reapply clang format

This commit is contained in:
2022-02-02 10:29:30 +01:00
parent 70b593df65
commit ddcac2bbac
809 changed files with 52010 additions and 56052 deletions
hal/src/fsfw_hal
src/fsfw
action.h
action
cfdp
container
controller
coordinates
datalinklayer
datapool
datapoollocal.h
datapoollocal
devicehandlers
events
fdir
globalfunctions
health
housekeeping
internalerror
ipc
memory
modes
monitoring
objectmanager
osal
Endiness.hInternalErrorCodes.h
common
freertos
host
linux
rtems
windows
parameters
power
pus
returnvalues
rmap
serialize.h
serialize
serviceinterface
storagemanager
subsystem
tasks
tcdistribution
thermal
timemanager
tmstorage
tmtcpacket
tmtcservices
tests/src/fsfw_tests
integration
internal
unit

@@ -1,8 +1,8 @@
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
GpioCookie::GpioCookie() {
}
GpioCookie::GpioCookie() {}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) {
@@ -14,13 +14,13 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
return HasReturnvaluesIF::RETURN_FAILED;
}
auto gpioMapIter = gpioMap.find(gpioId);
if(gpioMapIter == gpioMap.end()) {
if (gpioMapIter == gpioMap.end()) {
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
" to GPIO map" << std::endl;
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
<< std::endl;
#else
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
#endif
@@ -39,12 +39,10 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioMap GpioCookie::getGpioMap() const {
return gpioMap;
}
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
GpioCookie::~GpioCookie() {
for(auto& config: gpioMap) {
delete(config.second);
for (auto& config : gpioMap) {
delete (config.second);
}
}

@@ -1,12 +1,12 @@
#ifndef COMMON_GPIO_GPIOCOOKIE_H_
#define COMMON_GPIO_GPIOCOOKIE_H_
#include "GpioIF.h"
#include "gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "GpioIF.h"
#include "gpioDefinitions.h"
/**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or
@@ -17,9 +17,8 @@
*
* @author J. Meier
*/
class GpioCookie: public CookieIF {
public:
class GpioCookie : public CookieIF {
public:
GpioCookie();
virtual ~GpioCookie();
@@ -31,7 +30,7 @@ public:
*/
GpioMap getGpioMap() const;
private:
private:
/**
* Returns a copy of the internal GPIO map.
*/

@@ -1,9 +1,10 @@
#ifndef COMMON_GPIO_GPIOIF_H_
#define COMMON_GPIO_GPIOIF_H_
#include "gpioDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "gpioDefinitions.h"
class GpioCookie;
@@ -13,9 +14,8 @@ class GpioCookie;
* @author J. Meier
*/
class GpioIF : public HasReturnvaluesIF {
public:
virtual ~GpioIF() {};
public:
virtual ~GpioIF(){};
/**
* @brief Called by the GPIO using object.

@@ -1,29 +1,19 @@
#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
#define COMMON_GPIO_GPIODEFINITIONS_H_
#include <map>
#include <string>
#include <unordered_map>
#include <map>
using gpioId_t = uint16_t;
namespace gpio {
enum Levels: uint8_t {
LOW = 0,
HIGH = 1,
NONE = 99
};
enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
enum Direction: uint8_t {
IN = 0,
OUT = 1
};
enum Direction : uint8_t { IN = 0, OUT = 1 };
enum GpioOperation {
READ,
WRITE
};
enum GpioOperation { READ, WRITE };
enum class GpioTypes {
NONE,
@@ -35,10 +25,10 @@ enum class GpioTypes {
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);
}
} // namespace gpio
/**
* @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.
*/
class GpioBase {
public:
public:
GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue):
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
gpio::Levels initValue)
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
virtual~ GpioBase() {};
virtual ~GpioBase(){};
// Can be used to cast GpioBase to a concrete child implementation
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
@@ -72,59 +61,53 @@ public:
gpio::Levels initValue = gpio::Levels::NONE;
};
class GpiodRegularBase: public GpioBase {
public:
class GpiodRegularBase : public GpioBase {
public:
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue, int lineNum):
GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
}
gpio::Levels initValue, int lineNum)
: GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
// 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,
gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
}
gpio::Levels initValue)
: GpioBase(gpioType, consumer, direction, initValue) {}
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
};
class GpiodRegularByChip: public GpiodRegularBase {
public:
GpiodRegularByChip() :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
std::string(), gpio::Direction::IN, gpio::LOW, 0) {
}
class GpiodRegularByChip : public GpiodRegularBase {
public:
GpiodRegularByChip()
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
gpio::LOW, 0) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
consumer_, direction_, initValue_, lineNum_),
chipname(chipname_){
}
gpio::Direction direction_, gpio::Levels initValue_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, direction_, initValue_,
lineNum_),
chipname(chipname_) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
chipname(chipname_) {
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
gpio::LOW, lineNum_),
chipname(chipname_) {}
std::string chipname;
};
class GpiodRegularByLabel: public GpiodRegularBase {
public:
class GpiodRegularByLabel : public GpiodRegularBase {
public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
direction_, initValue_, lineNum_),
label(label_) {
}
gpio::Direction direction_, gpio::Levels initValue_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, direction_, initValue_,
lineNum_),
label(label_) {}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
label(label_) {
}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
gpio::LOW, lineNum_),
label(label_) {}
std::string label;
};
@@ -134,34 +117,34 @@ public:
* 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.
*/
class GpiodRegularByLineName: public GpiodRegularBase {
public:
class GpiodRegularByLineName : public GpiodRegularBase {
public:
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_), lineName(lineName_) {
}
gpio::Levels initValue_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_),
lineName(lineName_) {}
GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
}
GpiodRegularByLineName(std::string lineName_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
gpio::LOW),
lineName(lineName_) {}
std::string lineName;
};
class GpioCallback: public GpioBase {
public:
class GpioCallback : public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
gpio::gpio_cb_t callback, void* callbackArgs):
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {}
gpio::gpio_cb_t callback, void* callbackArgs)
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback),
callbackArgs(callbackArgs) {}
gpio::gpio_cb_t callback = nullptr;
void* callbackArgs = nullptr;
};
using GpioMap = std::map<gpioId_t, GpioBase*>;
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator;

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

@@ -1,13 +1,14 @@
#include "GyroL3GD20Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs), dataset(this) {
CookieIF *comCookie, uint32_t transitionDelayMs)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs),
dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
@@ -16,24 +17,23 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
void GyroHandlerL3GD20H::doStartUp() {
if(internalState == InternalState::NONE) {
if (internalState == InternalState::NONE) {
internalState = InternalState::CONFIGURE;
}
if(internalState == InternalState::CONFIGURE) {
if(commandExecuted) {
if (internalState == InternalState::CONFIGURE) {
if (commandExecuted) {
internalState = InternalState::CHECK_REGS;
commandExecuted = false;
}
}
if(internalState == InternalState::CHECK_REGS) {
if(commandExecuted) {
if (internalState == InternalState::CHECK_REGS) {
if (commandExecuted) {
internalState = InternalState::NORMAL;
if(goNormalModeImmediately) {
if (goNormalModeImmediately) {
setMode(MODE_NORMAL);
}
else {
} else {
setMode(_MODE_TO_ON);
}
commandExecuted = false;
@@ -41,19 +41,17 @@ void GyroHandlerL3GD20H::doStartUp() {
}
}
void GyroHandlerL3GD20H::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::NONE):
case(InternalState::NORMAL): {
switch (internalState) {
case (InternalState::NONE):
case (InternalState::NORMAL): {
return NOTHING_TO_SEND;
}
case(InternalState::CONFIGURE): {
case (InternalState::CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS;
uint8_t command [5];
uint8_t command[5];
command[0] = L3GD20H::CTRL_REG_1_VAL;
command[1] = L3GD20H::CTRL_REG_2_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;
return buildCommandFromCommand(*id, command, 5);
}
case(InternalState::CHECK_REGS): {
case (InternalState::CHECK_REGS): {
*id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
@@ -69,9 +67,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
#if FSFW_CPP_OSTREAM_ENABLED == 1
/* Might be a configuration error. */
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!" << std::endl;
"Unknown internal state!"
<< std::endl;
#else
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
sif::printDebug(
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!\n");
#endif
return HasReturnvaluesIF::RETURN_OK;
@@ -84,20 +84,20 @@ ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(L3GD20H::READ_REGS): {
switch (deviceCommand) {
case (L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1;
break;
}
case(L3GD20H::CONFIGURE_CTRL_REGS): {
case (L3GD20H::CONFIGURE_CTRL_REGS): {
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;
}
@@ -110,13 +110,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
if(not fsH and not fsL) {
if (not fsH and not fsL) {
sensitivity = L3GD20H::SENSITIVITY_00;
}
else if(not fsH and fsL) {
} else if (not fsH and fsL) {
sensitivity = L3GD20H::SENSITIVITY_01;
}
else {
} else {
sensitivity = L3GD20H::SENSITIVITY_11;
}
@@ -130,9 +128,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
rawPacketLen = 6;
break;
}
case(L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
L3GD20H::READ_MASK;
case (L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer;
@@ -157,32 +154,30 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(L3GD20H::CONFIGURE_CTRL_REGS): {
switch (id) {
case (L3GD20H::CONFIGURE_CTRL_REGS): {
commandExecuted = true;
break;
}
case(L3GD20H::READ_CTRL_REGS): {
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
case (L3GD20H::READ_CTRL_REGS): {
if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
packet[5] == ctrlReg5Value) {
commandExecuted = true;
}
else {
} else {
// Attempt reconfiguration
internalState = InternalState::CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(L3GD20H::READ_REGS): {
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
case (L3GD20H::READ_REGS): {
if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
else {
if(internalState == InternalState::CHECK_REGS) {
} else {
if (internalState == InternalState::CHECK_REGS) {
commandExecuted = true;
}
}
@@ -199,7 +194,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
#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. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
@@ -216,28 +211,25 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
#endif
PoolReadGuard readSet(&dataset);
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(std::abs(angVelocX) < this->absLimitX) {
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(angVelocX) < this->absLimitX) {
dataset.angVelocX = angVelocX;
dataset.angVelocX.setValid(true);
}
else {
} else {
dataset.angVelocX.setValid(false);
}
if(std::abs(angVelocY) < this->absLimitY) {
if (std::abs(angVelocY) < this->absLimitY) {
dataset.angVelocY = angVelocY;
dataset.angVelocY.setValid(true);
}
else {
} else {
dataset.angVelocY.setValid(false);
}
if(std::abs(angVelocZ) < this->absLimitZ) {
if (std::abs(angVelocZ) < this->absLimitZ) {
dataset.angVelocZ = angVelocZ;
dataset.angVelocZ.setValid(true);
}
else {
} else {
dataset.angVelocZ.setValid(false);
}
@@ -252,17 +244,14 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
return result;
}
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs;
}
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
this->goNormalModeImmediately = true;
}
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
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_Z, new PoolEntry<float>({0.0}));
@@ -276,9 +265,7 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
}
void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::NONE;
}
void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX;

@@ -1,12 +1,12 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include "fsfw/FSFW.h"
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
* (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.
*/
class GyroHandlerL3GD20H: public DeviceHandlerBase {
public:
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelayMs);
class GyroHandlerL3GD20H : public DeviceHandlerBase {
public:
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H();
/**
@@ -35,22 +35,18 @@ public:
* @brief Configure device handler to go to normal mode immediately
*/
void setToGoToNormalMode(bool enable);
protected:
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
@@ -58,7 +54,7 @@ protected:
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
private:
uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset;
@@ -66,12 +62,7 @@ private:
float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00;
enum class InternalState {
NONE,
CONFIGURE,
CHECK_REGS,
NORMAL
};
enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
@@ -90,10 +81,8 @@ private:
float sensitivity = L3GD20H::SENSITIVITY_00;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider = nullptr;
PeriodicOperationDivider *debugDivider = nullptr;
#endif
};
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

@@ -8,9 +8,10 @@
#include <cmath>
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), transitionDelay(transitionDelay) {
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
@@ -20,39 +21,35 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
void MgmLIS3MDLHandler::doStartUp() {
switch (internalState) {
case(InternalState::STATE_NONE): {
case (InternalState::STATE_NONE): {
internalState = InternalState::STATE_FIRST_CONTACT;
break;
}
case(InternalState::STATE_FIRST_CONTACT): {
case (InternalState::STATE_FIRST_CONTACT): {
/* Will be set by checking device ID (WHO AM I register) */
if(commandExecuted) {
if (commandExecuted) {
commandExecuted = false;
internalState = InternalState::STATE_SETUP;
}
break;
}
case(InternalState::STATE_SETUP): {
case (InternalState::STATE_SETUP): {
internalState = InternalState::STATE_CHECK_REGISTERS;
break;
}
case(InternalState::STATE_CHECK_REGISTERS): {
case (InternalState::STATE_CHECK_REGISTERS): {
/* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) {
if (commandExecuted) {
commandExecuted = false;
if(goToNormalMode) {
if (goToNormalMode) {
setMode(MODE_NORMAL);
}
else {
} else {
setMode(_MODE_TO_ON);
}
}
@@ -61,43 +58,38 @@ void MgmLIS3MDLHandler::doStartUp() {
default:
break;
}
}
void MgmLIS3MDLHandler::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
case (InternalState::STATE_NONE):
case (InternalState::STATE_NORMAL): {
return DeviceHandlerBase::NOTHING_TO_SEND;
}
case(InternalState::STATE_FIRST_CONTACT): {
case (InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
break;
}
case(InternalState::STATE_SETUP): {
case (InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM;
break;
}
case(InternalState::STATE_CHECK_REGISTERS): {
case (InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break;
}
default: {
/* might be a configuration error. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
<< std::endl;
#else
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
return HasReturnvaluesIF::RETURN_OK;
}
}
return buildCommandFromCommand(*id, NULL, 0);
}
@@ -119,7 +111,6 @@ uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
}
void MgmLIS3MDLHandler::setupMgm() {
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -129,27 +120,24 @@ void MgmLIS3MDLHandler::setupMgm() {
prepareCtrlRegisterWrite();
}
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
// Data/config register will be read in an alternating manner.
if(communicationStep == CommunicationStep::DATA) {
if (communicationStep == CommunicationStep::DATA) {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0);
}
else {
} else {
*id = MGMLIS3MDL::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0);
}
}
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
switch (deviceCommand) {
case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
@@ -157,7 +145,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
return RETURN_OK;
}
case(MGMLIS3MDL::READ_TEMPERATURE): {
case (MGMLIS3MDL::READ_TEMPERATURE): {
std::memset(commandBuffer, 0, 3);
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
@@ -165,17 +153,17 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
rawPacketLen = 3;
return RETURN_OK;
}
case(MGMLIS3MDL::IDENTIFY_DEVICE): {
case (MGMLIS3MDL::IDENTIFY_DEVICE): {
return identifyDevice();
}
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
return enableTemperatureSensor(commandData, commandDataLen);
}
case(MGMLIS3MDL::SETUP_MGM): {
case (MGMLIS3MDL::SETUP_MGM): {
setupMgm();
return HasReturnvaluesIF::RETURN_OK;
}
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen);
}
default:
@@ -195,16 +183,15 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
return RETURN_OK;
}
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
// Check validity by checking config registers
if (start[1] != registers[0] or start[2] != registers[1] or
start[3] != registers[2] or start[4] != registers[3] or
start[5] != registers[4]) {
if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
start[4] != registers[3] or start[5] != registers[4]) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
@@ -214,57 +201,51 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
#endif
return DeviceHandlerIF::INVALID_DATA;
}
if(mode == _MODE_START_UP) {
if (mode == _MODE_START_UP) {
commandExecuted = true;
}
}
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
} else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
}
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
} else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM;
}
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len;
*foundId = getPendingCommand();
if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if(start[1] != MGMLIS3MDL::DEVICE_ID) {
if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if (start[1] != MGMLIS3MDL::DEVICE_ID) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!" << std::endl;
"Device identification failed!"
<< std::endl;
#else
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
sif::printWarning(
"MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!\n");
#endif
#endif
return DeviceHandlerIF::INVALID_DATA;
}
if(mode == _MODE_START_UP) {
if (mode == _MODE_START_UP) {
commandExecuted = true;
}
}
}
else {
} else {
return DeviceHandlerIF::INVALID_DATA;
}
/* Data with SPI Interface always has this answer */
if (start[0] == 0b11111111) {
return RETURN_OK;
}
else {
} else {
return DeviceHandlerIF::INVALID_DATA;
}
}
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case MGMLIS3MDL::IDENTIFY_DEVICE: {
break;
@@ -276,26 +257,27 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
// TODO: Store configuration in new local datasets.
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawX =
packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
int16_t mgmMeasurementRawY =
packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
int16_t mgmMeasurementRawZ =
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
/* Target value in microtesla */
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
if (debugDivider->checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl;
" microtesla:"
<< std::endl;
sif::info << "X: " << mgmX << " uT" << std::endl;
sif::info << "Y: " << mgmY << " 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 */
PoolReadGuard readHelper(&dataset);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if(std::abs(mgmX) < absLimitX) {
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) < absLimitX) {
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthX.setValid(true);
}
else {
} else {
dataset.fieldStrengthX.setValid(false);
}
if(std::abs(mgmY) < absLimitY) {
if (std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthY.setValid(true);
}
else {
} else {
dataset.fieldStrengthY.setValid(false);
}
if(std::abs(mgmZ) < absLimitZ) {
if (std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ;
dataset.fieldStrengthZ.setValid(true);
}
else {
} else {
dataset.fieldStrengthZ.setValid(false);
}
}
@@ -339,18 +318,17 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if(debugDivider->check()) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if (debugDivider->check()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
std::endl;
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
#else
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif
}
#endif
ReturnValue_t result = dataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if (result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue;
dataset.commit();
}
@@ -360,7 +338,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
default: {
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
}
@@ -380,17 +357,17 @@ MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2)
}
float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
switch(sens) {
case(MGMLIS3MDL::GAUSS_4): {
switch (sens) {
case (MGMLIS3MDL::GAUSS_4): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
case(MGMLIS3MDL::GAUSS_8): {
case (MGMLIS3MDL::GAUSS_8): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
}
case(MGMLIS3MDL::GAUSS_12): {
case (MGMLIS3MDL::GAUSS_12): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
}
case(MGMLIS3MDL::GAUSS_16): {
case (MGMLIS3MDL::GAUSS_16): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
}
default: {
@@ -400,9 +377,8 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
}
}
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
const uint8_t *commandData, size_t commandDataLen) {
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2;
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
@@ -471,9 +447,7 @@ void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
}
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
this->goToNormalMode = enable;
}
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
@@ -488,28 +462,18 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
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) {
return transitionDelay;
}
void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
void MgmLIS3MDLHandler::modeChanged(void) {
internalState = InternalState::STATE_NONE;
}
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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}));
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
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;
}

