override; size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override; ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override; void fillCommandAndReplyMap() override;
@ -60,8 +57,7 @@ protected:
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override; LocalDataPoolManager &poolManager) override;
private: private:
enum class InternalState { enum class InternalState {
NONE, NONE,
CONFIGURE_CMM, CONFIGURE_CMM,
@ -94,16 +90,16 @@ private:
uint32_t transitionDelay; uint32_t transitionDelay;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand, ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen); 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, ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
const uint8_t *commandData,size_t commandDataLen); size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t* packet); 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
}; };

42
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,
ANG_VELOC_Z,
TEMPERATURE
};
} } // namespace L3GD20H
class GyroPrimaryDataset: public StaticLocalDataSet<5> {
public:
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */ /** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId): GyroPrimaryDataset(object_id_t mgmId)
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) { : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
setAllVariablesReadOnly(); setAllVariablesReadOnly();
} }
/* Angular velocities in degrees per second (DPS) */ /* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
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> angVelocY = lp_var_t<float>(sid.objectId, lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
L3GD20H::ANG_VELOC_Y, this); lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, 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:
private:
friend class GyroHandlerL3GD20H; friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */ /** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner): GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {} : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
}; };
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */ #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

75
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
View File

@ -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;
@ -114,65 +106,58 @@ 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_ */

50
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
View File

@ -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;
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
@ -67,17 +67,16 @@ 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;
} }
@ -88,10 +87,10 @@ public:
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);
} }
@ -102,31 +101,24 @@ private:
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_ */

12
hal/src/fsfw_hal/linux/CMakeLists.txt
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@ -4,11 +4,13 @@ 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(uio) add_subdirectory(uart)
endif()

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_ */

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

@ -1,25 +1,26 @@
#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;
@ -27,11 +28,9 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
} }
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;
}

15
hal/src/fsfw_hal/linux/UnixFileGuard.h
View File

@ -1,16 +1,14 @@
#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;
@ -20,14 +18,13 @@ public:
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:
private:
int* fileDescriptor = nullptr; int* fileDescriptor = nullptr;
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK; ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
}; };
#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */ #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

18
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
View File

@ -1,12 +1,16 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
LinuxLibgpioIF.cpp
)
# This abstraction layer requires the gpiod library. You can install this library # This abstraction layer requires the gpiod library. You can install this library
# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
# to install the package before syncing the sysroot to your host computer. # to install the package before syncing the sysroot to your host computer.
find_library(LIB_GPIO gpiod REQUIRED) find_library(LIB_GPIO gpiod)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE 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} ${LIB_GPIO}
) )
endif()

254
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
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@ -1,26 +1,25 @@
#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;
} }
@ -29,7 +28,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
/* 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;
} }
@ -45,39 +44,39 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
} }
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): { case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
configureGpioByChip(gpioConfig.first, *regularGpio); configureGpioByChip(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{ case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
configureGpioByLabel(gpioConfig.first, *regularGpio); configureGpioByLabel(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{ case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second); auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
if(regularGpio == nullptr) { if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
configureGpioByLineName(gpioConfig.first, *regularGpio); configureGpioByLineName(gpioConfig.first, *regularGpio);
break; break;
} }
case(gpio::GpioTypes::CALLBACK): { case (gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
@ -89,26 +88,24 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
} }
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 " sif::warning << "LinuxLibgpioIF::configureGpioByChip: 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 = "chipname: " + chipname; std::string failOutput = "chipname: " + chipname;
@ -116,13 +113,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
} }
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;
@ -132,8 +129,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
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;
@ -141,19 +138,20 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
} }
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,
std::string failOutput) {
unsigned int lineNum; unsigned int lineNum;
gpio::Direction direction; gpio::Direction direction;
std::string consumer; std::string consumer;
struct gpiod_line *lineHandle; struct gpiod_line* lineHandle;
int result = 0; 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;
@ -163,33 +161,32 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
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
@ -207,22 +204,21 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
} }
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); return driveGpio(gpioId, *regularGpio, gpio::HIGH);
} } else {
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
gpio::Levels::HIGH, gpioCallback->callbackArgs); gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
@ -240,37 +236,38 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
} }
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); return driveGpio(gpioId, *regularGpio, gpio::LOW);
} } else {
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
gpio::Levels::LOW, gpioCallback->callbackArgs); gpioCallback->callbackArgs);
return RETURN_OK; return RETURN_OK;
} }
return GPIO_TYPE_FAILURE; 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;
} }
@ -280,7 +277,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
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
@ -290,63 +287,60 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
} }
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); *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
} } else {
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second); auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) { if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE; return GPIO_INVALID_INSTANCE;
} }
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
gpio::Levels::NONE, gpioCallback->callbackArgs); gpioCallback->callbackArgs);
return RETURN_OK; 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 // Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd); result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
status = result; status = result;
} }
break; break;
} }
case(gpio::GpioTypes::CALLBACK): { case (gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second); auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(callbackGpio == nullptr) { if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE; return GPIO_TYPE_FAILURE;
} }
// Check for conflicts and remove duplicates if necessary // Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first, result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
gpioConfig.second->gpioType, mapToAdd); if (result != HasReturnvaluesIF::RETURN_OK) {
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result; status = result;
} }
break; break;
} }
default: { 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
@ -358,38 +352,41 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
} }
ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck, ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
gpio::GpioTypes expectedType, GpioMap& mapToAdd) { gpio::GpioTypes expectedType,
GpioMap& mapToAdd) {
// Cross check with private map // Cross check with private map
gpioMapIter = gpioMap.find(gpioIdToCheck); gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) { if (gpioMapIter != gpioMap.end()) {
auto& gpioType = gpioMapIter->second->gpioType; auto& gpioType = gpioMapIter->second->gpioType;
bool eraseDuplicateDifferentType = false; bool eraseDuplicateDifferentType = false;
switch(expectedType) { switch (expectedType) {
case(gpio::GpioTypes::NONE): { case (gpio::GpioTypes::NONE): {
break; break;
} }
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): {
if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) { if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true; eraseDuplicateDifferentType = true;
} }
break; break;
} }
case(gpio::GpioTypes::CALLBACK): { case (gpio::GpioTypes::CALLBACK): {
if(gpioType != gpio::GpioTypes::CALLBACK) { if (gpioType != gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true; eraseDuplicateDifferentType = true;
} }
} }
} }
if(eraseDuplicateDifferentType) { if (eraseDuplicateDifferentType) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for " sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type " << gpioIdToCheck << "different GPIO type "
". Removing duplicate from map to add" << std::endl; << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for " sif::printWarning(
"different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck); "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n",
gpioIdToCheck);
#endif #endif
mapToAdd.erase(gpioIdToCheck); mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED; return GPIO_DUPLICATE_DETECTED;
@ -398,11 +395,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
// Remove element from map to add because a entry for this GPIO already exists // Remove element from map to add because a entry for this GPIO already exists
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO " sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
"definition with ID " << gpioIdToCheck << " detected. " << "definition with ID "
"Duplicate will be removed from map to add" << std::endl; << gpioIdToCheck << " detected. "
<< "Duplicate will be removed from map to add" << std::endl;
#else #else
sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition " sif::printWarning(
"with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck); "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n",
gpioIdToCheck);
#endif #endif
mapToAdd.erase(gpioIdToCheck); mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED; return GPIO_DUPLICATE_DETECTED;
@ -415,28 +415,32 @@ void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
#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 "
<< lineName << std::endl;
break; 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 "
"does not exist\n",
lineName);
break; 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 "
"with name %s\n",
lineName);
break; break;
} }
#endif #endif
} }
} }

