Merge remote-tracking branch 'upstream/development' into mueller/version-getter-upstream

CHANGELOG.md

@@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changes
 
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
 - GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
   name clashes with Windows defines.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
@@ -23,13 +26,15 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ## Removed
 
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
-  datapools have been implemented
+  datapools have been implemented.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
 
 ## Additions
 
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
   inside `fsfw/version.h`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 
 # [v4.0.0]
 

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

@@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
   if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
   }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
 }

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

@@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
   using SpiDeviceMapIter = SpiDeviceMap::iterator;

src/fsfw/osal/host/Clock.cpp

@@ -150,17 +150,14 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   time_tm.tm_hour = from->hour;
   time_tm.tm_min = from->minute;
   time_tm.tm_sec = from->second;
+  time_tm.tm_isdst = 0;
 
-  time_t seconds = mktime(&time_tm);
+  time_t seconds = timegm(&time_tm);
 
   to->tv_sec = seconds;
   to->tv_usec = from->usecond;
   // Fails in 2038..
   return HasReturnvaluesIF::RETURN_OK;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {

src/fsfw/osal/linux/Clock.cpp

@@ -140,8 +140,9 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   fromTm.tm_hour = from->hour;
   fromTm.tm_min = from->minute;
   fromTm.tm_sec = from->second;
+  fromTm.tm_isdst = 0;
 
-  to->tv_sec = mktime(&fromTm);
+  to->tv_sec = timegm(&fromTm);
   to->tv_usec = from->usecond;
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/timemanager/CCSDSTime.cpp

@@ -557,6 +557,35 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from, size_t
   return RETURN_OK;
 }
 
+ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short* from) {
+  if (to == nullptr or from == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
+  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
+    return INVALID_TIME_FORMAT;
+  }
+  days -= DAYS_CCSDS_TO_UNIX_EPOCH;
+  to->tv_sec = days * SECONDS_PER_DAY;
+  uint32_t msDay =
+      (from->msDay_hh << 24) + (from->msDay_h << 16) + (from->msDay_l << 8) + from->msDay_ll;
+  to->tv_sec += (msDay / 1000);
+  to->tv_usec = (msDay % 1000) * 1000;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const CCSDSTime::CDS_short* from) {
+  if (to == nullptr or from == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  timeval tempTimeval;
+  ReturnValue_t result = convertFromCDS(&tempTimeval, from);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return CCSDSTime::convertTimevalToTimeOfDay(to, &tempTimeval);
+}
+
 ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField, const uint8_t* from,
                                         size_t* foundLength, size_t maxLength) {
   uint32_t secs = 0;

src/fsfw/timemanager/CCSDSTime.h

@@ -180,6 +180,8 @@ class CCSDSTime : public HasReturnvaluesIF {
 
   static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from, size_t *foundLength,
                                       size_t maxLength);
+  static ReturnValue_t convertFromCDS(timeval *to, const CCSDSTime::CDS_short *from);
+  static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to, const CCSDSTime::CDS_short *from);
 
   static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to, uint8_t const *from,
                                       size_t *foundLength, size_t maxLength);

tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp

@@ -1,6 +1,7 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
 #include <fsfw/ipc/CommandMessageCleaner.h>
 #include <fsfw/objectmanager/ObjectManager.h>
@@ -93,10 +94,8 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     poolOwner->dataset.setChanged(true);
 
     /* Store current time, we are going to check the (approximate) time equality later */
-    CCSDSTime::CDS_short timeCdsNow;
     timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::convertToCcsds(&timeCdsNow, &now);
 
     /* Trigger generation of snapshot */
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
@@ -131,13 +130,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(newSet.localPoolUint16Vec.value[2] == 42932);
 
     /* Now we check that both times are equal */
-    CHECK(cdsShort.pField == timeCdsNow.pField);
+    timeval timeFromHK;
-    CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
+    auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
-    CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
-    CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
+    timeval difference = timeFromHK - now;
-    CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
+    CHECK(timevalOperations::toDouble(difference) < 1.0);
-    CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
-    CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
   }
 
   SECTION("VariableSnapshotTest") {
@@ -158,13 +155,10 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     }
 
     poolVar->setChanged(true);
-
     /* Store current time, we are going to check the (approximate) time equality later */
     CCSDSTime::CDS_short timeCdsNow;
     timeval now;
     Clock::getClock_timeval(&now);
-    CCSDSTime::convertToCcsds(&timeCdsNow, &now);
-
     REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
     /* Check update snapshot was sent. */
@@ -193,13 +187,11 @@ TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
     CHECK(varCopy.value == 25);
 
     /* Now we check that both times are equal */
-    CHECK(cdsShort.pField == timeCdsNow.pField);
+    timeval timeFromHK;
-    CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
+    auto result = CCSDSTime::convertFromCDS(&timeFromHK, &cdsShort);
-    CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
-    CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
+    timeval difference = timeFromHK - now;
-    CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
+    CHECK(timevalOperations::toDouble(difference) < 1.0);
-    CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
-    CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(5));
   }
 
   SECTION("VariableNotificationTest") {

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

@@ -1,3 +1,4 @@
+#include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/timemanager/CCSDSTime.h>
 
 #include <array>
@@ -89,4 +90,43 @@ TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
     REQUIRE(timeTo.second == 59);
     REQUIRE(timeTo.usecond == Catch::Approx(123000));
   }
+
+  SECTION("CDS Conversions") {
+    // Preperation
+    Clock::TimeOfDay_t time;
+    time.year = 2020;
+    time.month = 2;
+    time.day = 29;
+    time.hour = 13;
+    time.minute = 24;
+    time.second = 45;
+    time.usecond = 123456;
+    timeval timeAsTimeval;
+    auto result = Clock::convertTimeOfDayToTimeval(&time, &timeAsTimeval);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    CHECK(timeAsTimeval.tv_sec == 1582982685);
+    CHECK(timeAsTimeval.tv_usec == 123456);
+
+    // Conversion to CDS Short
+    CCSDSTime::CDS_short cdsTime;
+    result = CCSDSTime::convertToCcsds(&cdsTime, &timeAsTimeval);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    // Days in CCSDS Epoch 22704 (0x58B0)
+    CHECK(cdsTime.dayMSB == 0x58);
+    CHECK(cdsTime.dayLSB == 0xB0);
+    // MS of day 48285123.456 (floored here)
+    CHECK(cdsTime.msDay_hh == 0x2);
+    CHECK(cdsTime.msDay_h == 0xE0);
+    CHECK(cdsTime.msDay_l == 0xC5);
+    CHECK(cdsTime.msDay_ll == 0xC3);
+
+    // Conversion back to timeval
+    timeval timeReturnAsTimeval;
+    result = CCSDSTime::convertFromCDS(&timeReturnAsTimeval, &cdsTime);
+    CHECK(result == HasReturnvaluesIF::RETURN_OK);
+    // micro seconds precision is lost
+    timeval difference = timeAsTimeval - timeReturnAsTimeval;
+    CHECK(difference.tv_usec == 456);
+    CHECK(difference.tv_sec == 0);
+  }
 }