@@ -1,10 +1,9 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "fsfw/FSFW.h"
#include "events/subsystemIdRanges.h"
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
class PeriodicOperationDivider;
@@ -18,19 +17,16 @@ class PeriodicOperationDivider;
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
* @author L. Loidold, R. Mueller
*/
class MgmLIS3MDLHandler: public DeviceHandlerBase {
public:
enum class CommunicationStep {
DATA,
TEMPERATURE
};
class MgmLIS3MDLHandler : public DeviceHandlerBase {
public:
enum class CommunicationStep { DATA, TEMPERATURE };
static const uint8_t INTERFACE_ID = CLASS_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);
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler();
@@ -44,22 +40,18 @@ public:
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
void setToGoToNormalMode(bool enable);
protected:
protected:
/** DeviceHandlerBase overrides */
void doShutDown() override;
void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
/**
* This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
@@ -67,16 +59,15 @@ protected:
* @param packet
* @return
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
private:
MGMLIS3MDL::MgmPrimaryDataset dataset;
//Length a single command SPI answer
// Length a single command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
uint32_t transitionDelay;
@@ -159,16 +150,14 @@ private:
* @param commandData On or Off
* @param length of the commandData: has to be 1
*/
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen);
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
/**
* Sets the accuracy of the measurement of the axis. The noise is changing.
* @param commandData LOW, MEDIUM, HIGH, ULTRA
* @param length of the command, has to be 1
*/
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
size_t commandDataLen);
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
/**
* We always update all registers together, so this method updates
@@ -179,7 +168,7 @@ private:
ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider;
PeriodicOperationDivider *debugDivider;
#endif
};

@@ -1,16 +1,16 @@
#include "MgmRM3100Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this), transitionDelay(transitionDelay) {
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this),
transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
@@ -19,34 +19,33 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
MgmRM3100Handler::~MgmRM3100Handler() {}
void MgmRM3100Handler::doStartUp() {
switch(internalState) {
case(InternalState::NONE): {
switch (internalState) {
case (InternalState::NONE): {
internalState = InternalState::CONFIGURE_CMM;
break;
}
case(InternalState::CONFIGURE_CMM): {
case (InternalState::CONFIGURE_CMM): {
internalState = InternalState::READ_CMM;
break;
}
case(InternalState::READ_CMM): {
if(commandExecuted) {
case (InternalState::READ_CMM): {
if (commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
if(commandExecuted) {
case (InternalState::STATE_CONFIGURE_TMRC): {
if (commandExecuted) {
internalState = InternalState::STATE_READ_TMRC;
}
break;
}
case(InternalState::STATE_READ_TMRC): {
if(commandExecuted) {
case (InternalState::STATE_READ_TMRC): {
if (commandExecuted) {
internalState = InternalState::NORMAL;
if(goToNormalModeAtStartup) {
if (goToNormalModeAtStartup) {
setMode(MODE_NORMAL);
}
else {
} else {
setMode(_MODE_TO_ON);
}
}
@@ -58,33 +57,30 @@ void MgmRM3100Handler::doStartUp() {
}
}
void MgmRM3100Handler::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
size_t commandLen = 0;
switch(internalState) {
case(InternalState::NONE):
case(InternalState::NORMAL): {
switch (internalState) {
case (InternalState::NONE):
case (InternalState::NORMAL): {
return NOTHING_TO_SEND;
}
case(InternalState::CONFIGURE_CMM): {
case (InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
break;
}
case(InternalState::READ_CMM): {
case (InternalState::READ_CMM): {
*id = RM3100::READ_CMM;
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
case (InternalState::STATE_CONFIGURE_TMRC): {
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
commandLen = 1;
*id = RM3100::CONFIGURE_TMRC;
break;
}
case(InternalState::STATE_READ_TMRC): {
case (InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
break;
}
@@ -93,9 +89,11 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
#if FSFW_CPP_OSTREAM_ENABLED == 1
// Might be a configuration error
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state" << std::endl;
"Unknown internal state"
<< std::endl;
#else
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
sif::printWarning(
"MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n");
#endif
#endif
@@ -106,43 +104,44 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
}
ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
switch(deviceCommand) {
case(RM3100::CONFIGURE_CMM): {
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::READ_CMM): {
case (RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_TMRC): {
case (RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
}
case(RM3100::READ_TMRC): {
case (RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_CYCLE_COUNT): {
case (RM3100::CONFIGURE_CYCLE_COUNT): {
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;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
break;
}
case(RM3100::READ_DATA): {
case (RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10;
@@ -154,16 +153,13 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
return RETURN_OK;
}
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// For SPI, ID will always be the one of the last sent command
*foundId = this->getPendingCommand();
*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 result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
switch (id) {
case (RM3100::CONFIGURE_CMM):
case (RM3100::CONFIGURE_CYCLE_COUNT):
case (RM3100::CONFIGURE_TMRC): {
// We can only check whether write was successful with read operation
if(mode == _MODE_START_UP) {
if (mode == _MODE_START_UP) {
commandExecuted = true;
}
break;
}
case(RM3100::READ_CMM): {
case (RM3100::READ_CMM): {
uint8_t cmmValue = packet[1];
// We clear the seventh bit in any case
// because this one is zero sometimes for some reason
bitutil::clear(&cmmValue, 6);
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
commandExecuted = true;
}
else {
} else {
// Attempt reconfiguration
internalState = InternalState::CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) {
case (RM3100::READ_TMRC): {
if (packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground
if(mode != _MODE_START_UP) {
if (mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
} else {
// Attempt reconfiguration
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_CYCLE_COUNT): {
case (RM3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground
if(mode != _MODE_START_UP) {
if (mode != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
}
case(RM3100::READ_DATA): {
case (RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
@@ -239,19 +233,18 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
if(commandData == nullptr) {
const uint8_t *commandData,
size_t commandDataLen) {
if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
// Set cycle count
if(commandDataLen == 2) {
if (commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen);
}
else if(commandDataLen == 6) {
} else if (commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen);
}
else {
} else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@@ -264,21 +257,21 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen) {
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result =
command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// 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;
}
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;
}
@@ -289,8 +282,9 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
}
ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
if(commandData == nullptr or commandDataLen != 1) {
const uint8_t *commandData,
size_t commandDataLen) {
if (commandData == nullptr or commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@@ -315,12 +309,10 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
}
void MgmRM3100Handler::modeChanged(void) {
internalState = InternalState::NONE;
}
void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
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_Z, new PoolEntry<float>({0.0}));
@@ -331,9 +323,7 @@ uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelay;
}
void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
goToNormalModeAtStartup = enable;
}
void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
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
@@ -348,10 +338,11 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
if (debugDivider->checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" << std::endl;
" microtesla:"
<< std::endl;
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " 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?
PoolReadGuard readGuard(&primaryDataset);
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;

@@ -1,8 +1,8 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
@@ -16,22 +16,21 @@
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
*/
class MgmRM3100Handler: public DeviceHandlerBase {
public:
class MgmRM3100Handler : public DeviceHandlerBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
0x00, severity::INFO);
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent(
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
static constexpr Event cycleCountersSet =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);
virtual ~MgmRM3100Handler();
/**
@@ -40,18 +39,16 @@ public:
*/
void setToGoToNormalMode(bool enable);
protected:
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
@@ -60,8 +57,7 @@ protected:
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
private:
enum class InternalState {
NONE,
CONFIGURE_CMM,
@@ -94,16 +90,16 @@ private:
uint32_t transitionDelay;
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);
ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t* packet);
ReturnValue_t handleDataReadout(const uint8_t *packet);
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider;
PeriodicOperationDivider *debugDivider;
#endif
};

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

@@ -1,26 +1,18 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint>
namespace MGMLIS3MDL {
enum Set {
ON, OFF
};
enum OpMode {
LOW, MEDIUM, HIGH, ULTRA
};
enum Set { ON, OFF };
enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
enum Sensitivies: uint8_t {
GAUSS_4 = 4,
GAUSS_8 = 8,
GAUSS_12 = 12,
GAUSS_16 = 16
};
enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
/* Actually 15, we just round up a bit */
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 OM1 = 6; // XY operating mode bit 6
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
(1 << DO0) | (1 << DO1) | (1 << DO2);
static const uint8_t CTRL_REG1_DEFAULT =
(1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
/* 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 REBOOT = 3; //reboot memory content
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 REBOOT = 3; // reboot memory content
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 CTRL_REG2_DEFAULT = 0;
/* CTRL_REG3 bits */
static const uint8_t MD0 = 0; //Operating mode bit 0
static const uint8_t MD1 = 1; //Operating mode bit 1
//SPI serial interface mode selection enabled = 3-wire-mode
static const uint8_t MD0 = 0; // Operating mode bit 0
static const uint8_t MD1 = 1; // Operating mode bit 1
// SPI serial interface mode selection enabled = 3-wire-mode
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;
/* 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 OMZ0 = 2; //Z operating mode bit 2
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
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 CTRL_REG4_DEFAULT = (1 << OMZ1);
/* CTRL_REG5 bits */
static const uint8_t BDU = 6; //Block data update
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
static const uint8_t BDU = 6; // Block data update
static const uint8_t FAST_READ = 7; // Fast read enabled = 1
static const uint8_t CTRL_REG5_DEFAULT = 0;
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_Y,
FIELD_STRENGTH_Z,
TEMPERATURE_CELCIUS
};
class MgmPrimaryDataset: public StaticLocalDataSet<4> {
public:
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
class MgmPrimaryDataset : public StaticLocalDataSet<4> {
public:
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
MgmPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Y, 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);
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, 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_ */

@@ -1,10 +1,11 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <cstdint>
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 CMM_REGISTER = 0x01;
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
SET_CMM_DRDM | SET_CMM_START;
static constexpr uint8_t CMM_VALUE =
SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
/*----------------------------------------------------------------------------*/
/* 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)
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
100 * 38;
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
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 READ_CYCLE_COUNT = 6;
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
public:
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
public:
CycleCountCommand(bool oneCycleCount = true) : oneCycleCount(oneCycleCount) {
setLinks(oneCycleCount);
}
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override {
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
size, streamEndianness);
if(oneCycleCount) {
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
if (oneCycleCount) {
cycleCountY = cycleCountX;
cycleCountZ = cycleCountX;
}
@@ -88,10 +87,10 @@ public:
SerializeElement<uint16_t> cycleCountY;
SerializeElement<uint16_t> cycleCountZ;
private:
private:
void setLinks(bool oneCycleCount) {
setStart(&cycleCountX);
if(not oneCycleCount) {
if (not oneCycleCount) {
cycleCountX.setNext(&cycleCountY);
cycleCountY.setNext(&cycleCountZ);
}
@@ -102,31 +101,24 @@ private:
static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
enum MgmPoolIds: lp_id_t {
enum MgmPoolIds : lp_id_t {
FIELD_STRENGTH_X,
FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z,
};
class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
public:
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
public:
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
Rm3100PrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
// Field strengths in micro Tesla.
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, 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_ */

@@ -1,50 +1,47 @@
#include "CommandExecutor.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/container/DynamicFIFO.h"
#include <unistd.h>
#include <cstring>
CommandExecutor::CommandExecutor(const size_t maxSize):
readVec(maxSize) {
#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) {
if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmd = command;
this->blocking = blocking;
this->printOutput = printOutput;
if(state == States::IDLE) {
if (state == States::IDLE) {
state = States::COMMAND_LOADED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::execute() {
if(state == States::IDLE) {
if (state == States::IDLE) {
return NO_COMMAND_LOADED_OR_PENDING;
}
else if(state == States::PENDING) {
} else if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmdFile = popen(currentCmd.c_str(), "r");
if(currentCmdFile == nullptr) {
if (currentCmdFile == nullptr) {
lastError = errno;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(blocking) {
if (blocking) {
ReturnValue_t result = executeBlocking();
state = States::IDLE;
return result;
}
else {
} else {
currentFd = fileno(currentCmdFile);
waiter.fd = currentFd;
}
@@ -53,9 +50,9 @@ ReturnValue_t CommandExecutor::execute() {
}
ReturnValue_t CommandExecutor::close() {
if(state == States::PENDING) {
if (state == States::PENDING) {
// Attempt to close process, irrespective of if it is running or not
if(currentCmdFile != nullptr) {
if (currentCmdFile != nullptr) {
pclose(currentCmdFile);
}
}
@@ -63,59 +60,59 @@ ReturnValue_t CommandExecutor::close() {
}
void CommandExecutor::printLastError(std::string funcName) const {
if(lastError != 0) {
if (lastError != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << funcName << " pclose failed with code " << lastError << ": " <<
strerror(lastError) << std::endl;
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));
sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
strerror(lastError));
#endif
}
}
void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
DynamicFIFO<uint16_t>* sizesFifo) {
this->ringBuffer = ringBuffer;
this->sizesFifo = sizesFifo;
}
ReturnValue_t CommandExecutor::check(bool& replyReceived) {
if(blocking) {
if (blocking) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(state) {
case(States::IDLE):
case(States::COMMAND_LOADED): {
switch (state) {
case (States::IDLE):
case (States::COMMAND_LOADED): {
return NO_COMMAND_LOADED_OR_PENDING;
}
case(States::PENDING): {
case (States::PENDING): {
break;
}
}
int result = poll(&waiter, 1, 0);
switch(result) {
case(0): {
switch (result) {
case (0): {
return HasReturnvaluesIF::RETURN_OK;
break;
}
case(1): {
case (1): {
if (waiter.revents & POLLIN) {
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
if(readBytes == 0) {
if (readBytes == 0) {
// Should not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: No bytes read "
"after poll event.." << std::endl;
"after poll event.."
<< std::endl;
#else
sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
#endif
break;
}
else if(readBytes > 0) {
} else if (readBytes > 0) {
replyReceived = true;
if(printOutput) {
if (printOutput) {
// It is assumed the command output is line terminated
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << readVec.data();
@@ -123,27 +120,25 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
sif::printInfo("%s | %s", currentCmd, readVec.data());
#endif
}
if(ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
readVec.data()), readBytes);
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
}
if(sizesFifo != nullptr) {
if(not sizesFifo->full()) {
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(readBytes);
}
}
}
else {
} else {
// Should also not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
strerror(errno) << std::endl;
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 (waiter.revents & POLLERR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
#else
@@ -151,10 +146,10 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
#endif
return COMMAND_ERROR;
}
if(waiter.revents & POLLHUP) {
if (waiter.revents & POLLHUP) {
result = pclose(currentCmdFile);
ReturnValue_t retval = EXECUTION_FINISHED;
if(result != 0) {
if (result != 0) {
lastError = result;
retval = HasReturnvaluesIF::RETURN_FAILED;
}
@@ -177,35 +172,34 @@ void CommandExecutor::reset() {
}
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
// 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;
}
CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
ReturnValue_t CommandExecutor::executeBlocking() {
while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
std::string output(readVec.data());
if(printOutput) {
if (printOutput) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << output;
#else
sif::printInfo("%s | %s", currentCmd, output);
#endif
}
if(ringBuffer != nullptr) {
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
}
if(sizesFifo != nullptr) {
if(not sizesFifo->full()) {
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(output.size());
}
}
}
int result = pclose(currentCmdFile);
if(result != 0) {
if (result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}

@@ -1,16 +1,17 @@
#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/returnvalues/FwClassIds.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;
template <typename T>
class DynamicFIFO;
/**
* @brief Helper class to execute shell commands in blocking and non-blocking mode
@@ -24,12 +25,8 @@ template <typename T> class DynamicFIFO;
* has finished
*/
class CommandExecutor {
public:
enum class States {
IDLE,
COMMAND_LOADED,
PENDING
};
public:
enum class States { IDLE, COMMAND_LOADED, PENDING };
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
@@ -39,19 +36,15 @@ public:
//! [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);
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);
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);
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);
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
@@ -115,7 +108,8 @@ public:
* commands can be loaded and executed
*/
void reset();
private:
private:
std::string currentCmd;
bool blocking = true;
FILE* currentCmdFile = nullptr;