17
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;
@ -16,8 +16,7 @@ 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 = static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@ -39,8 +38,7 @@ public:
ReturnValue_t pullLow(gpioId_t gpioId) override; ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override; ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private: private:
static const size_t MAX_CHIPNAME_LENGTH = 11; static const size_t MAX_CHIPNAME_LENGTH = 11;
static const int LINE_NOT_EXISTS = 0; static const int LINE_NOT_EXISTS = 0;
static const int LINE_ERROR = -1; static const int LINE_ERROR = -1;
@ -56,13 +54,11 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive. * @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1. * @param logiclevel The logic level to set. O or 1.
*/ */
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
gpio::Levels logicLevel);
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel); ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip); ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureGpioByLineName(gpioId_t gpioId, ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
GpiodRegularByLineName &gpioByLineName);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip, ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput); GpiodRegularBase& regularGpio, std::string failOutput);
@ -77,8 +73,7 @@ private:
*/ */
ReturnValue_t checkForConflicts(GpioMap& mapToAdd); ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
GpioMap& mapToAdd);
/** /**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd. * @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.

116
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
View File

@ -1,114 +1,123 @@
#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; address_t i2cAddress;
std::string deviceFile; std::string deviceFile;
if(cookie == nullptr) { if (cookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl; sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl; sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
i2cAddress = i2cCookie->getAddress(); i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if(i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
size_t maxReplyLen = i2cCookie->getMaxReplyLen(); size_t maxReplyLen = i2cCookie->getMaxReplyLen();
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0}; I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance); auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
if (not statusPair.second) { if (not statusPair.second) {
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " << #if FSFW_CPP_OSTREAM_ENABLED == 1
i2cAddress << "to I2C device " << "map" << std::endl; 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_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress << #if FSFW_CPP_OSTREAM_ENABLED == 1
"already in use" << std::endl; sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
<< "already in use" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie, ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
const uint8_t *sendData, size_t sendLen) {
ReturnValue_t result; ReturnValue_t result;
int fd; int fd;
std::string deviceFile; std::string deviceFile;
if(sendData == nullptr) { if (sendData == nullptr) {
sif::error << "I2cComIF::sendMessage: Send Data is nullptr" #if FSFW_CPP_OSTREAM_ENABLED == 1
<< std::endl; sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if(sendLen == 0) { if (sendLen == 0) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl; sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl; << "registered in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
deviceFile = i2cCookie->getDeviceFile(); deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage"); UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult(); return fileHelper.getOpenResult();
} }
result = openDevice(deviceFile, i2cAddress, &fd); result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
if (write(fd, sendData, sendLen) != (int)sendLen) { 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 " sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code " << errno << ". Error description: " "device with error code "
<< strerror(errno) << std::endl; << errno << ". Error description: " << strerror(errno) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie, ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
size_t requestLen) {
ReturnValue_t result; ReturnValue_t result;
int fd; int fd;
std::string deviceFile; std::string deviceFile;
@ -118,8 +127,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
} }
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl; sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
return NULLPOINTER; return NULLPOINTER;
} }
@ -127,19 +138,21 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl; << "registered in i2cDeviceMap" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
deviceFile = i2cCookie->getDeviceFile(); deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage"); UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult(); return fileHelper.getOpenResult();
} }
result = openDevice(deviceFile, i2cAddress, &fd); result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){ if (result != HasReturnvaluesIF::RETURN_OK) {
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
return result; return result;
} }
@ -150,13 +163,16 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
if (readLen != static_cast<int>(requestLen)) { if (readLen != static_cast<int>(requestLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C " sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno <<". Description" << "device failed with error code " << errno << ". Description"
<< " of error: " << strerror(errno) << std::endl; << " of error: " << strerror(errno) << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
<< requestLen << " bytes" << std::endl; << " bytes" << std::endl;
#endif #endif
i2cDeviceMapIter->second.replyLen = 0; i2cDeviceMapIter->second.replyLen = 0;
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen << " bytes" << std::endl; #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -164,19 +180,22 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie, ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
uint8_t **buffer, size_t* size) {
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie); I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if(i2cCookie == nullptr) { if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl; sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
address_t i2cAddress = i2cCookie->getAddress(); address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) { if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not " sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
<< "found in i2cDeviceMap" << std::endl; << "found in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
*buffer = i2cDeviceMapIter->second.replyBuffer.data(); *buffer = i2cDeviceMapIter->second.replyBuffer.data();
@ -185,9 +204,8 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t I2cComIF::openDevice(std::string deviceFile, ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
address_t i2cAddress, int* fileDescriptor) { int* fileDescriptor) {
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) { 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