@@ -1,25 +1,26 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include <cerrno>
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix):
fileDescriptor(fileDescriptor) {
if(fileDescriptor == nullptr) {
std::string diagnosticPrefix)
: fileDescriptor(fileDescriptor) {
if (fileDescriptor == nullptr) {
return;
}
*fileDescriptor = open(device.c_str(), flags);
if (*fileDescriptor < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
errno << ": " << strerror(errno) << std::endl;
sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
<< strerror(errno) << std::endl;
#else
sif::printWarning("%s: Opening device failed with error code %d: %s\n",
diagnosticPrefix, errno, strerror(errno));
sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
openStatus = OPEN_FILE_FAILED;
@@ -27,11 +28,9 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
}
UnixFileGuard::~UnixFileGuard() {
if(fileDescriptor != nullptr) {
if (fileDescriptor != nullptr) {
close(*fileDescriptor);
}
}
ReturnValue_t UnixFileGuard::getOpenResult() const {
return openStatus;
}
ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }

@@ -1,16 +1,14 @@
#ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
#define LINUX_UTILITY_UNIXFILEGUARD_H_
#include <fcntl.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <unistd.h>
#include <string>
#include <fcntl.h>
#include <unistd.h>
class UnixFileGuard {
public:
public:
static constexpr int READ_WRITE_FLAG = O_RDWR;
static constexpr int READ_ONLY_FLAG = O_RDONLY;
static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
@@ -20,14 +18,13 @@ public:
UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix = "");
virtual~ UnixFileGuard();
virtual ~UnixFileGuard();
ReturnValue_t getOpenResult() const;
private:
private:
int* fileDescriptor = nullptr;
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
};
#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

@@ -1,26 +1,25 @@
#include "LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <gpiod.h>
#include <unistd.h>
#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() {
for(auto& config: gpioMap) {
delete(config.second);
for (auto& config : gpioMap) {
delete (config.second);
}
}
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if(gpioCookie == nullptr) {
if (gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
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 */
result = checkForConflicts(mapToAdd);
if (result != RETURN_OK){
if (result != RETURN_OK) {
return result;
}
@@ -45,39 +44,39 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
}
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) {
for (auto& gpioConfig : mapToAdd) {
auto& gpioType = gpioConfig.second->gpioType;
switch(gpioType) {
case(gpio::GpioTypes::NONE): {
switch (gpioType) {
case (gpio::GpioTypes::NONE): {
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);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByChip(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLabel(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLineName(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::CALLBACK): {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(gpioCallback->callback == nullptr) {
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
@@ -89,26 +88,24 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
}
ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
GpiodRegularByLabel &gpioByLabel) {
GpiodRegularByLabel& gpioByLabel) {
std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "label: " + label;
return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
GpiodRegularByChip &gpioByChip) {
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "chipname: " + chipname;
@@ -116,13 +113,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
}
ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
GpiodRegularByLineName &gpioByLineName) {
GpiodRegularByLineName& gpioByLineName) {
std::string& lineName = gpioByLineName.lineName;
char chipname[MAX_CHIPNAME_LENGTH];
unsigned int lineOffset;
int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
&lineOffset);
int result =
gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
if (result != LINE_FOUND) {
parseFindeLineResult(result, lineName);
return RETURN_FAILED;
@@ -132,8 +129,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
<< chipname << ". <Gpio ID: " << gpioId << std::endl;
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
<< ". <Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
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,
GpiodRegularBase& regularGpio, std::string failOutput) {
GpiodRegularBase& regularGpio,
std::string failOutput) {
unsigned int lineNum;
gpio::Direction direction;
std::string consumer;
struct gpiod_line *lineHandle;
struct gpiod_line* lineHandle;
int result = 0;
lineNum = regularGpio.lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", " << failOutput << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
<< std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
@@ -163,33 +161,32 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case(gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio.initValue);
case (gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
break;
}
case(gpio::IN): {
case (gpio::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
break;
}
default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
<< std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
return GPIO_INVALID_INSTANCE;
}
if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
<< " from GPIO instance with ID: " << gpioId << std::endl;
#else
sif::printError("LinuxLibgpioIF::configureRegularGpio: "
"Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
sif::printError(
"LinuxLibgpioIF::configureRegularGpio: "
"Failed to request line %d from GPIO instance with ID: %d\n",
lineNum, gpioId);
#endif
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
}
/**
* 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;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
gpio::Levels::HIGH, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
gpioCallback->callbackArgs);
return RETURN_OK;
}
return GPIO_TYPE_FAILURE;
@@ -240,37 +236,38 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
}
auto& gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::LOW);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
gpio::Levels::LOW, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
gpioCallback->callbackArgs);
return RETURN_OK;
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl;
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
<< " to logic level " << logicLevel << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
"logic level %d\n", gpioId, logicLevel);
sif::printWarning(
"LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
"logic level %d\n",
gpioId, logicLevel);
#endif
return DRIVE_GPIO_FAILURE;
}
@@ -280,7 +277,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
gpioMapIter = gpioMap.find(gpioId);
if (gpioMapIter == gpioMap.end()){
if (gpioMapIter == gpioMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
#else
@@ -290,63 +287,60 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
}
auto gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if(gpioCallback->callback == nullptr) {
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
gpio::Levels::NONE, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
gpioCallback->callbackArgs);
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 result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
for (auto& gpioConfig : mapToAdd) {
switch (gpioConfig.second->gpioType) {
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
if(regularGpio == nullptr) {
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
// Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
case(gpio::GpioTypes::CALLBACK): {
case (gpio::GpioTypes::CALLBACK): {
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
if(callbackGpio == nullptr) {
if (callbackGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
// Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first,
gpioConfig.second->gpioType, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
break;
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
<< std::endl;
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
#else
sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
#endif
@@ -358,38 +352,41 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
gpio::GpioTypes expectedType,
GpioMap& mapToAdd) {
// Cross check with private map
gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) {
if (gpioMapIter != gpioMap.end()) {
auto& gpioType = gpioMapIter->second->gpioType;
bool eraseDuplicateDifferentType = false;
switch(expectedType) {
case(gpio::GpioTypes::NONE): {
switch (expectedType) {
case (gpio::GpioTypes::NONE): {
break;
}
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true;
}
break;
}
case(gpio::GpioTypes::CALLBACK): {
if(gpioType != gpio::GpioTypes::CALLBACK) {
case (gpio::GpioTypes::CALLBACK): {
if (gpioType != gpio::GpioTypes::CALLBACK) {
eraseDuplicateDifferentType = true;
}
}
}
if(eraseDuplicateDifferentType) {
if (eraseDuplicateDifferentType) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type " << gpioIdToCheck <<
". Removing duplicate from map to add" << std::endl;
"different GPIO type "
<< gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
sif::printWarning(
"LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n",
gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
@@ -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
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
"definition with ID " << gpioIdToCheck << " detected. " <<
"Duplicate will be removed from map to add" << std::endl;
"definition with ID "
<< gpioIdToCheck << " detected. "
<< "Duplicate will be removed from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
sif::printWarning(
"LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n",
gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
@@ -415,28 +415,32 @@ void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
case LINE_NOT_EXISTS:
case LINE_ERROR: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
" does not exist" << std::endl;
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
<< " does not exist" << std::endl;
break;
}
default: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name " << lineName << std::endl;
"with name "
<< lineName << std::endl;
break;
}
#else
case LINE_NOT_EXISTS:
case LINE_ERROR: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
"does not exist\n", lineName);
sif::printWarning(
"LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
"does not exist\n",
lineName);
break;
}
default: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name %s\n", lineName);
sif::printWarning(
"LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name %s\n",
lineName);
break;
}
#endif
}
}

@@ -1,9 +1,9 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw/objectmanager/SystemObject.h"
class GpioCookie;
class GpiodRegularIF;
@@ -16,8 +16,7 @@ class GpiodRegularIF;
* The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
*/
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
public:
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@@ -39,8 +38,7 @@ public:
ReturnValue_t pullLow(gpioId_t gpioId) override;
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private:
private:
static const size_t MAX_CHIPNAME_LENGTH = 11;
static const int LINE_NOT_EXISTS = 0;
static const int LINE_ERROR = -1;
@@ -56,13 +54,11 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel);
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
GpiodRegularByLineName &gpioByLineName);
ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput);
@@ -77,8 +73,7 @@ private:
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.

@@ -1,38 +1,34 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw/serviceinterface.h"
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <errno.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#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() {}
ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
address_t i2cAddress;
std::string deviceFile;
if(cookie == nullptr) {
if (cookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
#endif
return NULLPOINTER;
}
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;
#endif
@@ -42,14 +38,15 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if(i2cDeviceMapIter == i2cDeviceMap.end()) {
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
size_t maxReplyLen = i2cCookie->getMaxReplyLen();
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
if (not statusPair.second) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
i2cAddress << "to I2C device " << "map" << std::endl;
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
<< i2cAddress << "to I2C device "
<< "map" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -57,33 +54,30 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
"already in use" << std::endl;
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
<< "already in use" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
ReturnValue_t result;
int fd;
std::string deviceFile;
if(sendData == nullptr) {
if (sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
<< std::endl;
sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
if(sendLen == 0) {
if (sendLen == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
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;
#endif
@@ -102,31 +96,28 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code " << errno << ". Error description: "
<< strerror(errno) << std::endl;
"device with error code "
<< errno << ". Error description: " << strerror(errno) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
ReturnValue_t result;
int fd;
std::string deviceFile;
@@ -136,7 +127,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *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;
#endif
@@ -157,11 +148,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
deviceFile = i2cCookie->getDeviceFile();
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
result = openDevice(deviceFile, i2cAddress, &fd);
if (result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK) {
i2cDeviceMapIter->second.replyLen = 0;
return result;
}
@@ -172,14 +163,15 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
if (readLen != static_cast<int>(requestLen)) {
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno <<". Description"
<< "device failed with error code " << errno << ". Description"
<< " of error: " << strerror(errno) << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
<< requestLen << " bytes" << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
<< " bytes" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen << " bytes" << std::endl;
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -188,10 +180,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t* size) {
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
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;
#endif
@@ -213,9 +204,8 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
address_t i2cAddress, int* fileDescriptor) {
ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
int* fileDescriptor) {
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1

@@ -1,13 +1,14 @@
#ifndef LINUX_I2C_I2COMIF_H_
#define LINUX_I2C_I2COMIF_H_
#include "I2cCookie.h"
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map>
#include <vector>
#include "I2cCookie.h"
/**
* @brief This is the communication interface for I2C devices connected
* to a system running a Linux OS.
@@ -16,23 +17,19 @@
*
* @author J. Meier
*/
class I2cComIF: public DeviceCommunicationIF, public SystemObject {
public:
class I2cComIF : public DeviceCommunicationIF, public SystemObject {
public:
I2cComIF(object_id_t objectId);
virtual ~I2cComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
private:
struct I2cInstance {
std::vector<uint8_t> replyBuffer;
size_t replyLen;
@@ -54,8 +51,7 @@ private:
* @param fileDescriptor Pointer to device descriptor.
* @return RETURN_OK if successful, otherwise RETURN_FAILED.
*/
ReturnValue_t openDevice(std::string deviceFile,
address_t i2cAddress, int* fileDescriptor);
ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
};
#endif /* LINUX_I2C_I2COMIF_H_ */

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

@@ -2,6 +2,7 @@
#define LINUX_I2C_I2CCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <string>
/**
@@ -9,9 +10,8 @@
*
* @author J. Meier
*/
class I2cCookie: public CookieIF {
public:
class I2cCookie : public CookieIF {
public:
/**
* @brief Constructor for the I2C cookie.
* @param i2cAddress_ The i2c address of the target device.
@@ -19,8 +19,7 @@ public:
* target device.
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
*/
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
std::string deviceFile_);
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
virtual ~I2cCookie();
@@ -28,8 +27,7 @@ public:
size_t getMaxReplyLen() const;
std::string getDeviceFile() const;
private:
private:
address_t i2cAddress = 0;
size_t maxReplyLen = 0;
std::string deviceFile;

@@ -1,14 +1,14 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/common/gpio/GpioCookie.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,
std::string consumer, gpio::Direction direction, int initValue) {
if(cookie == nullptr) {
std::string consumer, gpio::Direction direction,
int initValue) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -22,7 +22,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
config->initValue = initValue;
/* Sanity check for the BCM pins before assigning it */
if(bcmPin > 27) {
if (bcmPin > 27) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;

@@ -2,6 +2,7 @@
#define BSP_RPI_GPIO_GPIORPI_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "../../common/gpio/gpioDefinitions.h"
class GpioCookie;
@@ -21,6 +22,6 @@ namespace gpio {
*/
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue);
}
} // namespace gpio
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

@@ -1,23 +1,23 @@
#include "fsfw/FSFW.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 <unistd.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/ipc/MutexFactory.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <cerrno>
#include <cstring>
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
SystemObject(objectId), gpioComIF(gpioComIF) {
if(gpioComIF == nullptr) {
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#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_CPP_OSTREAM_ENABLED == 1
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();
}
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
int retval = 0;
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
if (spiCookie == nullptr) {
return NULLPOINTER;
}
address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) {
if (iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxBufferSize();
SpiInstance spiInstance(bufferSize);
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
spiAddress << "to SPI device map" << std::endl;
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
<< spiAddress << "to SPI device map" << std::endl;
#else
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
sif::printError(
"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_VERBOSE_LEVEL >= 1 */
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
to the SPI driver transfer struct */
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
}
else {
} else {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
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 */
gpioId_t gpioId = spiCookie->getChipSelectPin();
if(gpioId != gpio::NO_GPIO) {
if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
}
@@ -86,91 +87,94 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
/* 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;
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
if(retval != 0) {
if (retval != 0) {
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
}
if(params.threeWireSpi) {
if (params.threeWireSpi) {
currentMode |= SPI_3WIRE;
}
if(params.noCs) {
if (params.noCs) {
/* Some drivers like the Raspberry Pi ignore this flag in any case */
currentMode |= SPI_NO_CS;
}
if(params.csHigh) {
if (params.csHigh) {
currentMode |= SPI_CS_HIGH;
}
/* Write adapted mode */
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
if(retval != 0) {
if (retval != 0) {
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);
if(retval != 0) {
if (retval != 0) {
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);
if(retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: "
if (retval != 0) {
utility::handleIoctlError(
"SpiComIF::initializeInterface: "
"Could not write bits per word!");
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(spiCookie == nullptr) {
if (spiCookie == nullptr) {
return NULLPOINTER;
}
if(sendLen > spiCookie->getMaxBufferSize()) {
if (sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
"larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
<< "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
<< std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
sif::printWarning(
"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()));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DeviceCommunicationIF::TOO_MUCH_DATA;
}
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
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;
void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) {
if (sendFunc != nullptr) {
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
}
}
return result;
}
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
size_t sendLen) {
address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress);
if(iter != spiDeviceMap.end()) {
if (iter != spiDeviceMap.end()) {
spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
}
@@ -180,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
@@ -194,7 +198,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
gpioId_t gpioId = spiCookie->getChipSelectPin();
/* 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);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
@@ -207,7 +211,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
return result;
}
ReturnValue_t result = gpioComIF->pullLow(gpioId);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
@@ -220,24 +224,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
}
/* Execute transfer */
if(fullDuplex) {
if (fullDuplex) {
/* Initiate a full duplex SPI transfer. */
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if(retval < 0) {
if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
}
else {
} else {
/* We write with a blocking half-duplex transfer here */
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
std::endl;
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#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);
result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
@@ -259,43 +261,39 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
return result;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { 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);
if(spiCookie == nullptr) {
if (spiCookie == nullptr) {
return NULLPOINTER;
}
if(spiCookie->isFullDuplex()) {
if (spiCookie->isFullDuplex()) {
return HasReturnvaluesIF::RETURN_OK;
}
return performHalfDuplexReception(spiCookie);
}
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
"SpiComIF::requestReceiveMessage");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
uint8_t* rxBuf = nullptr;
size_t readSize = spiCookie->getCurrentTransferSize();
result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
gpioId_t gpioId = spiCookie->getChipSelectPin();
if(gpioId != gpio::NO_GPIO) {
if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -306,7 +304,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
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_CPP_OSTREAM_ENABLED == 1
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;
}
if(gpioId != gpio::NO_GPIO) {
if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
@@ -331,14 +329,14 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
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);
if(spiCookie == nullptr) {
if (spiCookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint8_t* rxBuf = nullptr;
ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@@ -349,17 +347,17 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
}
MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
if(timeoutType != nullptr) {
if (timeoutType != nullptr) {
*timeoutType = this->timeoutType;
}
if(timeoutMs != nullptr) {
if (timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs;
}
return spiMutex;
}
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
if(spiCookie == nullptr) {
if (spiCookie == nullptr) {
return;
}
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) {
if(buffer == nullptr) {
if (buffer == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) {
if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -391,18 +389,16 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
return HasReturnvaluesIF::RETURN_OK;
}
GpioIF* SpiComIF::getGpioInterface() {
return gpioComIF;
}
GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) {
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
}
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) {
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
}

@@ -1,16 +1,15 @@
#ifndef LINUX_SPI_SPICOMIF_H_
#define LINUX_SPI_SPICOMIF_H_
#include "fsfw/FSFW.h"
#include "spiDefinitions.h"
#include "returnvalues/classIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include <unordered_map>
#include <vector>
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include <vector>
#include <unordered_map>
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "returnvalues/classIds.h"
#include "spiDefinitions.h"
class SpiCookie;
@@ -21,8 +20,8 @@ class SpiCookie;
* are contained in the SPI cookie.
* @author R. Mueller
*/
class SpiComIF: public DeviceCommunicationIF, public SystemObject {
public:
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
@@ -35,14 +34,11 @@ public:
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, 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
@@ -58,7 +54,7 @@ public:
* @param sendLen
* @return
*/
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
size_t sendLen);
GpioIF* getGpioInterface();
@@ -67,10 +63,9 @@ public:
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
private:
private:
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;
};