26
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.
@ -16,23 +17,19 @@
* *
* @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, ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
size_t requestLen) override; ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
private:
struct I2cInstance { struct I2cInstance {
std::vector<uint8_t> replyBuffer; std::vector<uint8_t> replyBuffer;
size_t replyLen; size_t replyLen;
@ -54,8 +51,7 @@ private:
* @param fileDescriptor Pointer to device descriptor. * @param fileDescriptor Pointer to device descriptor.
* @return RETURN_OK if successful, otherwise RETURN_FAILED. * @return RETURN_OK if successful, otherwise RETURN_FAILED.
*/ */
ReturnValue_t openDevice(std::string deviceFile, ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
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() {}

12
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>
/** /**
@ -9,9 +10,8 @@
* *
* @author J. Meier * @author J. Meier
*/ */
class I2cCookie: public CookieIF { class I2cCookie : public CookieIF {
public: public:
/** /**
* @brief Constructor for the I2C cookie. * @brief Constructor for the I2C cookie.
* @param i2cAddress_ The i2c address of the target device. * @param i2cAddress_ The i2c address of the target device.
@ -19,8 +19,7 @@ public:
* target device. * target device.
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0". * @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
*/ */
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
std::string deviceFile_);
virtual ~I2cCookie(); virtual ~I2cCookie();
@ -28,8 +27,7 @@ public:
size_t getMaxReplyLen() const; size_t getMaxReplyLen() const;
std::string getDeviceFile() const; std::string getDeviceFile() const;
private: private:
address_t i2cAddress = 0; address_t i2cAddress = 0;
size_t maxReplyLen = 0; size_t maxReplyLen = 0;
std::string deviceFile; std::string deviceFile;

12
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -1,14 +1,14 @@
#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) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
@ -22,7 +22,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
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;

3
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;
@ -21,6 +22,6 @@ namespace gpio {
*/ */
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_ */

164
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -1,23 +1,23 @@
#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;
@ -30,28 +30,30 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
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;
@ -59,8 +61,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
/* Now we emplaced the read buffer in the map, we still need to assign that location /* Now we emplaced the read buffer in the map, we still need to assign that location
to the SPI driver transfer struct */ to the SPI driver transfer struct */
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data()); spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
} } else {
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;
@ -73,7 +74,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
/* Pull CS high in any case to be sure that device is inactive */ /* Pull CS high in any case to be sure that device is inactive */
gpioId_t gpioId = spiCookie->getChipSelectPin(); gpioId_t gpioId = spiCookie->getChipSelectPin();
if(gpioId != gpio::NO_GPIO) { if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId); gpioComIF->pullHigh(gpioId);
} }
@ -86,91 +87,94 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface"); "SpiComIF::initializeInterface");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult(); return fileHelper.getOpenResult();
} }
/* These flags are rather uncommon */ /* These flags are rather uncommon */
if(params.threeWireSpi or params.noCs or params.csHigh) { if (params.threeWireSpi or params.noCs or params.csHigh) {
uint32_t currentMode = 0; uint32_t currentMode = 0;
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode); retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!"); utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
} }
if(params.threeWireSpi) { if (params.threeWireSpi) {
currentMode |= SPI_3WIRE; currentMode |= SPI_3WIRE;
} }
if(params.noCs) { if (params.noCs) {
/* Some drivers like the Raspberry Pi ignore this flag in any case */ /* Some drivers like the Raspberry Pi ignore this flag in any case */
currentMode |= SPI_NO_CS; currentMode |= SPI_NO_CS;
} }
if(params.csHigh) { if (params.csHigh) {
currentMode |= SPI_CS_HIGH; currentMode |= SPI_CS_HIGH;
} }
/* Write adapted mode */ /* Write adapted mode */
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode); retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!"); utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
} }
} }
if(params.lsbFirst) { if (params.lsbFirst) {
retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst); retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed"); utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
} }
} }
if(params.bitsPerWord != 8) { if (params.bitsPerWord != 8) {
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord); retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
if(retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: " utility::handleIoctlError(
"SpiComIF::initializeInterface: "
"Could not write bits per word!"); "Could not write bits per word!");
} }
} }
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);
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 "
"than maximum buffer length %lu!\n",
static_cast<unsigned long>(sendLen),
static_cast<unsigned long>(spiCookie->getMaxBufferSize())); 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) {
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr; spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr; void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs); spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) { if (sendFunc != nullptr) {
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs); result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
} }
} }
return result; 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());
} }
@ -180,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
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;
@ -194,7 +198,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
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
@ -207,7 +211,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
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;
@ -220,24 +224,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
} }
/* 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 */
@ -246,7 +248,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
} }
} }
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) {
@ -259,43 +261,39 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
return result; return result;
} }
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) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) { if (spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
if(spiCookie->isFullDuplex()) { if (spiCookie->isFullDuplex()) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
return performHalfDuplexReception(spiCookie); 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
@ -306,7 +304,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
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;
@ -317,7 +315,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
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) {
@ -331,14 +329,14 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
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;
} }
@ -349,17 +347,17 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
} }
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;
@ -378,12 +376,12 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
} }
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;
} }
@ -391,18 +389,16 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
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");
} }
} }

37
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;
@ -21,8 +20,8 @@ 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);
@ -35,14 +34,11 @@ public:
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
@ -58,7 +54,7 @@ public:
* @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();
@ -67,10 +63,9 @@ public:
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
private: private:
struct SpiInstance { struct SpiInstance {
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {} SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer; std::vector<uint8_t> replyBuffer;
}; };

117
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -1,42 +1,41 @@
#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;
@ -45,41 +44,25 @@ void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
} }
} }
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;
@ -87,58 +70,40 @@ void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t 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;
} }

21
hal/src/fsfw_hal/linux/spi/SpiCookie.h
View File

@ -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
@ -19,8 +18,8 @@
* 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
@ -30,8 +29,8 @@ public:
* @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); spi::SpiModes spiMode, uint32_t spiSpeed);
/** /**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@ -46,7 +45,7 @@ public:
*/ */
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize, 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
@ -141,8 +140,8 @@ public:
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 * Internal constructor which initializes every field
* @param spiAddress * @param spiAddress
@ -178,6 +177,4 @@ private:
UncommonParameters uncommonParameters; UncommonParameters uncommonParameters;
}; };
#endif /* LINUX_SPI_SPICOOKIE_H_ */ #endif /* LINUX_SPI_SPICOOKIE_H_ */