@@ -1,42 +1,41 @@
#include "fsfw_hal/linux/spi/SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) {
}
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) {}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
}
spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
SpiCookie::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, void *args):
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
spiMode, spiSpeed, callback, args) {
}
spi::send_callback_function_t callback, void* args)
: SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, callback, args) {}
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, 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, void* args):
spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
sendCallback(callback), callbackArgs(args) {
}
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
: spiAddress(spiAddress),
chipSelectPin(chipSelect),
spiDevice(spiDev),
comIfMode(comIfMode),
maxSize(maxSize),
spiMode(spiMode),
spiSpeed(spiSpeed),
sendCallback(callback),
callbackArgs(args) {}
spi::SpiComIfModes SpiCookie::getComIfMode() const {
return this->comIfMode;
}
spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const {
spiMode = this->spiMode;
spiSpeed = this->spiSpeed;
if(parameters != nullptr) {
if (parameters != nullptr) {
parameters->threeWireSpi = uncommonParameters.threeWireSpi;
parameters->lsbFirst = uncommonParameters.lsbFirst;
parameters->noCs = uncommonParameters.noCs;
@@ -45,41 +44,25 @@ void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
}
}
gpioId_t SpiCookie::getChipSelectPin() const {
return chipSelectPin;
}
gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
size_t SpiCookie::getMaxBufferSize() const {
return maxSize;
}
size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
address_t SpiCookie::getSpiAddress() const {
return spiAddress;
}
address_t SpiCookie::getSpiAddress() const { return spiAddress; }
std::string SpiCookie::getSpiDevice() const {
return spiDevice;
}
std::string SpiCookie::getSpiDevice() const { return spiDevice; }
void SpiCookie::setThreeWireSpi(bool enable) {
uncommonParameters.threeWireSpi = enable;
}
void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
void SpiCookie::setLsbFirst(bool enable) {
uncommonParameters.lsbFirst = enable;
}
void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
void SpiCookie::setNoCs(bool enable) {
uncommonParameters.noCs = enable;
}
void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
uncommonParameters.bitsPerWord = bitsPerWord;
}
void SpiCookie::setCsHigh(bool enable) {
uncommonParameters.csHigh = enable;
}
void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
spiTransferStruct.cs_change = deselectCs;
@@ -87,58 +70,40 @@ void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
}
void SpiCookie::assignReadBuffer(uint8_t* rx) {
if(rx != nullptr) {
if (rx != nullptr) {
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
}
}
void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
if(tx != nullptr) {
if (tx != nullptr) {
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
}
}
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
void *args) {
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
this->comIfMode = spi::SpiComIfModes::CALLBACK;
this->sendCallback = callback;
this->callbackArgs = args;
}
void SpiCookie::setCallbackArgs(void *args) {
this->callbackArgs = args;
}
void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
return &spiTransferStruct;
}
spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
this->halfDuplex = halfDuplex;
}
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
bool SpiCookie::isFullDuplex() const {
return not this->halfDuplex;
}
bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
void SpiCookie::setTransferSize(size_t transferSize) {
spiTransferStruct.len = transferSize;
}
void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
size_t SpiCookie::getCurrentTransferSize() const {
return spiTransferStruct.len;
}
size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
this->spiSpeed = newSpeed;
}
void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
this->spiMode = newMode;
}
void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
void SpiCookie::getCallback(spi::send_callback_function_t *callback,
void **args) {
void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
*callback = this->sendCallback;
*args = this->callbackArgs;
}

@@ -1,13 +1,12 @@
#ifndef LINUX_SPI_SPICOOKIE_H_
#define LINUX_SPI_SPICOOKIE_H_
#include "spiDefinitions.h"
#include "../../common/gpio/gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.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
* @details
@@ -19,8 +18,8 @@
* special requirements like expander slave select switching (e.g. GPIO or I2C expander)
* or special timing related requirements.
*/
class SpiCookie: public CookieIF {
public:
class SpiCookie : public CookieIF {
public:
/**
* 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
@@ -30,8 +29,8 @@ public:
* @param spiDev
* @param maxSize
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* 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,
spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
void *args);
void* args);
/**
* Get the callback function
@@ -141,8 +140,8 @@ public:
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
spi_ioc_transfer* getTransferStructHandle();
private:
private:
/**
* Internal constructor which initializes every field
* @param spiAddress
@@ -178,6 +177,4 @@ private:
UncommonParameters uncommonParameters;
};
#endif /* LINUX_SPI_SPICOOKIE_H_ */

@@ -1,28 +1,25 @@
#ifndef 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 <cstdint>
#include "../../common/gpio/gpioDefinitions.h"
#include "../../common/spi/spiCommon.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class SpiCookie;
class SpiComIF;
namespace spi {
enum SpiComIfModes {
REGULAR,
CALLBACK
};
enum SpiComIfModes { 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,
const uint8_t *sendData, size_t sendLen, void* args);
}
} // namespace spi
#endif /* LINUX_SPI_SPIDEFINITONS_H_ */

@@ -1,26 +1,25 @@
#include "UartComIF.h"
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface.h"
#include <cstring>
#include <fcntl.h>
#include <errno.h>
#include <fcntl.h>
#include <termios.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() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(cookie == nullptr) {
if (cookie == nullptr) {
return NULLPOINTER;
}
@@ -35,7 +34,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter == uartDeviceMap.end()) {
if (uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) {
return RETURN_FAILED;
@@ -45,16 +44,15 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
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;
}
}
else {
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
" already in use" << std::endl;
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
<< " already in use" << std::endl;
#endif
return RETURN_FAILED;
}
@@ -63,12 +61,11 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
}
int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile();
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
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK;
@@ -77,17 +74,17 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
if (fd < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
"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;
}
/* Read in existing settings */
if(tcgetattr(fd, &options) != 0) {
if (tcgetattr(fd, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
sif::warning << "UartComIF::configureUartPort: Error " << errno
<< "from tcgetattr: " << strerror(errno) << std::endl;
#endif
return fd;
}
@@ -97,7 +94,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options);
setUartMode(&options, *uartCookie);
if(uartCookie->getInputShouldBeFlushed()) {
if (uartCookie->getInputShouldBeFlushed()) {
tcflush(fd, TCIFLUSH);
}
@@ -110,8 +107,8 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
errno << ": " << strerror(errno);
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
#endif
return fd;
}
@@ -187,7 +184,7 @@ void UartComIF::setFixedOptions(struct termios* options) {
/* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* 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) */
options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */
@@ -280,17 +277,16 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
}
}
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(sendLen == 0) {
if (sendLen == 0) {
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;
#endif
@@ -298,7 +294,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *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;
#endif
@@ -309,8 +305,8 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
"not in UART map" << std::endl;
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
<< std::endl;
#endif
return RETURN_FAILED;
}
@@ -319,8 +315,8 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
errno << ": Error description: " << strerror(errno) << std::endl;
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
#endif
return RETURN_FAILED;
}
@@ -328,16 +324,14 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
return RETURN_OK;
}
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
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;
#endif
@@ -348,7 +342,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
return RETURN_OK;
}
@@ -362,11 +356,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
if (uartMode == UartModes::CANONICAL) {
return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else if (uartMode == UartModes::NON_CANONICAL) {
} else if (uartMode == UartModes::NON_CANONICAL) {
return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else {
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
@@ -384,7 +376,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
iter->second.replyLen = 0;
do {
size_t allowedReadSize = 0;
if(currentBytesRead >= maxReplySize) {
if (currentBytesRead >= maxReplySize) {
// 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.
#if FSFW_VERBOSE_LEVEL >= 1
@@ -392,56 +384,56 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
#else
sif::printWarning("UartComIF::requestReceiveMessage: "
sif::printWarning(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif
#endif
result = UART_RX_BUFFER_TOO_SMALL;
break;
}
else {
} else {
allowedReadSize = maxReplySize - currentBytesRead;
}
bytesRead = read(fd, bufferPtr, allowedReadSize);
if (bytesRead < 0) {
// EAGAIN: No data available in non-blocking mode
if(errno != EAGAIN) {
if (errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
errno << ": " << strerror(errno) << std::endl;
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
<< strerror(errno) << std::endl;
#else
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
errno, strerror(errno));
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
strerror(errno));
#endif
#endif
return RETURN_FAILED;
}
}
else if(bytesRead > 0) {
} else if (bytesRead > 0) {
iter->second.replyLen += bytesRead;
bufferPtr += bytesRead;
currentBytesRead += bytesRead;
}
currentReadCycles++;
} while(bytesRead > 0 and currentReadCycles < maxReadCycles);
} while (bytesRead > 0 and currentReadCycles < maxReadCycles);
return result;
}
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter,
ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen) {
int fd = iter->second.fileDescriptor;
auto bufferPtr = iter->second.replyBuffer.data();
// Size check to prevent buffer overflow
if(requestLen > uartCookie.getMaxReplyLen()) {
if (requestLen > uartCookie.getMaxReplyLen()) {
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
#else
sif::printWarning("UartComIF::requestReceiveMessage: "
sif::printWarning(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif
#endif
@@ -450,12 +442,11 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead < 0) {
return RETURN_FAILED;
}
else if (bytesRead != static_cast<int>(requestLen)) {
if(uartCookie.isReplySizeFixed()) {
} else if (bytesRead != static_cast<int>(requestLen)) {
if (uartCookie.isReplySizeFixed()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
" of " << requestLen << " bytes" << std::endl;
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
<< requestLen << " bytes" << std::endl;
#endif
return RETURN_FAILED;
}
@@ -464,14 +455,12 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t* size) {
ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
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;
#endif
@@ -482,8 +471,8 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
" not in uart map" << std::endl;
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
<< std::endl;
#endif
return RETURN_FAILED;
}
@@ -497,11 +486,11 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
return RETURN_OK;
}
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
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;
#endif
@@ -509,7 +498,7 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) {
if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIFLUSH);
return RETURN_OK;
@@ -517,11 +506,11 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
return RETURN_FAILED;
}
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
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;
#endif
@@ -529,7 +518,7 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) {
if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCOFLUSH);
return RETURN_OK;
@@ -537,11 +526,11 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
return RETURN_FAILED;
}
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
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;
#endif
@@ -549,7 +538,7 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter != uartDeviceMap.end()) {
if (uartDeviceMapIter != uartDeviceMap.end()) {
int fd = uartDeviceMapIter->second.fileDescriptor;
tcflush(fd, TCIOFLUSH);
return RETURN_OK;
@@ -557,13 +546,12 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
return RETURN_FAILED;
}
void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
UartModes uartMode = uartCookie.getUartMode();
if(uartMode == UartModes::NON_CANONICAL) {
if (uartMode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
options->c_lflag &= ~ICANON;
}
else if(uartMode == UartModes::CANONICAL) {
} else if (uartMode == UartModes::CANONICAL) {
options->c_lflag |= ICANON;
}
}

@@ -1,13 +1,14 @@
#ifndef 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/objectmanager/SystemObject.h>
#include <unordered_map>
#include <vector>
#include "UartCookie.h"
/**
* @brief This is the communication interface to access serial ports on linux based operating
* systems.
@@ -17,8 +18,8 @@
*
* @author J. Meier
*/
class UartComIF: public DeviceCommunicationIF, public SystemObject {
public:
class UartComIF : public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
static constexpr ReturnValue_t UART_READ_FAILURE =
@@ -32,32 +33,28 @@ public:
virtual ~UartComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, 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.
*/
ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
/**
* @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.
*/
ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
private:
ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
private:
using UartDeviceFile_t = std::string;
struct UartElements {
@@ -119,7 +116,6 @@ private:
size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen);
};
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

@@ -3,39 +3,29 @@
#include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen):
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
baudrate(baudrate), maxReplyLen(maxReplyLen) {
}
uint32_t baudrate, size_t maxReplyLen)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
UartCookie::~UartCookie() {}
uint32_t UartCookie::getBaudrate() const {
return baudrate;
}
uint32_t UartCookie::getBaudrate() const { return baudrate; }
size_t UartCookie::getMaxReplyLen() const {
return maxReplyLen;
}
size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
std::string UartCookie::getDeviceFile() const {
return deviceFile;
}
std::string UartCookie::getDeviceFile() const { return deviceFile; }
void UartCookie::setParityOdd() {
parity = Parity::ODD;
}
void UartCookie::setParityOdd() { parity = Parity::ODD; }
void UartCookie::setParityEven() {
parity = Parity::EVEN;
}
void UartCookie::setParityEven() { parity = Parity::EVEN; }
Parity UartCookie::getParity() const {
return parity;
}
Parity UartCookie::getParity() const { return parity; }
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
switch(bitsPerWord_) {
switch (bitsPerWord_) {
case 5:
case 6:
case 7:
@@ -50,50 +40,26 @@ void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
bitsPerWord = bitsPerWord_;
}
uint8_t UartCookie::getBitsPerWord() const {
return bitsPerWord;
}
uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
StopBits UartCookie::getStopBits() const {
return stopBits;
}
StopBits UartCookie::getStopBits() const { return stopBits; }
void UartCookie::setTwoStopBits() {
stopBits = StopBits::TWO_STOP_BITS;
}
void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void UartCookie::setOneStopBit() {
stopBits = StopBits::ONE_STOP_BIT;
}
void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
UartModes UartCookie::getUartMode() const {
return uartMode;
}
UartModes UartCookie::getUartMode() const { return uartMode; }
void UartCookie::setReadCycles(uint8_t readCycles) {
this->readCycles = readCycles;
}
void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
void UartCookie::setToFlushInput(bool enable) {
this->flushInput = enable;
}
void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
uint8_t UartCookie::getReadCycles() const {
return readCycles;
}
uint8_t UartCookie::getReadCycles() const { return readCycles; }
bool UartCookie::getInputShouldBeFlushed() {
return this->flushInput;
}
bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
object_id_t UartCookie::getHandlerId() const {
return this->handlerId;
}
object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
void UartCookie::setNoFixedSizeReply() {
replySizeFixed = false;
}
void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
bool UartCookie::isReplySizeFixed() {
return replySizeFixed;
}
bool UartCookie::isReplySizeFixed() { return replySizeFixed; }

@@ -6,21 +6,11 @@
#include <string>
enum class Parity {
NONE,
EVEN,
ODD
};
enum class Parity { NONE, EVEN, ODD };
enum class StopBits {
ONE_STOP_BIT,
TWO_STOP_BITS
};
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
enum class UartModes {
CANONICAL,
NON_CANONICAL
};
enum class UartModes { CANONICAL, NON_CANONICAL };
/**
* @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
*/
class UartCookie: public CookieIF {
public:
class UartCookie : public CookieIF {
public:
/**
* @brief Constructor for the uart cookie.
* @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)
* One stop bit
*/
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen);
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
size_t maxReplyLen);
virtual ~UartCookie();
@@ -103,8 +92,7 @@ public:
bool isReplySizeFixed();
private:
private:
const object_id_t handlerId;
std::string deviceFile;
const UartModes uartMode;