21
hal/src/fsfw_hal/linux/spi/spiDefinitions.h
View File

@ -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_ */

202
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -1,39 +1,40 @@
#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; std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter; UartDeviceMapIter uartDeviceMapIter;
if(cookie == nullptr) { if (cookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl; sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie); int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) { if (fileDescriptor < 0) {
return RETURN_FAILED; return RETURN_FAILED;
@ -42,14 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0}; UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
auto status = uartDeviceMap.emplace(deviceFile, uartElements); auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) { if (status.second == false) {
sif::warning << "UartComIF::initializeInterface: Failed to insert device " << #if FSFW_CPP_OSTREAM_ENABLED == 1
deviceFile << "to UART device map" << std::endl; sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
<< "to UART device map" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
} } else {
else { #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile << sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
" already in use" << std::endl; << " already in use" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -57,12 +61,11 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
} }
int UartComIF::configureUartPort(UartCookie* uartCookie) { int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {}; struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile(); std::string deviceFile = uartCookie->getDeviceFile();
int flags = O_RDWR; int flags = O_RDWR;
if(uartCookie->getUartMode() == UartModes::CANONICAL) { if (uartCookie->getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be // 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 // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK; flags |= O_NONBLOCK;
@ -70,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
int fd = open(deviceFile.c_str(), flags); int fd = open(deviceFile.c_str(), flags);
if (fd < 0) { if (fd < 0) {
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << #if FSFW_CPP_OSTREAM_ENABLED == 1
"with error code " << errno << strerror(errno) << std::endl; sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
<< "with error code " << errno << strerror(errno) << std::endl;
#endif
return fd; return fd;
} }
/* Read in existing settings */ /* Read in existing settings */
if(tcgetattr(fd, &options) != 0) { if (tcgetattr(fd, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: " #if FSFW_CPP_OSTREAM_ENABLED == 1
<< strerror(errno) << std::endl; sif::warning << "UartComIF::configureUartPort: Error " << errno
<< "from tcgetattr: " << strerror(errno) << std::endl;
#endif
return fd; return fd;
} }
@ -87,7 +94,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
setDatasizeOptions(&options, uartCookie); setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options); setFixedOptions(&options);
setUartMode(&options, *uartCookie); setUartMode(&options, *uartCookie);
if(uartCookie->getInputShouldBeFlushed()) { if (uartCookie->getInputShouldBeFlushed()) {
tcflush(fd, TCIFLUSH); tcflush(fd, TCIFLUSH);
} }
@ -99,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
/* Save option settings */ /* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) { if (tcsetattr(fd, TCSANOW, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << #if FSFW_CPP_OSTREAM_ENABLED == 1
errno << ": " << strerror(errno); sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
#endif
return fd; return fd;
} }
return fd; return fd;
@ -152,7 +161,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
options->c_cflag |= CS8; options->c_cflag |= CS8;
break; break;
default: default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl; sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
#endif
break; break;
} }
} }
@ -173,7 +184,7 @@ void UartComIF::setFixedOptions(struct termios* options) {
/* 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 */
@ -259,62 +270,71 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetospeed(options, B460800); cfsetospeed(options, B460800);
break; break;
default: default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl; sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break; 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) { if (sendLen == 0) {
return RETURN_OK; return RETURN_OK;
} }
if(sendData == nullptr) { if (sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl; sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie); UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) { if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl; sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << #if FSFW_CPP_OSTREAM_ENABLED == 1
"not in UART map" << std::endl; sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
<< std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
fd = uartDeviceMapIter->second.fileDescriptor; fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) { if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << #if FSFW_CPP_OSTREAM_ENABLED == 1
errno << ": Error description: " << strerror(errno) << std::endl; sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) { ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
return RETURN_OK;
}
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) { ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl; sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
@ -322,23 +342,23 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) { if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
return RETURN_OK; return RETURN_OK;
} }
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl; << " not in uart map" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
if (uartMode == UartModes::CANONICAL) { if (uartMode == UartModes::CANONICAL) {
return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen); return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
} } else if (uartMode == UartModes::NON_CANONICAL) {
else if (uartMode == UartModes::NON_CANONICAL) {
return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen); return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
} } else {
else {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
@ -356,7 +376,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
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
@ -364,56 +384,56 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
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(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!"); "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(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!"); "Next read would cause overflow!");
#endif #endif
#endif #endif
@ -422,11 +442,12 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
int bytesRead = read(fd, bufferPtr, requestLen); int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead < 0) { if (bytesRead < 0) {
return RETURN_FAILED; return RETURN_FAILED;
} } else if (bytesRead != static_cast<int>(requestLen)) {
else if (bytesRead != static_cast<int>(requestLen)) { if (uartCookie.isReplySizeFixed()) {
if(uartCookie.isReplySizeFixed()) { #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
" of " << requestLen << " bytes" << std::endl; << requestLen << " bytes" << std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
} }
@ -434,23 +455,25 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
return HasReturnvaluesIF::RETURN_OK; 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; 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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl; sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) { if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << #if FSFW_CPP_OSTREAM_ENABLED == 1
" not in uart map" << std::endl; sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
<< std::endl;
#endif
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -463,17 +486,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) { ReturnValue_t UartComIF::flushUartRxBuffer(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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIFLUSH); tcflush(fd, TCIFLUSH);
return RETURN_OK; return RETURN_OK;
@ -481,17 +506,19 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
return RETURN_FAILED; return RETURN_FAILED;
} }
ReturnValue_t UartComIF::flushUartTxBuffer(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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCOFLUSH); tcflush(fd, TCOFLUSH);
return RETURN_OK; return RETURN_OK;
@ -499,17 +526,19 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
return RETURN_FAILED; return RETURN_FAILED;
} }
ReturnValue_t UartComIF::flushUartTxAndRxBuf(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) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl; sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER; return NULLPOINTER;
} }
deviceFile = uartCookie->getDeviceFile(); deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile); uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) { if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor; int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIOFLUSH); tcflush(fd, TCIOFLUSH);
return RETURN_OK; return RETURN_OK;
@ -517,13 +546,12 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
return RETURN_FAILED; return RETURN_FAILED;
} }
void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) { void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
UartModes uartMode = uartCookie.getUartMode(); UartModes uartMode = uartCookie.getUartMode();
if(uartMode == UartModes::NON_CANONICAL) { if (uartMode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */ /* Disable canonical mode */
options->c_lflag &= ~ICANON; options->c_lflag &= ~ICANON;
} } else if (uartMode == UartModes::CANONICAL) {
else if(uartMode == UartModes::CANONICAL) {
options->c_lflag |= ICANON; options->c_lflag |= ICANON;
} }
} }

32
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.
@ -17,8 +18,8 @@
* *
* @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 =
@ -32,32 +33,28 @@ public:
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 { struct UartElements {
@ -119,7 +116,6 @@ private:
size_t requestLen); size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter, ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen); size_t requestLen);
}; };
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */ #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

88
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:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl; sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
#endif
return; return;
} }
bitsPerWord = bitsPerWord_; 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;
}

28
hal/src/fsfw_hal/linux/uart/UartCookie.h
View File

@ -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.
@ -29,9 +19,8 @@ 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. * @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1" * @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
@ -47,8 +36,8 @@ public:
* 8 databits (number of bits transfered with one uart frame) * 8 databits (number of bits transfered with one uart frame)
* One stop bit * One stop bit
*/ */
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
uint32_t baudrate, size_t maxReplyLen); size_t maxReplyLen);
virtual ~UartCookie(); virtual ~UartCookie();
@ -103,8 +92,7 @@ public:
bool isReplySizeFixed(); bool isReplySizeFixed();
private: private:
const object_id_t handlerId; const object_id_t handlerId;
std::string deviceFile; std::string deviceFile;
const UartModes uartMode; const UartModes uartMode;