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

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

@@ -1,51 +1,47 @@
#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 "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::txBufferSize>
GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
__attribute__((section(".dma_buffer")));
TransferStates transferState = TransferStates::IDLE;
spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
spiHandle(spiHandle) {
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
: spiHandle(spiHandle) {
txDmaHandle = new DMA_HandleTypeDef();
rxDmaHandle = new DMA_HandleTypeDef();
spi::setSpiHandle(spiHandle);
spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
transferMode = transferMode_;
if(transferMode == spi::TransferModes::DMA) {
if (transferMode == spi::TransferModes::DMA) {
mspCfg = new spi::MspDmaConfigStruct();
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
spi::setDmaHandles(txDmaHandle, rxDmaHandle);
stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiDmaMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
} else if (transferMode == spi::TransferModes::INTERRUPT) {
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);
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::POLLING) {
} else if (transferMode == spi::TransferModes::POLLING) {
mspCfg = new spi::MspPollingConfigStruct();
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
stm32h7::h743zi::standardPollingCfg(*typedCfg);
spi::setSpiPollingMspFunctions(typedCfg);
}
@@ -64,7 +60,7 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
GyroL3GD20H::~GyroL3GD20H() {
delete txDmaHandle;
delete rxDmaHandle;
if(mspCfg != nullptr) {
if (mspCfg != nullptr) {
delete mspCfg;
}
}
@@ -86,7 +82,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
// Recommended setting to avoid glitches
spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
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");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -99,14 +95,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
txBuffer[1] = 0;
switch(transferMode) {
case(spi::TransferModes::DMA): {
switch (transferMode) {
case (spi::TransferModes::DMA): {
return handleDmaTransferInit();
}
case(spi::TransferModes::INTERRUPT): {
case (spi::TransferModes::INTERRUPT): {
return handleInterruptTransferInit();
}
case(spi::TransferModes::POLLING): {
case (spi::TransferModes::POLLING): {
return handlePollingTransferInit();
}
default: {
@@ -118,14 +114,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
}
ReturnValue_t GyroL3GD20H::performOperation() {
switch(transferMode) {
case(spi::TransferModes::DMA): {
switch (transferMode) {
case (spi::TransferModes::DMA): {
return handleDmaSensorRead();
}
case(spi::TransferModes::POLLING): {
case (spi::TransferModes::POLLING): {
return handlePollingSensorRead();
}
case(spi::TransferModes::INTERRUPT): {
case (spi::TransferModes::INTERRUPT): {
return handleInterruptSensorRead();
}
default: {
@@ -141,7 +137,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
in case it overlaps cacheline */
// See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
HAL_StatusTypeDef result = performDmaTransfer(2);
if(result != HAL_OK) {
if (result != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
}
@@ -151,17 +147,19 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
switch (transferState) {
case (TransferStates::SUCCESS): {
uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug(
"GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n",
whoAmIVal);
}
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
case (TransferStates::FAILURE): {
sif::printWarning("Transfer failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
@@ -177,7 +175,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
prepareConfigRegs(configRegs);
result = performDmaTransfer(6);
if(result != HAL_OK) {
if (result != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("Error transmitting SPI with DMA\n");
}
@@ -187,13 +185,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
switch (transferState) {
case (TransferStates::SUCCESS): {
sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
case (TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
@@ -203,11 +201,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
}
}
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);
if(result != HAL_OK) {
if (result != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("Error transmitting SPI with DMA\n");
}
@@ -216,20 +213,19 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
switch (transferState) {
case (TransferStates::SUCCESS): {
if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
} else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
case (TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
@@ -243,10 +239,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
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);
if(result != HAL_OK) {
if (result != HAL_OK) {
// Transfer error in transmission process
sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
}
@@ -255,12 +251,12 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
switch (transferState) {
case (TransferStates::SUCCESS): {
handleSensorReadout();
break;
}
case(TransferStates::FAILURE): {
case (TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
@@ -275,8 +271,8 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
transferState = TransferStates::WAIT;
#if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
txBuffer.size()+32);
SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
txBuffer.size() + 32);
#endif
// Start SPI transfer via DMA
@@ -288,21 +284,23 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
switch (result) {
case (HAL_OK): {
sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::performOperation: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug(
"GyroL3GD20H::performOperation: "
"Read WHO AM I value %d not equal to expected value!\n",
whoAmIVal);
}
break;
}
case(HAL_TIMEOUT): {
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -319,15 +317,15 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
switch (result) {
case (HAL_OK): {
break;
}
case(HAL_TIMEOUT): {
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -337,28 +335,27 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
}
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);
result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
switch (result) {
case (HAL_OK): {
if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
} else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
break;
}
case(HAL_TIMEOUT): {
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -371,21 +368,21 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
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);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
switch (result) {
case (HAL_OK): {
handleSensorReadout();
break;
}
case(HAL_TIMEOUT): {
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
case (HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -398,8 +395,8 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
case(HAL_OK): {
switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
case (HAL_OK): {
sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
@@ -407,15 +404,17 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
}
uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug(
"GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n",
whoAmIVal);
}
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
case (HAL_BUSY):
case (HAL_ERROR):
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -427,45 +426,44 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
uint8_t configRegs[5];
prepareConfigRegs(configRegs);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case(HAL_OK): {
switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case (HAL_OK): {
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
case (HAL_BUSY):
case (HAL_ERROR):
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 5);
std::memset(txBuffer.data() + 1, 0, 5);
transferState = TransferStates::WAIT;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case(HAL_OK): {
switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case (HAL_OK): {
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
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[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
} else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
case (HAL_BUSY):
case (HAL_ERROR):
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -476,10 +474,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
transferState = TransferStates::WAIT;
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);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
case(HAL_OK): {
switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
case (HAL_OK): {
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
@@ -487,9 +485,9 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
handleSensorReadout();
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
case (HAL_BUSY):
case (HAL_ERROR):
case (HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
@@ -497,7 +495,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
return HasReturnvaluesIF::RETURN_OK;
}
void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
// Enable sensor
configRegs[0] = 0b00001111;
configRegs[1] = 0b00000000;
@@ -516,7 +514,8 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
txBuf[0] = reg | STM_READ_MASK;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
if(result) {};
if (result) {
};
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
return rxBuf[1];
}
@@ -535,13 +534,12 @@ void GyroL3GD20H::handleSensorReadout() {
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;
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
SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(),
SCB_InvalidateDCache_by_Addr((uint32_t *)GyroL3GD20H::rxBuffer.data(),
GyroL3GD20H::recvBufferSize);
}
}
@@ -553,6 +551,6 @@ void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* arg
* add your own implementation.
* @retval None
*/
void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args) {
void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
transferState = TransferStates::FAILURE;
}

@@ -1,33 +1,26 @@
#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#include <array>
#include <cstdint>
#include "../spi/mspInit.h"
#include "../spi/spiDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#include <cstdint>
#include <array>
enum class TransferStates {
IDLE,
WAIT,
SUCCESS,
FAILURE
};
enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
class GyroL3GD20H {
public:
public:
GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
~GyroL3GD20H();
ReturnValue_t initialize();
ReturnValue_t performOperation();
private:
private:
const uint8_t WHO_AM_I_REG = 0b00001111;
const uint8_t STM_READ_MASK = 0b10000000;
const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
@@ -54,14 +47,12 @@ private:
uint8_t readRegPolling(uint8_t reg);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
void prepareConfigRegs(uint8_t* configRegs);
void handleSensorReadout();
DMA_HandleTypeDef* txDmaHandle = {};
DMA_HandleTypeDef* rxDmaHandle = {};
spi::MspCfgBase* mspCfg = {};

@@ -1,7 +1,7 @@
#include <fsfw_hal/stm32h7/dma.h>
#include <cstdint>
#include <cstddef>
#include <cstdint>
user_handler_t DMA_1_USER_HANDLERS[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,
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_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_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! */
#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]); \
return; \
} \
Default_Handler() \
Default_Handler()
extern"C" void DMA1_Stream0_IRQHandler() {
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_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 DMA1_Stream0_IRQHandler() { 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_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() {
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_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);
}
extern "C" void DMA2_Stream0_IRQHandler() { 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_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); }

@@ -5,20 +5,15 @@
extern "C" {
#endif
#include "interrupts.h"
#include <cstdint>
#include "interrupts.h"
namespace dma {
enum DMAType {
TX = 0,
RX = 1
};
enum DMAType { TX = 0, RX = 1 };
enum DMAIndexes: uint8_t {
DMA_1 = 1,
DMA_2 = 2
};
enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
enum DMAStreams {
STREAM_0 = 0,
@@ -29,7 +24,7 @@ enum DMAStreams {
STREAM_5 = 5,
STREAM_6 = 6,
STREAM_7 = 7,
} ;
};
/**
* Assign user interrupt handlers for DMA streams, allowing to pass an
@@ -37,10 +32,10 @@ enum DMAStreams {
* @param user_handler
* @param user_args
*/
void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
user_handler_t user_handler, user_args_t user_args);
void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
user_args_t user_args);
}
} // namespace dma
#ifdef __cplusplus
}

@@ -4,67 +4,67 @@
void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
#ifdef GPIOA
if(gpioPort == GPIOA) {
if (gpioPort == GPIOA) {
__HAL_RCC_GPIOA_CLK_ENABLE();
}
#endif
#ifdef GPIOB
if(gpioPort == GPIOB) {
if (gpioPort == GPIOB) {
__HAL_RCC_GPIOB_CLK_ENABLE();
}
#endif
#ifdef GPIOC
if(gpioPort == GPIOC) {
if (gpioPort == GPIOC) {
__HAL_RCC_GPIOC_CLK_ENABLE();
}
#endif
#ifdef GPIOD
if(gpioPort == GPIOD) {
if (gpioPort == GPIOD) {
__HAL_RCC_GPIOD_CLK_ENABLE();
}
#endif
#ifdef GPIOE
if(gpioPort == GPIOE) {
if (gpioPort == GPIOE) {
__HAL_RCC_GPIOE_CLK_ENABLE();
}
#endif
#ifdef GPIOF
if(gpioPort == GPIOF) {
if (gpioPort == GPIOF) {
__HAL_RCC_GPIOF_CLK_ENABLE();
}
#endif
#ifdef GPIOG
if(gpioPort == GPIOG) {
if (gpioPort == GPIOG) {
__HAL_RCC_GPIOG_CLK_ENABLE();
}
#endif
#ifdef GPIOH
if(gpioPort == GPIOH) {
if (gpioPort == GPIOH) {
__HAL_RCC_GPIOH_CLK_ENABLE();
}
#endif
#ifdef GPIOI
if(gpioPort == GPIOI) {
if (gpioPort == GPIOI) {
__HAL_RCC_GPIOI_CLK_ENABLE();
}
#endif
#ifdef GPIOJ
if(gpioPort == GPIOJ) {
if (gpioPort == GPIOJ) {
__HAL_RCC_GPIOJ_CLK_ENABLE();
}
#endif
#ifdef GPIOK
if(gpioPort == GPIOK) {
if (gpioPort == GPIOK) {
__HAL_RCC_GPIOK_CLK_ENABLE();
}
#endif

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

@@ -1,11 +1,11 @@
#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
#include "fsfw_hal/stm32h7/spi/SpiCookie.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/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
// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
@@ -13,14 +13,14 @@
#if defined FSFW_OSAL_RTEMS
#include "fsfw/osal/rtems/BinarySemaphore.h"
#elif defined FSFW_OSAL_FREERTOS
#include "fsfw/osal/freertos/TaskManagement.h"
#include "fsfw/osal/freertos/BinarySemaphore.h"
#include "fsfw/osal/freertos/TaskManagement.h"
#endif
#include "stm32h7xx_hal_gpio.h"
SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
void* irqArgsVoided = reinterpret_cast<void*>(&irqArgs);
SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
@@ -35,13 +35,11 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
spi::setDmaHandles(txHandle, rxHandle);
}
ReturnValue_t SpiComIF::initialize() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if (spiCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
#else
@@ -51,32 +49,34 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
}
auto transferMode = spiCookie->getTransferMode();
if(transferMode == spi::TransferModes::DMA) {
if (transferMode == spi::TransferModes::DMA) {
DMA_HandleTypeDef *txHandle = nullptr;
DMA_HandleTypeDef *rxHandle = nullptr;
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");
return HasReturnvaluesIF::RETURN_FAILED;
}
}
// This semaphore ensures thread-safety for a given bus
spiSemaphore = dynamic_cast<BinarySemaphore*>(
SemaphoreFactory::instance()->createBinarySemaphore());
spiSemaphore =
dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
address_t spiAddress = spiCookie->getDeviceAddress();
auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) {
if (iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxRecvSize();
auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
spiAddress << "to SPI device map" << std::endl;
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
<< spiAddress << "to SPI device map" << std::endl;
#else
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
sif::printError(
"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_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
@@ -85,60 +85,56 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
auto gpioPin = spiCookie->getChipSelectGpioPin();
auto gpioPort = spiCookie->getChipSelectGpioPort();
SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
auto spiIdx = spiCookie->getSpiIdx();
if(spiIdx == spi::SpiBus::SPI_1) {
if (spiIdx == spi::SpiBus::SPI_1) {
#ifdef SPI1
spiHandle.Instance = SPI1;
#endif
}
else if(spiIdx == spi::SpiBus::SPI_2) {
} else if (spiIdx == spi::SpiBus::SPI_2) {
#ifdef SPI2
spiHandle.Instance = SPI2;
#endif
}
else {
} else {
printCfgError("SPI Bus Index");
return HasReturnvaluesIF::RETURN_FAILED;
}
auto mspCfg = spiCookie->getMspCfg();
if(transferMode == spi::TransferModes::POLLING) {
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
if(typedCfg == nullptr) {
if (transferMode == spi::TransferModes::POLLING) {
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("Polling MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiPollingMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
if(typedCfg == nullptr) {
} else if (transferMode == spi::TransferModes::INTERRUPT) {
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("IRQ MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::DMA) {
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
if(typedCfg == nullptr) {
} else if (transferMode == spi::TransferModes::DMA) {
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("DMA MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
// Check DMA handles
DMA_HandleTypeDef* txHandle = nullptr;
DMA_HandleTypeDef* rxHandle = nullptr;
DMA_HandleTypeDef *txHandle = nullptr;
DMA_HandleTypeDef *rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle);
if(txHandle == nullptr or rxHandle == nullptr) {
if (txHandle == nullptr or rxHandle == nullptr) {
printCfgError("DMA Handle");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiDmaMspFunctions(typedCfg);
}
if(gpioPort != nullptr) {
if (gpioPort != nullptr) {
gpio::initializeGpioClock(gpioPort);
GPIO_InitTypeDef chipSelect = {};
chipSelect.Pin = gpioPin;
@@ -147,7 +143,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
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");
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) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if (spiCookie == nullptr) {
return NULLPOINTER;
}
SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if(iter == spiDeviceMap.end()) {
if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
iter->second.currentTransferLen = sendLen;
auto transferMode = spiCookie->getTransferMode();
switch(spiCookie->getTransferState()) {
case(spi::TransferStates::IDLE): {
switch (spiCookie->getTransferState()) {
case (spi::TransferStates::IDLE): {
break;
}
case(spi::TransferStates::WAIT):
case(spi::TransferStates::FAILURE):
case(spi::TransferStates::SUCCESS):
case (spi::TransferStates::WAIT):
case (spi::TransferStates::FAILURE):
case (spi::TransferStates::SUCCESS):
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
switch(transferMode) {
case(spi::TransferModes::POLLING): {
switch (transferMode) {
case (spi::TransferModes::POLLING): {
return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen);
}
case(spi::TransferModes::INTERRUPT): {
case (spi::TransferModes::INTERRUPT): {
return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen);
}
case(spi::TransferModes::DMA): {
case (spi::TransferModes::DMA): {
return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen);
}
@@ -201,23 +197,21 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if (spiCookie == nullptr) {
return NULLPOINTER;
}
switch(spiCookie->getTransferState()) {
case(spi::TransferStates::SUCCESS): {
switch (spiCookie->getTransferState()) {
case (spi::TransferStates::SUCCESS): {
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if(iter == spiDeviceMap.end()) {
if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = iter->second.replyBuffer.data();
@@ -225,7 +219,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
spiCookie->setTransferState(spi::TransferStates::IDLE);
break;
}
case(spi::TransferStates::FAILURE): {
case (spi::TransferStates::FAILURE): {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
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);
return HasReturnvaluesIF::RETURN_FAILED;
}
case(spi::TransferStates::WAIT):
case(spi::TransferStates::IDLE): {
case (spi::TransferStates::WAIT):
case (spi::TransferStates::IDLE): {
break;
}
default: {
@@ -252,35 +246,36 @@ void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
this->defaultPollingTimeout = timeout;
}
ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
auto gpioPort = spiCookie.getChipSelectGpioPort();
auto gpioPin = spiCookie.getChipSelectGpioPin();
auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
if(returnval != HasReturnvaluesIF::RETURN_OK) {
if (returnval != HasReturnvaluesIF::RETURN_OK) {
return returnval;
}
spiCookie.setTransferState(spi::TransferStates::WAIT);
if(gpioPort != nullptr) {
if (gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
}
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
recvPtr, sendLen, defaultPollingTimeout);
if(gpioPort != nullptr) {
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
sendLen, defaultPollingTimeout);
if (gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
}
spiSemaphore->release();
switch(result) {
case(HAL_OK): {
switch (result) {
case (HAL_OK): {
spiCookie.setTransferState(spi::TransferStates::SUCCESS);
break;
}
case(HAL_TIMEOUT): {
case (HAL_TIMEOUT): {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" <<
spiCookie->getDeviceAddress() << std::endl;
sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
<< spiCookie->getDeviceAddress() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
spiCookie.getDeviceAddress());
@@ -289,12 +284,12 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
spiCookie.setTransferState(spi::TransferStates::FAILURE);
return spi::HAL_TIMEOUT_RETVAL;
}
case(HAL_ERROR):
case (HAL_ERROR):
default: {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" <<
spiCookie->getDeviceAddress() << std::endl;
sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
<< spiCookie->getDeviceAddress() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
spiCookie.getDeviceAddress());
@@ -307,41 +302,42 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
}
ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
}
ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// yet another HAL driver which is not const-correct..
HAL_StatusTypeDef status = HAL_OK;
auto transferMode = spiCookie.getTransferMode();
if(transferMode == spi::TransferModes::DMA) {
if(cacheMaintenanceOnTxBuffer) {
if (transferMode == spi::TransferModes::DMA) {
if (cacheMaintenanceOnTxBuffer) {
/* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */
SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F),
sendLen + 32);
SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
}
status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t*>(sendData),
status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
currentRecvPtr, sendLen);
} else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
sendLen);
}
else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
currentRecvPtr, sendLen);
}
switch(status) {
case(HAL_OK): {
switch (status) {
case (HAL_OK): {
break;
}
default: {
@@ -353,22 +349,20 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
char modeString[10];
if(transferMode == spi::TransferModes::DMA) {
if (transferMode == spi::TransferModes::DMA) {
std::snprintf(modeString, sizeof(modeString), "Dma");
}
else {
} else {
std::snprintf(modeString, sizeof(modeString), "Interrupt");
}
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
status);
switch(status) {
case(HAL_BUSY): {
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
switch (status) {
case (HAL_BUSY): {
return spi::HAL_BUSY_RETVAL;
}
case(HAL_ERROR): {
case (HAL_ERROR): {
return spi::HAL_ERROR_RETVAL;
}
case(HAL_TIMEOUT): {
case (HAL_TIMEOUT): {
return spi::HAL_TIMEOUT_RETVAL;
}
default: {
@@ -377,18 +371,20 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
}
}
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
currentRecvPtr = recvPtr;
currentRecvBuffSize = sendLen;
// Take the semaphore which will be released by a callback when the transfer is complete
ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore "
"could not be acquired after %d ms\n", timeoutMs);
sif::printWarning(
"SpiComIF::handleInterruptSendOperation: Semaphore "
"could not be acquired after %d ms\n",
timeoutMs);
return result;
}
// Cache the current SPI handle in any case
@@ -398,8 +394,8 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
irqArgs.spiCookie = &spiCookie;
// The SPI handle is passed to the default SPI callback as a void argument. This callback
// is different from the user callbacks specified above!
spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
if(spiCookie.getChipSelectGpioPort() != nullptr) {
spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
if (spiCookie.getChipSelectGpioPort() != nullptr) {
HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
GPIO_PIN_RESET);
}
@@ -423,48 +419,46 @@ void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
}
void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
IrqArgs* irqArgs = reinterpret_cast<IrqArgs*>(irqArgsVoid);
if(irqArgs == nullptr) {
IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
if (irqArgs == nullptr) {
return;
}
SpiCookie* spiCookie = irqArgs->spiCookie;
SpiComIF* comIF = irqArgs->comIF;
if(spiCookie == nullptr or comIF == nullptr) {
SpiCookie *spiCookie = irqArgs->spiCookie;
SpiComIF *comIF = irqArgs->comIF;
if (spiCookie == nullptr or comIF == nullptr) {
return;
}
spiCookie->setTransferState(targetState);
if(spiCookie->getChipSelectGpioPort() != nullptr) {
if (spiCookie->getChipSelectGpioPort() != nullptr) {
// Pull CS pin high again
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET);
}
#if defined FSFW_OSAL_FREERTOS
// Release the task semaphore
BaseType_t taskWoken = pdFALSE;
ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
&taskWoken);
ReturnValue_t result =
BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
#elif defined FSFW_OSAL_RTEMS
ReturnValue_t result = comIF->spiSemaphore->release();
#endif
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
}
// 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
SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
comIF->currentRecvBuffSize);
SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
}
#if defined FSFW_OSAL_FREERTOS
/* Request a context switch if the SPI ComIF task was woken up and has a higher priority
than the currently running task */
if(taskWoken == pdTRUE) {
if (taskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(CallContext::ISR);
}
#endif

@@ -1,16 +1,15 @@
#ifndef 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/objectmanager/SystemObject.h"
#include "fsfw/tasks/SemaphoreIF.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h743xx.h"
#include <vector>
#include <map>
#include "stm32h7xx_hal_spi.h"
class SpiCookie;
class BinarySemaphore;
@@ -28,10 +27,8 @@ class BinarySemaphore;
* implementation limits the transfer mode for a given SPI bus.
* @author R. Mueller
*/
class SpiComIF:
public SystemObject,
public DeviceCommunicationIF {
public:
class SpiComIF : public SystemObject, public DeviceCommunicationIF {
public:
/**
* Create a SPI communication interface for the given SPI peripheral (spiInstance)
* @param objectId
@@ -62,19 +59,17 @@ public:
ReturnValue_t initialize() override;
// DeviceCommunicationIF overrides
virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
protected:
virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) override;
protected:
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;
size_t currentTransferLen = 0;
};
@@ -103,27 +98,29 @@ protected:
SpiDeviceMap spiDeviceMap;
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,
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,
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,
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,
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);
static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
void printCfgError(const char* const type);
};
#endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

@@ -1,12 +1,16 @@
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
size_t maxRecvSize, stm32h7::GpioCfg csGpio):
deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
transferMode(transferMode), csGpio(csGpio),
mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
size_t maxRecvSize, stm32h7::GpioCfg csGpio)
: deviceAddress(deviceAddress),
spiIdx(spiIdx),
spiSpeed(spiSpeed),
spiMode(spiMode),
transferMode(transferMode),
csGpio(csGpio),
mspCfg(mspCfg),
maxRecvSize(maxRecvSize) {
spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
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);
}
uint16_t SpiCookie::getChipSelectGpioPin() const {
return csGpio.pin;
}
uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
return csGpio.port;
}
GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
address_t SpiCookie::getDeviceAddress() const {
return deviceAddress;
}
address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
spi::SpiBus SpiCookie::getSpiIdx() const {
return spiIdx;
}
spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
spi::SpiModes SpiCookie::getSpiMode() const {
return spiMode;
}
spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
uint32_t SpiCookie::getSpiSpeed() const {
return spiSpeed;
}
uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
size_t SpiCookie::getMaxRecvSize() const {
return maxRecvSize;
}
size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
SPI_HandleTypeDef& SpiCookie::getSpiHandle() {
return spiHandle;
}
SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
spi::MspCfgBase* SpiCookie::getMspCfg() {
return mspCfg;
}
spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
void SpiCookie::deleteMspCfg() {
if(mspCfg != nullptr) {
if (mspCfg != nullptr) {
delete mspCfg;
}
}
spi::TransferModes SpiCookie::getTransferMode() const {
return transferMode;
}
spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
void SpiCookie::setTransferState(spi::TransferStates transferState) {
this->transferState = transferState;
}
spi::TransferStates SpiCookie::getTransferState() const {
return this->transferState;
}
spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }

@@ -1,16 +1,14 @@
#ifndef 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 "../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
* @details
@@ -18,10 +16,10 @@
* SPI communication interface
* @author R. Mueller
*/
class SpiCookie: public CookieIF {
class SpiCookie : public CookieIF {
friend class SpiComIF;
public:
public:
/**
* Allows construction of a SPI cookie for a connected SPI device
* @param deviceAddress
@@ -39,8 +37,8 @@ public:
* @param csGpio Optional CS GPIO definition.
*/
SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
uint16_t getChipSelectGpioPin() const;
GPIO_TypeDef* getChipSelectGpioPort();
@@ -52,7 +50,7 @@ public:
size_t getMaxRecvSize() const;
SPI_HandleTypeDef& getSpiHandle();
private:
private:
address_t deviceAddress;
SPI_HandleTypeDef spiHandle = {};
spi::SpiBus spiIdx;
@@ -75,6 +73,4 @@ private:
spi::TransferStates getTransferState() const;
};
#endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

@@ -1,15 +1,15 @@
#include "fsfw_hal/stm32h7/dma.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 "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::MspCfgBase* mspInitArgs = nullptr;
@@ -28,7 +28,7 @@ spi::MspCfgBase* mspDeinitArgs = nullptr;
*/
void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if(hspi == nullptr or cfg == nullptr) {
if (hspi == nullptr or cfg == nullptr) {
return;
}
setSpiHandle(hspi);
@@ -36,7 +36,7 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
DMA_HandleTypeDef* hdma_tx = nullptr;
DMA_HandleTypeDef* hdma_rx = nullptr;
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");
return;
}
@@ -44,14 +44,14 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
spi::halMspInitInterrupt(hspi, cfg);
// DMA setup
if(cfg->dmaClkEnableWrapper == nullptr) {
if (cfg->dmaClkEnableWrapper == nullptr) {
mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid");
}
cfg->dmaClkEnableWrapper();
// Configure the DMA
/* Configure the DMA handler for Transmission process */
if(hdma_tx->Instance == nullptr) {
if (hdma_tx->Instance == nullptr) {
// Assume it was not configured properly
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) */
// Assign the interrupt handler
dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream,
&spi::dmaTxIrqHandler, hdma_tx);
dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, &spi::dmaTxIrqHandler, hdma_tx);
HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
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) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if(hspi == nullptr or cfg == nullptr) {
if (hspi == nullptr or cfg == nullptr) {
return;
}
spi::halMspDeinitInterrupt(hspi, cfgBase);
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
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");
}
else {
} else {
// Disable the DMA
/* De-Initialize the DMA associated to transmission process */
HAL_DMA_DeInit(hdma_tx);
@@ -110,7 +108,6 @@ void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
// Disable the NVIC for DMA
HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
}
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) {
auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
if(cfg == nullptr or hspi == nullptr) {
if (cfg == nullptr or hspi == nullptr) {
return;
}
@@ -175,28 +172,20 @@ void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
}
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;
*args = mspInitArgs;
}
}
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;
*args = mspDeinitArgs;
}
}
void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
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,
void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
@@ -204,7 +193,15 @@ void spi::setSpiIrqMspFunctions(MspIrqConfigStruct *cfg, msp_func_t initFunc,
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) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
@@ -222,11 +219,10 @@ void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t init
* @param hspi: SPI handle pointer
* @retval None
*/
extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
if(mspInitFunc != NULL) {
extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
if (mspInitFunc != NULL) {
mspInitFunc(hspi, mspInitArgs);
}
else {
} else {
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
* @retval None
*/
extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) {
if(mspDeinitFunc != NULL) {
extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
if (mspDeinitFunc != NULL) {
mspDeinitFunc(hspi, mspDeinitArgs);
}
else {
} else {
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);
}

@@ -1,19 +1,18 @@
#ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#include "spiDefinitions.h"
#include <cstdint>
#include "../definitions.h"
#include "../dma.h"
#include "spiDefinitions.h"
#include "stm32h7xx_hal_spi.h"
#include <cstdint>
#ifdef __cplusplus
extern "C" {
#endif
using mspCb = void (*) (void);
using mspCb = void (*)(void);
/**
* @brief This file provides MSP implementation for DMA, IRQ and Polling mode for the
@@ -24,9 +23,8 @@ namespace spi {
struct MspCfgBase {
MspCfgBase();
MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb),
setupCb(setupCb) {}
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}
virtual ~MspCfgBase() = default;
@@ -38,20 +36,20 @@ struct MspCfgBase {
mspCb setupCb = nullptr;
};
struct MspPollingConfigStruct: public MspCfgBase {
MspPollingConfigStruct(): MspCfgBase() {};
struct MspPollingConfigStruct : public MspCfgBase {
MspPollingConfigStruct() : MspCfgBase(){};
MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
};
/* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */
struct MspIrqConfigStruct: public MspPollingConfigStruct {
MspIrqConfigStruct(): MspPollingConfigStruct() {};
struct MspIrqConfigStruct : public MspPollingConfigStruct {
MspIrqConfigStruct() : MspPollingConfigStruct(){};
MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
SpiBus spiBus = SpiBus::SPI_1;
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*
argument */
struct MspDmaConfigStruct: public MspIrqConfigStruct {
MspDmaConfigStruct(): MspIrqConfigStruct() {};
struct MspDmaConfigStruct : public MspIrqConfigStruct {
MspDmaConfigStruct() : MspIrqConfigStruct(){};
MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
void (* dmaClkEnableWrapper) (void) = nullptr;
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
void (*dmaClkEnableWrapper)(void) = nullptr;
dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
@@ -85,11 +83,10 @@ struct MspDmaConfigStruct: public MspIrqConfigStruct {
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 getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase **args);
void getMspInitFunction(msp_func_t* init_func, MspCfgBase** args);
void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args);
void halMspInitDma(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_args
*/
void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitDma,
msp_func_t deinitFunc= &spi::halMspDeinitDma
);
void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitInterrupt,
msp_func_t deinitFunc= &spi::halMspDeinitInterrupt
);
void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitDma,
msp_func_t deinitFunc = &spi::halMspDeinitDma);
void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitInterrupt,
msp_func_t deinitFunc = &spi::halMspDeinitInterrupt);
void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg,
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
}

@@ -1,8 +1,9 @@
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include <cstdio>
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
SPI_HandleTypeDef* spiHandle = nullptr;
DMA_HandleTypeDef* hdmaTx = nullptr;
DMA_HandleTypeDef* hdmaRx = nullptr;
@@ -18,19 +19,18 @@ void* errorArgs = nullptr;
void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
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,
dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
uint32_t dmaMode, uint32_t dmaPriority) {
void spi::configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream,
IRQn_Type* dmaIrqNumber, uint32_t dmaMode, uint32_t dmaPriority) {
using namespace dma;
mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber);
mapSpiBus(handle, dmaType, spiBus);
if(dmaType == DMAType::TX) {
if (dmaType == DMAType::TX) {
handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
}
else {
} else {
handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
}
@@ -58,48 +58,43 @@ void spi::getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHand
*rxHandle = hdmaRx;
}
void spi::setSpiHandle(SPI_HandleTypeDef *spiHandle_) {
if(spiHandle_ == NULL) {
void spi::setSpiHandle(SPI_HandleTypeDef* spiHandle_) {
if (spiHandle_ == NULL) {
return;
}
spiHandle = spiHandle_;
}
void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
rxTxCb = callback;
rxTxArgs = userArgs;
}
void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
rxCb = callback;
rxArgs = userArgs;
}
void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
txCb = callback;
txArgs = userArgs;
}
void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void *userArgs) {
void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs) {
errorCb = callback;
errorArgs = userArgs;
}
SPI_HandleTypeDef* spi::getSpiHandle() {
return spiHandle;
}
SPI_HandleTypeDef* spi::getSpiHandle() { return spiHandle; }
/**
* @brief TxRx Transfer completed callback.
* @param hspi: SPI handle
*/
extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
if(rxTxCb != NULL) {
extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi) {
if (rxTxCb != NULL) {
rxTxCb(hspi, rxTxArgs);
}
else {
} else {
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.
* @param hspi: SPI handle
*/
extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
if(txCb != NULL) {
extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef* hspi) {
if (txCb != NULL) {
txCb(hspi, txArgs);
}
else {
} else {
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.
* @param hspi: SPI handle
*/
extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
if(rxCb != nullptr) {
extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* hspi) {
if (rxCb != nullptr) {
rxCb(hspi, rxArgs);
}
else {
} else {
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.
* @retval None
*/
extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
if(errorCb != nullptr) {
extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef* hspi) {
if (errorCb != nullptr) {
errorCb(hspi, rxArgs);
}
else {
} else {
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,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber) {
using namespace dma;
if(dmaIdx == DMAIndexes::DMA_1) {
if (dmaIdx == DMAIndexes::DMA_1) {
#ifdef DMA1
switch(dmaStream) {
case(DMAStreams::STREAM_0): {
switch (dmaStream) {
case (DMAStreams::STREAM_0): {
#ifdef DMA1_Stream0
handle->Instance = DMA1_Stream0;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream0_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_1): {
case (DMAStreams::STREAM_1): {
#ifdef DMA1_Stream1
handle->Instance = DMA1_Stream1;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream1_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_2): {
case (DMAStreams::STREAM_2): {
#ifdef DMA1_Stream2
handle->Instance = DMA1_Stream2;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream2_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_3): {
case (DMAStreams::STREAM_3): {
#ifdef DMA1_Stream3
handle->Instance = DMA1_Stream3;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream3_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_4): {
case (DMAStreams::STREAM_4): {
#ifdef DMA1_Stream4
handle->Instance = DMA1_Stream4;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream4_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_5): {
case (DMAStreams::STREAM_5): {
#ifdef DMA1_Stream5
handle->Instance = DMA1_Stream5;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream5_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_6): {
case (DMAStreams::STREAM_6): {
#ifdef DMA1_Stream6
handle->Instance = DMA1_Stream6;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream6_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_7): {
case (DMAStreams::STREAM_7): {
#ifdef DMA1_Stream7
handle->Instance = DMA1_Stream7;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream7_IRQn;
}
#endif
break;
}
}
if(dmaType == DMAType::TX) {
if (dmaType == DMAType::TX) {
handle->Init.Request = DMA_REQUEST_SPI1_TX;
}
else {
} else {
handle->Init.Request = DMA_REQUEST_SPI1_RX;
}
#endif /* DMA1 */
}
if(dmaIdx == DMAIndexes::DMA_2) {
if (dmaIdx == DMAIndexes::DMA_2) {
#ifdef DMA2
switch(dmaStream) {
case(DMAStreams::STREAM_0): {
switch (dmaStream) {
case (DMAStreams::STREAM_0): {
#ifdef DMA2_Stream0
handle->Instance = DMA2_Stream0;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream0_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_1): {
case (DMAStreams::STREAM_1): {
#ifdef DMA2_Stream1
handle->Instance = DMA2_Stream1;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream1_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_2): {
case (DMAStreams::STREAM_2): {
#ifdef DMA2_Stream2
handle->Instance = DMA2_Stream2;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream2_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_3): {
case (DMAStreams::STREAM_3): {
#ifdef DMA2_Stream3
handle->Instance = DMA2_Stream3;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream3_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_4): {
case (DMAStreams::STREAM_4): {
#ifdef DMA2_Stream4
handle->Instance = DMA2_Stream4;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream4_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_5): {
case (DMAStreams::STREAM_5): {
#ifdef DMA2_Stream5
handle->Instance = DMA2_Stream5;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream5_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_6): {
case (DMAStreams::STREAM_6): {
#ifdef DMA2_Stream6
handle->Instance = DMA2_Stream6;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream6_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_7): {
case (DMAStreams::STREAM_7): {
#ifdef DMA2_Stream7
handle->Instance = DMA2_Stream7;
if(dmaIrqNumber != nullptr) {
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream7_IRQn;
}
#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) {
if(dmaType == dma::DMAType::TX) {
if(spiBus == spi::SpiBus::SPI_1) {
void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus) {
if (dmaType == dma::DMAType::TX) {
if (spiBus == spi::SpiBus::SPI_1) {
#ifdef DMA_REQUEST_SPI1_TX
handle->Init.Request = DMA_REQUEST_SPI1_TX;
#endif
}
else if(spiBus == spi::SpiBus::SPI_2) {
} else if (spiBus == spi::SpiBus::SPI_2) {
#ifdef DMA_REQUEST_SPI2_TX
handle->Init.Request = DMA_REQUEST_SPI2_TX;
#endif
}
}
else {
if(spiBus == spi::SpiBus::SPI_1) {
} else {
if (spiBus == spi::SpiBus::SPI_1) {
#ifdef DMA_REQUEST_SPI1_RX
handle->Init.Request = DMA_REQUEST_SPI1_RX;
#endif
}
else if(spiBus == spi::SpiBus::SPI_2) {
} else if (spiBus == spi::SpiBus::SPI_2) {
#ifdef DMA_REQUEST_SPI2_RX
handle->Init.Request = DMA_REQUEST_SPI2_RX;
#endif