15
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 */
} }

9
hal/src/fsfw_hal/stm32h7/definitions.h
View File

@ -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_ */

242
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
View File

@ -1,51 +1,47 @@
#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_)
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_): : spiHandle(spiHandle) {
spiHandle(spiHandle) {
txDmaHandle = new DMA_HandleTypeDef(); txDmaHandle = new DMA_HandleTypeDef();
rxDmaHandle = new DMA_HandleTypeDef(); rxDmaHandle = new DMA_HandleTypeDef();
spi::setSpiHandle(spiHandle); spi::setSpiHandle(spiHandle);
spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle); spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
transferMode = transferMode_; transferMode = transferMode_;
if(transferMode == spi::TransferModes::DMA) { if (transferMode == spi::TransferModes::DMA) {
mspCfg = new spi::MspDmaConfigStruct(); mspCfg = new spi::MspDmaConfigStruct();
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg); auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
spi::setDmaHandles(txDmaHandle, rxDmaHandle); spi::setDmaHandles(txDmaHandle, rxDmaHandle);
stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS, stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS); IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiDmaMspFunctions(typedCfg); spi::setSpiDmaMspFunctions(typedCfg);
} } else if (transferMode == spi::TransferModes::INTERRUPT) {
else if(transferMode == spi::TransferModes::INTERRUPT) {
mspCfg = new spi::MspIrqConfigStruct(); mspCfg = new spi::MspIrqConfigStruct();
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg); auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS); stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiIrqMspFunctions(typedCfg); spi::setSpiIrqMspFunctions(typedCfg);
} } else if (transferMode == spi::TransferModes::POLLING) {
else if(transferMode == spi::TransferModes::POLLING) {
mspCfg = new spi::MspPollingConfigStruct(); mspCfg = new spi::MspPollingConfigStruct();
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg); auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
stm32h7::h743zi::standardPollingCfg(*typedCfg); stm32h7::h743zi::standardPollingCfg(*typedCfg);
spi::setSpiPollingMspFunctions(typedCfg); spi::setSpiPollingMspFunctions(typedCfg);
} }
@ -64,7 +60,7 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
GyroL3GD20H::~GyroL3GD20H() { GyroL3GD20H::~GyroL3GD20H() {
delete txDmaHandle; delete txDmaHandle;
delete rxDmaHandle; delete rxDmaHandle;
if(mspCfg != nullptr) { if (mspCfg != nullptr) {
delete mspCfg; delete mspCfg;
} }
} }
@ -86,7 +82,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
// 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;
} }
@ -99,14 +95,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK; txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
txBuffer[1] = 0; txBuffer[1] = 0;
switch(transferMode) { switch (transferMode) {
case(spi::TransferModes::DMA): { case (spi::TransferModes::DMA): {
return handleDmaTransferInit(); return handleDmaTransferInit();
} }
case(spi::TransferModes::INTERRUPT): { case (spi::TransferModes::INTERRUPT): {
return handleInterruptTransferInit(); return handleInterruptTransferInit();
} }
case(spi::TransferModes::POLLING): { case (spi::TransferModes::POLLING): {
return handlePollingTransferInit(); return handlePollingTransferInit();
} }
default: { default: {
@ -118,14 +114,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
} }
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: {
@ -141,7 +137,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
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");
} }
@ -151,17 +147,19 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
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",
whoAmIVal);
} }
transferState = TransferStates::IDLE; transferState = TransferStates::IDLE;
break; 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;
@ -177,7 +175,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
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");
} }
@ -187,13 +185,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
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;
@ -203,11 +201,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
} }
} }
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);
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");
} }
@ -216,20 +213,19 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
TaskFactory::delayTask(1); TaskFactory::delayTask(1);
} }
switch(transferState) { switch (transferState) {
case(TransferStates::SUCCESS): { case (TransferStates::SUCCESS): {
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");
} }
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;
@ -243,10 +239,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
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");
} }
@ -255,12 +251,12 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
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;
@ -275,8 +271,8 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
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
@ -288,21 +284,23 @@ 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",
whoAmIVal);
} }
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;
} }
@ -319,15 +317,15 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
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;
} }
@ -337,28 +335,27 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
} }
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;
} }
@ -371,21 +368,21 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
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;
} }
@ -398,8 +395,8 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
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) {
@ -407,15 +404,17 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
} }
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",
whoAmIVal);
} }
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;
} }
@ -427,45 +426,44 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
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_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;
} }
} }
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;
} }
@ -476,10 +474,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
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);
@ -487,9 +485,9 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
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;
} }
@ -497,7 +495,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
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;
@ -516,7 +514,8 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
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); HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
return rxBuf[1]; return rxBuf[1];
} }
@ -535,13 +534,12 @@ void GyroL3GD20H::handleSensorReadout() {
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;
} }

29
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
View File

@ -1,33 +1,26 @@
#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 WHO_AM_I_REG = 0b00001111;
const uint8_t STM_READ_MASK = 0b10000000; const uint8_t STM_READ_MASK = 0b10000000;
const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000; const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
@ -54,14 +47,12 @@ private:
uint8_t readRegPolling(uint8_t reg); uint8_t readRegPolling(uint8_t reg);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args); static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args); static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
void prepareConfigRegs(uint8_t* configRegs); void prepareConfigRegs(uint8_t* configRegs);
void handleSensorReadout(); void handleSensorReadout();
DMA_HandleTypeDef* txDmaHandle = {}; DMA_HandleTypeDef* txDmaHandle = {};
DMA_HandleTypeDef* rxDmaHandle = {}; DMA_HandleTypeDef* rxDmaHandle = {};
spi::MspCfgBase* mspCfg = {}; spi::MspCfgBase* mspCfg = {};

75
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];
@ -11,11 +11,10 @@ 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;
} }
@ -27,58 +26,26 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
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);
}

21
hal/src/fsfw_hal/stm32h7/dma.h
View File

@ -5,20 +5,15 @@
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,
@ -29,7 +24,7 @@ enum DMAStreams {
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
} }

22
hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
View File

@ -4,67 +4,67 @@
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
} }

254
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
@ -13,14 +13,14 @@
#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);
@ -35,13 +35,11 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
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
@ -51,32 +49,34 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
} }
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 // This semaphore ensures thread-safety for a given bus
spiSemaphore = dynamic_cast<BinarySemaphore*>( spiSemaphore =
SemaphoreFactory::instance()->createBinarySemaphore()); dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
address_t spiAddress = spiCookie->getDeviceAddress(); 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;
@ -85,60 +85,56 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
auto gpioPin = spiCookie->getChipSelectGpioPin(); auto gpioPin = spiCookie->getChipSelectGpioPin();
auto gpioPort = spiCookie->getChipSelectGpioPort(); 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); spi::setSpiPollingMspFunctions(typedCfg);
} } else if (transferMode == spi::TransferModes::INTERRUPT) {
else if(transferMode == spi::TransferModes::INTERRUPT) { auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg); if (typedCfg == nullptr) {
if(typedCfg == nullptr) {
printCfgError("IRQ MSP"); printCfgError("IRQ MSP");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
spi::setSpiIrqMspFunctions(typedCfg); spi::setSpiIrqMspFunctions(typedCfg);
} } else if (transferMode == spi::TransferModes::DMA) {
else if(transferMode == spi::TransferModes::DMA) { auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg); if (typedCfg == nullptr) {
if(typedCfg == nullptr) {
printCfgError("DMA MSP"); printCfgError("DMA MSP");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
// Check DMA handles // Check DMA handles
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) {
printCfgError("DMA Handle"); printCfgError("DMA Handle");
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
spi::setSpiDmaMspFunctions(typedCfg); 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;
@ -147,7 +143,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
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;
} }
@ -158,42 +154,42 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
} }
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);
} }
@ -201,23 +197,21 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
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()) { switch (spiCookie->getTransferState()) {
case(spi::TransferStates::SUCCESS): { case (spi::TransferStates::SUCCESS): {
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;
} }
*buffer = iter->second.replyBuffer.data(); *buffer = iter->second.replyBuffer.data();
@ -225,7 +219,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
spiCookie->setTransferState(spi::TransferStates::IDLE); spiCookie->setTransferState(spi::TransferStates::IDLE);
break; break;
} }
case(spi::TransferStates::FAILURE): { 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;
@ -236,8 +230,8 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
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: {
@ -252,35 +246,36 @@ 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,
size_t sendLen) {
auto gpioPort = spiCookie.getChipSelectGpioPort(); auto gpioPort = spiCookie.getChipSelectGpioPort();
auto gpioPin = spiCookie.getChipSelectGpioPin(); auto gpioPin = spiCookie.getChipSelectGpioPin();
auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs); auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
if(returnval != HasReturnvaluesIF::RETURN_OK) { if (returnval != HasReturnvaluesIF::RETURN_OK) {
return returnval; return returnval;
} }
spiCookie.setTransferState(spi::TransferStates::WAIT); spiCookie.setTransferState(spi::TransferStates::WAIT);
if(gpioPort != nullptr) { if (gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET); 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(); spiSemaphore->release();
switch(result) { switch (result) {
case(HAL_OK): { case (HAL_OK): {
spiCookie.setTransferState(spi::TransferStates::SUCCESS); spiCookie.setTransferState(spi::TransferStates::SUCCESS);
break; break;
} }
case(HAL_TIMEOUT): { 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());
@ -289,12 +284,12 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
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());
@ -307,41 +302,42 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
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,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, 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,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, 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,
size_t sendLen) {
ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen); ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
// yet another HAL driver which is not const-correct.. // yet another HAL driver which is not const-correct..
HAL_StatusTypeDef status = HAL_OK; HAL_StatusTypeDef status = HAL_OK;
auto transferMode = spiCookie.getTransferMode(); auto transferMode = spiCookie.getTransferMode();
if(transferMode == spi::TransferModes::DMA) { if (transferMode == spi::TransferModes::DMA) {
if(cacheMaintenanceOnTxBuffer) { if (cacheMaintenanceOnTxBuffer) {
/* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length, /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */ in case it overlaps cacheline */
SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F), SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
sendLen + 32);
} }
status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t*>(sendData), status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
currentRecvPtr, sendLen); currentRecvPtr, sendLen);
} else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
sendLen);
} }
else { switch (status) {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData), case (HAL_OK): {
currentRecvPtr, sendLen);
}
switch(status) {
case(HAL_OK): {
break; break;
} }
default: { default: {
@ -353,22 +349,20 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
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 {
else {
std::snprintf(modeString, sizeof(modeString), "Interrupt"); std::snprintf(modeString, sizeof(modeString), "Interrupt");
} }
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
status); switch (status) {
switch(status) { case (HAL_BUSY): {
case(HAL_BUSY): {
return spi::HAL_BUSY_RETVAL; return spi::HAL_BUSY_RETVAL;
} }
case(HAL_ERROR): { case (HAL_ERROR): {
return spi::HAL_ERROR_RETVAL; return spi::HAL_ERROR_RETVAL;
} }
case(HAL_TIMEOUT): { case (HAL_TIMEOUT): {
return spi::HAL_TIMEOUT_RETVAL; return spi::HAL_TIMEOUT_RETVAL;
} }
default: { default: {
@ -377,18 +371,20 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
} }
} }
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle, SpiCookie &spiCookie, const uint8_t *sendData,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) { size_t sendLen) {
currentRecvPtr = recvPtr; currentRecvPtr = recvPtr;
currentRecvBuffSize = sendLen; currentRecvBuffSize = sendLen;
// Take the semaphore which will be released by a callback when the transfer is complete // Take the semaphore which will be released by a callback when the transfer is complete
ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs); ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
if(result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error // Configuration error
sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore " sif::printWarning(
"could not be acquired after %d ms\n", timeoutMs); "SpiComIF::handleInterruptSendOperation: Semaphore "
"could not be acquired after %d ms\n",
timeoutMs);
return result; return result;
} }
// Cache the current SPI handle in any case // Cache the current SPI handle in any case
@ -398,8 +394,8 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
irqArgs.spiCookie = &spiCookie; irqArgs.spiCookie = &spiCookie;
// The SPI handle is passed to the default SPI callback as a void argument. This callback // The SPI handle is passed to the default SPI callback as a void argument. This callback
// is different from the user callbacks specified above! // is different from the user callbacks specified above!
spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle)); spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
if(spiCookie.getChipSelectGpioPort() != nullptr) { if (spiCookie.getChipSelectGpioPort() != nullptr) {
HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(), HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
GPIO_PIN_RESET); GPIO_PIN_RESET);
} }
@ -423,48 +419,46 @@ void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
} }
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) { if (spiCookie->getChipSelectGpioPort() != nullptr) {
// Pull CS pin high again // Pull CS pin high again
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(), HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET); 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