@@ -3,7 +3,6 @@
#include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
@@ -11,14 +10,13 @@
extern "C" {
#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 {
void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus,
dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber, uint32_t dmaMode = DMA_NORMAL,
uint32_t dmaPriority = DMA_PRIORITY_LOW);
void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
uint32_t dmaMode = DMA_NORMAL, uint32_t dmaPriority = DMA_PRIORITY_LOW);
/**
* 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
* @param spiHandle
*/
void setSpiHandle(SPI_HandleTypeDef *spiHandle);
void setSpiHandle(SPI_HandleTypeDef* spiHandle);
void assignTransferRxTxCompleteCallback(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();
}
} // namespace spi
#ifdef __cplusplus
}

@@ -1,23 +1,23 @@
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) {
switch(spiMode) {
case(SpiModes::MODE_0): {
switch (spiMode) {
case (SpiModes::MODE_0): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
break;
}
case(SpiModes::MODE_1): {
case (SpiModes::MODE_1): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
break;
}
case(SpiModes::MODE_2): {
case (SpiModes::MODE_2): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
break;
}
case(SpiModes::MODE_3): {
case (SpiModes::MODE_3): {
spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
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 presc = 0;
static const uint32_t baudrate[] = {
SPI_BAUDRATEPRESCALER_2,
SPI_BAUDRATEPRESCALER_4,
SPI_BAUDRATEPRESCALER_8,
SPI_BAUDRATEPRESCALER_16,
SPI_BAUDRATEPRESCALER_32,
SPI_BAUDRATEPRESCALER_64,
SPI_BAUDRATEPRESCALER_128,
SPI_BAUDRATEPRESCALER_256,
SPI_BAUDRATEPRESCALER_2, SPI_BAUDRATEPRESCALER_4, SPI_BAUDRATEPRESCALER_8,
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];
if (++divisor > 7)
break;
if (++divisor > 7) break;
spi_clk = ( spi_clk >> 1);
spi_clk = (spi_clk >> 1);
}
return presc;

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

@@ -1,12 +1,12 @@
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include <stddef.h>
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_spi.h"
#include <stddef.h>
user_handler_t spi1UserHandler = &spi::spiIrqHandler;
user_args_t spi1UserArgs = nullptr;
@@ -18,11 +18,11 @@ user_args_t spi2UserArgs = nullptr;
* @param None
* @retval None
*/
void spi::dmaRxIrqHandler(void* dmaHandle) {
if(dmaHandle == nullptr) {
void spi::dmaRxIrqHandler(void *dmaHandle) {
if (dmaHandle == nullptr) {
return;
}
HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle);
HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
}
/**
@@ -30,11 +30,11 @@ void spi::dmaRxIrqHandler(void* dmaHandle) {
* @param None
* @retval None
*/
void spi::dmaTxIrqHandler(void* dmaHandle) {
if(dmaHandle == nullptr) {
void spi::dmaTxIrqHandler(void *dmaHandle) {
if (dmaHandle == nullptr) {
return;
}
HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle);
HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
}
/**
@@ -42,21 +42,20 @@ void spi::dmaTxIrqHandler(void* dmaHandle) {
* @param None
* @retval None
*/
void spi::spiIrqHandler(void* spiHandle) {
if(spiHandle == nullptr) {
void spi::spiIrqHandler(void *spiHandle) {
if (spiHandle == nullptr) {
return;
}
//auto currentSpiHandle = spi::getSpiHandle();
HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spiHandle);
// auto currentSpiHandle = spi::getSpiHandle();
HAL_SPI_IRQHandler((SPI_HandleTypeDef *)spiHandle);
}
void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
user_args_t userArgs) {
if(spiIdx == spi::SpiBus::SPI_1) {
if (spiIdx == spi::SpiBus::SPI_1) {
spi1UserHandler = userHandler;
spi1UserArgs = userArgs;
}
else {
} else {
spi2UserHandler = userHandler;
spi2UserArgs = userArgs;
}
@@ -64,24 +63,22 @@ void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
void spi::getSpiUserHandler(spi::SpiBus spiBus, user_handler_t *userHandler,
user_args_t *userArgs) {
if(userHandler == nullptr or userArgs == nullptr) {
if (userHandler == nullptr or userArgs == nullptr) {
return;
}
if(spiBus == spi::SpiBus::SPI_1) {
if (spiBus == spi::SpiBus::SPI_1) {
*userArgs = spi1UserArgs;
*userHandler = spi1UserHandler;
}
else {
} else {
*userArgs = spi2UserArgs;
*userHandler = spi2UserHandler;
}
}
void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
if(spiBus == spi::SpiBus::SPI_1) {
if (spiBus == spi::SpiBus::SPI_1) {
spi1UserArgs = userArgs;
}
else {
} else {
spi2UserArgs = userArgs;
}
}
@@ -90,7 +87,7 @@ void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
defined in the startup_stm32h743xx.s files! */
extern "C" void SPI1_IRQHandler() {
if(spi1UserHandler != NULL) {
if (spi1UserHandler != NULL) {
spi1UserHandler(spi1UserArgs);
return;
}
@@ -98,7 +95,7 @@ extern "C" void SPI1_IRQHandler() {
}
extern "C" void SPI2_IRQHandler() {
if(spi2UserHandler != nullptr) {
if (spi2UserHandler != nullptr) {
spi2UserHandler(spi2UserArgs);
return;
}

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

@@ -1,12 +1,12 @@
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_rcc.h"
#include <cstdio>
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_rcc.h"
void spiSetupWrapper() {
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
@@ -18,9 +18,7 @@ void spiCleanUpWrapper() {
__HAL_RCC_SPI1_RELEASE_RESET();
}
void spiDmaClockEnableWrapper() {
__HAL_RCC_DMA2_CLK_ENABLE();
}
void spiDmaClockEnableWrapper() { __HAL_RCC_DMA2_CLK_ENABLE(); }
void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) {
cfg.setupCb = &spiSetupWrapper;
@@ -46,7 +44,7 @@ void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPrio
user_handler_t spiUserHandler = nullptr;
user_args_t spiUserArgs = nullptr;
getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
if(spiUserHandler == nullptr) {
if (spiUserHandler == nullptr) {
printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n");
return;
}
@@ -56,8 +54,9 @@ void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPrio
}
void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio,
IrqPriorities txSubprio, IrqPriorities rxSubprio) {
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
IrqPriorities spiSubprio, IrqPriorities txSubprio,
IrqPriorities rxSubprio) {
cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;
cfg.rxDmaIndex = dma::DMAIndexes::DMA_2;
cfg.txDmaIndex = dma::DMAIndexes::DMA_2;
@@ -66,7 +65,7 @@ void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities
DMA_HandleTypeDef* txHandle;
DMA_HandleTypeDef* rxHandle;
spi::getDmaHandles(&txHandle, &rxHandle);
if(txHandle == nullptr or rxHandle == nullptr) {
if (txHandle == nullptr or rxHandle == nullptr) {
printf("spi::h743zi::standardDmaCfg: Invalid DMA handles\n");
return;
}

@@ -10,13 +10,11 @@ namespace h743zi {
void standardPollingCfg(spi::MspPollingConfigStruct& cfg);
void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio = HIGHEST);
void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
IrqPriorities spiSubprio = HIGHEST, IrqPriorities txSubPrio = HIGHEST,
IrqPriorities rxSubprio = HIGHEST);
void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio, IrqPriorities txIrqPrio,
IrqPriorities rxIrqPrio, IrqPriorities spiSubprio = HIGHEST,
IrqPriorities txSubPrio = HIGHEST, IrqPriorities rxSubprio = HIGHEST);
}
}
} // namespace h743zi
} // namespace stm32h7
#endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */

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

@@ -1,22 +1,17 @@
#include "fsfw/action.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) {
}
ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
: owner(setOwner), queueToUse(useThisQueue) {}
ActionHelper::~ActionHelper() {
}
ActionHelper::~ActionHelper() {}
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
ActionId_t currentAction = ActionMessage::getActionId(command);
prepareExecution(command->getSender(), currentAction,
ActionMessage::getStoreId(command));
prepareExecution(command->getSender(), currentAction, ActionMessage::getStoreId(command));
return HasReturnvaluesIF::RETURN_OK;
} else {
return CommandMessage::UNKNOWN_COMMAND;
@@ -28,11 +23,11 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(queueToUse_ != nullptr) {
if (queueToUse_ != nullptr) {
setQueueToUse(queueToUse_);
}
if(queueToUse == nullptr) {
if (queueToUse == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
@@ -46,8 +41,8 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
return HasReturnvaluesIF::RETURN_OK;
}
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) {
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) {
CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply);
@@ -60,12 +55,10 @@ void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t co
queueToUse->sendMessage(reportTo, &reply);
}
void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue;
}
void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
const uint8_t* dataPtr = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@@ -77,7 +70,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
}
result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) {
if (result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, true, result);
queueToUse->sendMessage(commandedBy, &reply);
@@ -90,31 +83,30 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
}
}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, SerializeIF* data, bool hideSender) {
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
uint8_t *dataPtr;
uint8_t* dataPtr;
size_t maxSize = data->getSerializedSize();
if (maxSize == 0) {
/* No error, there's simply nothing to report. */
return HasReturnvaluesIF::RETURN_OK;
}
size_t size = 0;
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
&dataPtr);
ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" <<
std::endl;
sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
<< std::endl;
#else
sif::printWarning("ActionHelper::reportData: Getting free element from IPC "
sif::printWarning(
"ActionHelper::reportData: Getting free element from IPC "
"store failed!\n");
#endif
return result;
}
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
return result;
@@ -128,23 +120,20 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
} else {
result = queueToUse->sendMessage(reportTo, &reply);
}
if (result != HasReturnvaluesIF::RETURN_OK){
if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress);
}
return result;
}
void ActionHelper::resetHelper() {
}
void ActionHelper::resetHelper() {}
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, const uint8_t *data, size_t dataSize,
bool hideSender) {
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender) {
CommandMessage reply;
store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
@@ -165,8 +154,7 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
as unrequested reply, this will be done here. */
if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
}
else {
} else {
result = queueToUse->sendMessage(reportTo, &reply);
}

@@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_
#include "ActionMessage.h"
#include "../serialize/SerializeIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../serialize/SerializeIF.h"
#include "ActionMessage.h"
/**
* @brief Action Helper is a helper class which handles action messages
*
@@ -17,7 +17,7 @@
class HasActionsIF;
class ActionHelper {
public:
public:
/**
* Constructor of the action helper
* @param setOwner Pointer to the owner of the interface
@@ -57,8 +57,7 @@ public:
* @param commandId ID of the executed command
* @param result Result of the execution
*/
void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId,
void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/**
* Function to be called by the owner to send a action completion message
@@ -78,8 +77,8 @@ public:
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false);
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data,
bool hideSender = false);
/**
* Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store.
@@ -89,16 +88,17 @@ public:
* @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code
*/
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false);
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data,
size_t dataSize, bool hideSender = false);
/**
* Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper
*/
void setQueueToUse(MessageQueueIF *queue);
protected:
void setQueueToUse(MessageQueueIF* queue);
protected:
//! Increase of value of this per step
static const uint8_t STEP_OFFSET = 1;
//! Pointer to the owner
@@ -115,8 +115,8 @@ protected:
* @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store
*/
virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress);
virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
/**
* @brief Default implementation is empty.
*/

@@ -1,13 +1,10 @@
#include "fsfw/action.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
ActionMessage::ActionMessage() {
}
ActionMessage::ActionMessage() {}
ActionMessage::~ActionMessage() {
}
ActionMessage::~ActionMessage() {}
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters) {
@@ -52,12 +49,11 @@ void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
message->setParameter2(data.raw);
}
void ActionMessage::setCompletionReply(CommandMessage* message,
ActionId_t fid, bool success, ReturnValue_t result) {
void ActionMessage::setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
ReturnValue_t result) {
if (success) {
message->setCommand(COMPLETION_SUCCESS);
}
else {
} else {
message->setCommand(COMPLETION_FAILED);
}
message->setParameter(fid);
@@ -65,11 +61,11 @@ void ActionMessage::setCompletionReply(CommandMessage* message,
}
void ActionMessage::clear(CommandMessage* message) {
switch(message->getCommand()) {
switch (message->getCommand()) {
case EXECUTE_ACTION:
case DATA_REPLY: {
StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
objects::IPC_STORE);
StorageManagerIF* ipcStore =
ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message));
}

@@ -14,9 +14,10 @@ using ActionId_t = uint32_t;
* ActionHelper are able to process these messages.
*/
class ActionMessage {
private:
private:
ActionMessage();
public:
public:
static const uint8_t MESSAGE_ID = messagetypes::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
@@ -26,20 +27,18 @@ public:
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage();
static void setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters);
static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
static ActionId_t getActionId(const CommandMessage* message );
static ActionId_t getActionId(const CommandMessage* message);
static store_address_t getStoreId(const CommandMessage* message);
static void setStepReply(CommandMessage* message, ActionId_t fid,
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid,
bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message);
static ReturnValue_t getReturnCode(const CommandMessage* message);
static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message);
};

@@ -1,17 +1,13 @@
#include "fsfw/action.h"
#include "fsfw/objectmanager/ObjectManager.h"
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
owner(setOwner), queueToUse(NULL), ipcStore(
NULL), commandCount(0), lastTarget(0) {
}
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
: owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
CommandActionHelper::~CommandActionHelper() {
}
CommandActionHelper::~CommandActionHelper() {}
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, SerializeIF *data) {
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
SerializeIF *data) {
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
@@ -19,25 +15,23 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
store_address_t storeId;
uint8_t *storePointer;
size_t maxSize = data->getSerializedSize();
ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
&storePointer);
ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t size = 0;
result = data->serialize(&storePointer, &size, maxSize,
SerializeIF::Endianness::BIG);
result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, const uint8_t *data, uint32_t size) {
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
const uint8_t *data, uint32_t size) {
// if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING;
// }
HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
@@ -50,8 +44,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}
ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
ActionId_t actionId, store_address_t storeId) {
ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
store_address_t storeId) {
CommandMessage command;
ActionMessage::setCommand(&command, actionId, storeId);
ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
@@ -96,25 +90,21 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_FAILED:
commandCount--;
owner->stepFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply),
owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::DATA_REPLY:
extractDataForOwner(ActionMessage::getActionId(reply),
ActionMessage::getStoreId(reply));
extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
return HasReturnvaluesIF::RETURN_OK;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CommandActionHelper::getCommandCount() const {
return commandCount;
}
uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
const uint8_t * data = NULL;
const uint8_t *data = NULL;
size_t size = 0;
ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {

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

@@ -1,9 +1,9 @@
#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
#define FSFW_ACTION_COMMANDSACTIONSIF_H_
#include "CommandActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "CommandActionHelper.h"
/**
* Interface to separate commanding actions of other objects.
@@ -16,22 +16,20 @@
*/
class CommandsActionsIF {
friend class CommandActionHelper;
public:
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual ~CommandsActionsIF() {}
virtual MessageQueueIF* getCommandQueuePtr() = 0;
protected:
protected:
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
uint32_t size) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
virtual void completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) = 0;
virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
};
#endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */

@@ -1,11 +1,11 @@
#ifndef FSFW_ACTION_HASACTIONSIF_H_
#define FSFW_ACTION_HASACTIONSIF_H_
#include "../ipc/MessageQueueIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "ActionHelper.h"
#include "ActionMessage.h"
#include "SimpleActionHelper.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../ipc/MessageQueueIF.h"
/**
* @brief
@@ -34,13 +34,13 @@
* @ingroup interfaces
*/
class HasActionsIF {
public:
public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
virtual ~HasActionsIF() { }
virtual ~HasActionsIF() {}
/**
* Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object
@@ -55,9 +55,8 @@ public:
* -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated
*/
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) = 0;
};
#endif /* FSFW_ACTION_HASACTIONSIF_H_ */

@@ -1,18 +1,14 @@
#include "fsfw/action.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false) {
}
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
: ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
SimpleActionHelper::~SimpleActionHelper() {
}
SimpleActionHelper::~SimpleActionHelper() {}
void SimpleActionHelper::step(ReturnValue_t result) {
// STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result);
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
if (result != HasReturnvaluesIF::RETURN_OK) {
resetHelper();
}
@@ -34,13 +30,12 @@ void SimpleActionHelper::resetHelper() {
lastCommander = 0;
}
void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) {
void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress) {
CommandMessage reply;
if (isExecuting) {
ipcStore->deleteData(dataAddress);
ActionMessage::setStepReply(&reply, actionId, 0,
HasActionsIF::IS_BUSY);
ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply);
}
const uint8_t* dataPtr = NULL;
@@ -61,8 +56,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
stepCount++;
break;
case HasActionsIF::EXECUTION_FINISHED:
ActionMessage::setCompletionReply(&reply, actionId,
true, HasReturnvaluesIF::RETURN_OK);
ActionMessage::setCompletionReply(&reply, actionId, true, HasReturnvaluesIF::RETURN_OK);
queueToUse->sendMessage(commandedBy, &reply);
break;
default:
@@ -70,5 +64,4 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
queueToUse->sendMessage(commandedBy, &reply);
break;
}
}

@@ -8,19 +8,20 @@
* at a time but remembers last commander and last action which
* simplifies usage
*/
class SimpleActionHelper: public ActionHelper {
public:
class SimpleActionHelper : public ActionHelper {
public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper();
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
ReturnValue_t reportData(SerializeIF* data);
protected:
protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress);
virtual void resetHelper();
private:
private:
bool isExecuting;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0;

@@ -1,16 +1,17 @@
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/storagemanager/storeAddress.h"
#include "fsfw/cfdp/CFDPHandler.h"
#include "fsfw/cfdp/CFDPMessage.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw/cfdp/CFDPMessage.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/storagemanager/storeAddress.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
object_id_t CFDPHandler::packetSource = 0;
object_id_t CFDPHandler::packetDestination = 0;
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist) : SystemObject(setObjectId) {
CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
: SystemObject(setObjectId) {
requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
distributor = dist;
}
@@ -35,7 +36,7 @@ ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif
//TODO read out packet from store using storeId
// TODO read out packet from store using storeId
return RETURN_OK;
}
@@ -51,10 +52,6 @@ ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
return RETURN_OK;
}
uint16_t CFDPHandler::getIdentifier() {
return 0;
}
uint16_t CFDPHandler::getIdentifier() { return 0; }
MessageQueueId_t CFDPHandler::getRequestQueue() {
return this->requestQueue->getId();
}
MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }

@@ -1,25 +1,24 @@
#ifndef FSFW_CFDP_CFDPHANDLER_H_
#define FSFW_CFDP_CFDPHANDLER_H_
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tcdistribution/CFDPDistributor.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
namespace Factory{
namespace Factory {
void setStaticFrameworkObjectIds();
}
class CFDPHandler :
public ExecutableObjectIF,
class CFDPHandler : public ExecutableObjectIF,
public AcceptsTelecommandsIF,
public SystemObject,
public HasReturnvaluesIF {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
friend void(Factory::setStaticFrameworkObjectIds)();
public:
CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
/**
* The destructor is empty.
@@ -32,6 +31,7 @@ public:
virtual uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t performOperation(uint8_t opCode) override;
protected:
/**
* This is a complete instance of the telecommand reception queue
@@ -50,6 +50,7 @@ public:
static object_id_t packetSource;
static object_id_t packetDestination;
private:
/**
* This constant sets the maximum number of packets accepted per call.