61
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;
@ -28,10 +27,8 @@ 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) * Create a SPI communication interface for the given SPI peripheral (spiInstance)
* @param objectId * @param objectId
@ -62,19 +59,17 @@ public:
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 { struct SpiInstance {
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {} SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer; std::vector<uint8_t> replyBuffer;
size_t currentTransferLen = 0; size_t currentTransferLen = 0;
}; };
@ -103,27 +98,29 @@ protected:
SpiDeviceMap spiDeviceMap; SpiDeviceMap spiDeviceMap;
ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen); SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen); SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen); SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen); SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle, ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen); SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode); ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args); static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args); static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args); static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args); static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState); 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_ */

60
hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
View File

@ -1,12 +1,16 @@
#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),
spiMode(spiMode),
transferMode(transferMode),
csGpio(csGpio),
mspCfg(mspCfg),
maxRecvSize(maxRecvSize) {
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;
@ -23,56 +27,34 @@ SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferM
spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed); 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;
}

26
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
@ -18,10 +16,10 @@
* 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 * Allows construction of a SPI cookie for a connected SPI device
* @param deviceAddress * @param deviceAddress
@ -39,8 +37,8 @@ public:
* @param csGpio Optional CS GPIO definition. * @param csGpio Optional CS GPIO definition.
*/ */
SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode, 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,
size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0)); stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
uint16_t getChipSelectGpioPin() const; uint16_t getChipSelectGpioPin() const;
GPIO_TypeDef* getChipSelectGpioPort(); GPIO_TypeDef* getChipSelectGpioPort();
@ -52,7 +50,7 @@ public:
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;
@ -75,6 +73,4 @@ private:
spi::TransferStates getTransferState() const; spi::TransferStates getTransferState() const;
}; };
#endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */ #endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

77
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;
@ -28,7 +28,7 @@ spi::MspCfgBase* mspDeinitArgs = nullptr;
*/ */
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);
@ -36,7 +36,7 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
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;
} }
@ -44,14 +44,14 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
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");
} }
@ -73,8 +73,7 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
/* 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);
} }
@ -89,17 +88,16 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
*/ */
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);
@ -110,7 +108,6 @@ void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
// Disable the NVIC for DMA // Disable the NVIC for DMA
HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber); HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber); HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
} }
void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) { void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
@ -156,7 +153,7 @@ void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
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;
} }
@ -175,28 +172,20 @@ void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
} }
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) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
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;
@ -204,7 +193,15 @@ void spi::setSpiIrqMspFunctions(MspIrqConfigStruct *cfg, msp_func_t initFunc,
mspDeinitArgs = cfg; mspDeinitArgs = cfg;
} }
void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t initFunc, void spi::setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
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;
@ -222,11 +219,10 @@ 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);
} }

67
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
@ -24,9 +23,8 @@ 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;
@ -38,20 +36,20 @@ struct MspCfgBase {
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;
@ -65,12 +63,12 @@ struct MspIrqConfigStruct: public MspPollingConfigStruct {
/* 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;
@ -85,11 +83,10 @@ struct MspDmaConfigStruct: public MspIrqConfigStruct {
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
} }

156
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;
@ -18,19 +19,18 @@ 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;
} }
@ -58,48 +58,43 @@ void spi::getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHand
*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");
} }
} }
@ -108,11 +103,10 @@ extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
* @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");
} }
} }
@ -121,11 +115,10 @@ extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
* @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");
} }
} }
@ -137,11 +130,10 @@ 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");
} }
} }
@ -149,160 +141,159 @@ extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
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 #endif
break; break;
} }
case(DMAStreams::STREAM_1): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_2): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_3): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_4): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_5): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_6): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_7): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_1): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_2): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_3): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_4): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_5): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_6): { 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 #endif
break; break;
} }
case(DMAStreams::STREAM_7): { 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
@ -313,26 +304,23 @@ void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMA
} }
} }
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
} }

28
hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp
View File

@ -1,23 +1,23 @@
#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): { case (SpiModes::MODE_3): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH; spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE; spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
break; break;
@ -30,22 +30,16 @@ uint32_t spi::getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps) {
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;

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