@@ -1,13 +1,10 @@
#include "CFDPMessage.h"
CFDPMessage::CFDPMessage() {
}
CFDPMessage::CFDPMessage() {}
CFDPMessage::~CFDPMessage() {
}
CFDPMessage::~CFDPMessage() {}
void CFDPMessage::setCommand(CommandMessage *message,
store_address_t cfdpPacket) {
void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
message->setParameter(cfdpPacket.raw);
}
@@ -17,5 +14,4 @@ store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
return storeAddressCFDPPacket;
}
void CFDPMessage::clear(CommandMessage *message) {
}
void CFDPMessage::clear(CommandMessage *message) {}

@@ -6,14 +6,14 @@
#include "fsfw/storagemanager/StorageManagerIF.h"
class CFDPMessage {
private:
private:
CFDPMessage();
public:
public:
static const uint8_t MESSAGE_ID = messagetypes::CFDP;
virtual ~CFDPMessage();
static void setCommand(CommandMessage* message,
store_address_t cfdpPacket);
static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
static store_address_t getStoreId(const CommandMessage* message);

@@ -6,27 +6,23 @@
namespace cfdp {
struct FileSize: public SerializeIF {
public:
FileSize(): largeFile(false) {};
struct FileSize : public SerializeIF {
public:
FileSize() : largeFile(false){};
FileSize(uint64_t fileSize, bool isLarge = false) {
setFileSize(fileSize, isLarge);
};
FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size,size_t maxSize,
ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) {
this->largeFile = isLarge;
return serialize(buffer, size, maxSize, streamEndianness);
}
ReturnValue_t serialize(uint8_t **buffer, size_t *size,size_t maxSize,
ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const override {
if(not largeFile) {
if (not largeFile) {
uint32_t fileSizeTyped = fileSize;
return SerializeAdapter::serialize(&fileSizeTyped, buffer, size, maxSize,
streamEndianness);
return SerializeAdapter::serialize(&fileSizeTyped, buffer, size, maxSize, streamEndianness);
}
return SerializeAdapter::serialize(&fileSize, buffer, size, maxSize, streamEndianness);
}
@@ -41,13 +37,13 @@ public:
ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
Endianness streamEndianness) override {
if(largeFile) {
if (largeFile) {
return SerializeAdapter::deSerialize(&size, buffer, size, streamEndianness);
} else {
uint32_t sizeTmp = 0;
ReturnValue_t result = SerializeAdapter::deSerialize(&sizeTmp, buffer, size,
streamEndianness);
if(result == HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result =
SerializeAdapter::deSerialize(&sizeTmp, buffer, size, streamEndianness);
if (result == HasReturnvaluesIF::RETURN_OK) {
fileSize = sizeTmp;
}
return result;
@@ -64,20 +60,19 @@ public:
return HasReturnvaluesIF::RETURN_OK;
}
bool isLargeFile() const {
return largeFile;
}
uint64_t getSize(bool* largeFile = nullptr) const {
if(largeFile != nullptr) {
bool isLargeFile() const { return largeFile; }
uint64_t getSize(bool *largeFile = nullptr) const {
if (largeFile != nullptr) {
*largeFile = this->largeFile;
}
return fileSize;
}
private:
private:
uint64_t fileSize = 0;
bool largeFile = false;
};
}
} // namespace cfdp
#endif /* FSFW_SRC_FSFW_CFDP_FILESIZE_H_ */

@@ -2,10 +2,12 @@
#define FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_
#include <fsfw/serialize/SerializeIF.h>
#include <cstdint>
#include <cstddef>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
namespace cfdp {
@@ -47,39 +49,27 @@ enum ChecksumType {
NULL_CHECKSUM = 15
};
enum PduType: bool {
FILE_DIRECTIVE = 0,
FILE_DATA = 1
};
enum PduType : bool { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
enum TransmissionModes: bool {
ACKNOWLEDGED = 0,
UNACKNOWLEDGED = 1
};
enum TransmissionModes : bool { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
enum SegmentMetadataFlag: bool {
NOT_PRESENT = 0,
PRESENT = 1
};
enum SegmentMetadataFlag : bool { NOT_PRESENT = 0, PRESENT = 1 };
enum Direction: bool {
TOWARDS_RECEIVER = 0,
TOWARDS_SENDER = 1
};
enum Direction : bool { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
enum SegmentationControl: bool {
enum SegmentationControl : bool {
NO_RECORD_BOUNDARIES_PRESERVATION = 0,
RECORD_BOUNDARIES_PRESERVATION = 1
};
enum WidthInBytes: uint8_t {
enum WidthInBytes : uint8_t {
// Only those are supported for now
ONE_BYTE = 1,
TWO_BYTES = 2,
FOUR_BYTES = 4,
};
enum FileDirectives: uint8_t {
enum FileDirectives : uint8_t {
INVALID_DIRECTIVE = 0x0f,
EOF_DIRECTIVE = 0x04,
FINISH = 0x05,
@@ -90,7 +80,7 @@ enum FileDirectives: uint8_t {
KEEP_ALIVE = 0x0c
};
enum ConditionCode: uint8_t {
enum ConditionCode : uint8_t {
NO_CONDITION_FIELD = 0xff,
NO_ERROR = 0b0000,
POSITIVE_ACK_LIMIT_REACHED = 0b0001,
@@ -114,10 +104,7 @@ enum AckTransactionStatus {
UNRECOGNIZED = 0b11
};
enum FinishedDeliveryCode {
DATA_COMPLETE = 0,
DATA_INCOMPLETE = 1
};
enum FinishedDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
enum FinishedFileStatus {
DISCARDED_DELIBERATELY = 0,
@@ -126,12 +113,9 @@ enum FinishedFileStatus {
FILE_STATUS_UNREPORTED = 3
};
enum PromptResponseRequired: bool {
PROMPT_NAK = 0,
PROMPT_KEEP_ALIVE = 1
};
enum PromptResponseRequired : bool { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
enum TlvTypes: uint8_t {
enum TlvTypes : uint8_t {
FILESTORE_REQUEST = 0x00,
FILESTORE_RESPONSE = 0x01,
MSG_TO_USER = 0x02,
@@ -148,6 +132,6 @@ enum RecordContinuationState {
CONTAINS_START_AND_END = 0b11
};
}
} // namespace cfdp
#endif /* FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_ */

@@ -1,9 +1,11 @@
#include "AckInfo.h"
AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode):
ackedDirective(ackedDirective), ackedConditionCode(ackedConditionCode),
transactionStatus(transactionStatus), directiveSubtypeCode(directiveSubtypeCode) {
cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode)
: ackedDirective(ackedDirective),
ackedConditionCode(ackedConditionCode),
transactionStatus(transactionStatus),
directiveSubtypeCode(directiveSubtypeCode) {
if (ackedDirective == cfdp::FileDirectives::FINISH) {
this->directiveSubtypeCode = 0b0001;
} else {
@@ -11,9 +13,7 @@ AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedC
}
}
cfdp::ConditionCode AckInfo::getAckedConditionCode() const {
return ackedConditionCode;
}
cfdp::ConditionCode AckInfo::getAckedConditionCode() const { return ackedConditionCode; }
void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
this->ackedConditionCode = ackedConditionCode;
@@ -24,28 +24,21 @@ void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
}
}
cfdp::FileDirectives AckInfo::getAckedDirective() const {
return ackedDirective;
}
cfdp::FileDirectives AckInfo::getAckedDirective() const { return ackedDirective; }
void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective) {
this->ackedDirective = ackedDirective;
}
uint8_t AckInfo::getDirectiveSubtypeCode() const {
return directiveSubtypeCode;
}
uint8_t AckInfo::getDirectiveSubtypeCode() const { return directiveSubtypeCode; }
void AckInfo::setDirectiveSubtypeCode(uint8_t directiveSubtypeCode) {
this->directiveSubtypeCode = directiveSubtypeCode;
}
cfdp::AckTransactionStatus AckInfo::getTransactionStatus() const {
return transactionStatus;
}
cfdp::AckTransactionStatus AckInfo::getTransactionStatus() const { return transactionStatus; }
AckInfo::AckInfo() {
}
AckInfo::AckInfo() {}
void AckInfo::setTransactionStatus(cfdp::AckTransactionStatus transactionStatus) {
this->transactionStatus = transactionStatus;

@@ -4,7 +4,7 @@
#include "../definitions.h"
class AckInfo {
public:
public:
AckInfo();
AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode = 0);
@@ -21,13 +21,11 @@ public:
cfdp::AckTransactionStatus getTransactionStatus() const;
void setTransactionStatus(cfdp::AckTransactionStatus transactionStatus);
private:
private:
cfdp::FileDirectives ackedDirective = cfdp::FileDirectives::INVALID_DIRECTIVE;
cfdp::ConditionCode ackedConditionCode = cfdp::ConditionCode::NO_CONDITION_FIELD;
cfdp::AckTransactionStatus transactionStatus = cfdp::AckTransactionStatus::UNDEFINED;
uint8_t directiveSubtypeCode = 0;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_ */

@@ -1,19 +1,18 @@
#include "AckPduDeserializer.h"
AckPduDeserializer::AckPduDeserializer(const uint8_t *pduBuf, size_t maxSize, AckInfo& info):
FileDirectiveDeserializer(pduBuf, maxSize), info(info) {
}
AckPduDeserializer::AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
: FileDirectiveDeserializer(pduBuf, maxSize), info(info) {}
ReturnValue_t AckPduDeserializer::parseData() {
ReturnValue_t result = FileDirectiveDeserializer::parseData();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
if (currentIdx + 2 > this->maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
if(not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
if (not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
}
return HasReturnvaluesIF::RETURN_OK;
@@ -22,13 +21,13 @@ ReturnValue_t AckPduDeserializer::parseData() {
bool AckPduDeserializer::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
uint8_t ackedDirective = static_cast<cfdp::FileDirectives>(firstByte >> 4);
if(ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE and
if (ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE and
ackedDirective != cfdp::FileDirectives::FINISH) {
return false;
}
this->info.setAckedDirective(static_cast<cfdp::FileDirectives>(ackedDirective));
uint8_t directiveSubtypeCode = firstByte & 0x0f;
if(directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
return false;
}
this->info.setDirectiveSubtypeCode(directiveSubtypeCode);

@@ -1,11 +1,11 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
#define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
#include "AckInfo.h"
#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
class AckPduDeserializer: public FileDirectiveDeserializer {
public:
class AckPduDeserializer : public FileDirectiveDeserializer {
public:
AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);
/**
@@ -15,12 +15,9 @@ public:
*/
ReturnValue_t parseData();
private:
private:
bool checkAndSetCodes(uint8_t rawAckedByte, uint8_t rawAckedConditionCode);
AckInfo& info;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_ */

@@ -1,9 +1,7 @@
#include "AckPduSerializer.h"
AckPduSerializer::AckPduSerializer(AckInfo& ackInfo, PduConfig &pduConf):
FileDirectiveSerializer(pduConf, cfdp::FileDirectives::ACK, 2),
ackInfo(ackInfo) {
}
AckPduSerializer::AckPduSerializer(AckInfo &ackInfo, PduConfig &pduConf)
: FileDirectiveSerializer(pduConf, cfdp::FileDirectives::ACK, 2), ackInfo(ackInfo) {}
size_t AckPduSerializer::getSerializedSize() const {
return FileDirectiveSerializer::getWholePduSize();
@@ -11,21 +9,21 @@ size_t AckPduSerializer::getSerializedSize() const {
ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const {
ReturnValue_t result = FileDirectiveSerializer::serialize(buffer, size, maxSize,
streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result =
FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
cfdp::FileDirectives ackedDirective = ackInfo.getAckedDirective();
uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
if(ackedDirective != cfdp::FileDirectives::FINISH and
if (ackedDirective != cfdp::FileDirectives::FINISH and
ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE) {
// TODO: better returncode
return HasReturnvaluesIF::RETURN_FAILED;
}
if(*size + 2 > maxSize) {
if (*size + 2 > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
**buffer = ackedDirective << 4 | directiveSubtypeCode;

@@ -5,8 +5,8 @@
#include "FileDirectiveDeserializer.h"
#include "FileDirectiveSerializer.h"
class AckPduSerializer: public FileDirectiveSerializer {
public:
class AckPduSerializer : public FileDirectiveSerializer {
public:
/**
* @brief Serializer to pack ACK PDUs
* @details
@@ -23,7 +23,7 @@ public:
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
private:
private:
AckInfo& ackInfo;
};

@@ -1,54 +1,43 @@
#include "EofInfo.h"
EofInfo::EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
EntityIdTlv* faultLoc): conditionCode(conditionCode), checksum(checksum),
fileSize(fileSize), faultLoc(faultLoc) {
}
EntityIdTlv* faultLoc)
: conditionCode(conditionCode), checksum(checksum), fileSize(fileSize), faultLoc(faultLoc) {}
EofInfo::EofInfo(EntityIdTlv *faultLoc): conditionCode(cfdp::ConditionCode::NO_CONDITION_FIELD),
checksum(0), fileSize(0), faultLoc(faultLoc) {
}
EofInfo::EofInfo(EntityIdTlv* faultLoc)
: conditionCode(cfdp::ConditionCode::NO_CONDITION_FIELD),
checksum(0),
fileSize(0),
faultLoc(faultLoc) {}
uint32_t EofInfo::getChecksum() const {
return checksum;
}
uint32_t EofInfo::getChecksum() const { return checksum; }
cfdp::ConditionCode EofInfo::getConditionCode() const {
return conditionCode;
}
cfdp::ConditionCode EofInfo::getConditionCode() const { return conditionCode; }
EntityIdTlv* EofInfo::getFaultLoc() const {
return faultLoc;
}
EntityIdTlv* EofInfo::getFaultLoc() const { return faultLoc; }
cfdp::FileSize& EofInfo::getFileSize() {
return fileSize;
}
cfdp::FileSize& EofInfo::getFileSize() { return fileSize; }
void EofInfo::setChecksum(uint32_t checksum) {
this->checksum = checksum;
}
void EofInfo::setChecksum(uint32_t checksum) { this->checksum = checksum; }
void EofInfo::setConditionCode(cfdp::ConditionCode conditionCode) {
this->conditionCode = conditionCode;
}
void EofInfo::setFaultLoc(EntityIdTlv *faultLoc) {
this->faultLoc = faultLoc;
}
void EofInfo::setFaultLoc(EntityIdTlv* faultLoc) { this->faultLoc = faultLoc; }
size_t EofInfo::getSerializedSize(bool fssLarge) {
// Condition code + spare + 4 byte checksum
size_t size = 5;
if(fssLarge) {
if (fssLarge) {
size += 8;
} else {
size += 4;
}
// Do not account for fault location if the condition code is NO_ERROR. We assume that
// a serializer will not serialize the fault location here.
if(getFaultLoc() != nullptr and getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
size+= faultLoc->getSerializedSize();
if (getFaultLoc() != nullptr and getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
size += faultLoc->getSerializedSize();
}
return size;
}

@@ -1,12 +1,12 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFINFO_H_
#define FSFW_SRC_FSFW_CFDP_PDU_EOFINFO_H_
#include "fsfw/cfdp/tlv/EntityIdTlv.h"
#include "../definitions.h"
#include "../FileSize.h"
#include "../definitions.h"
#include "fsfw/cfdp/tlv/EntityIdTlv.h"
struct EofInfo {
public:
public:
EofInfo(EntityIdTlv* faultLoc = nullptr);
EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
EntityIdTlv* faultLoc = nullptr);
@@ -20,10 +20,10 @@ public:
cfdp::FileSize& getFileSize();
void setChecksum(uint32_t checksum);
void setConditionCode(cfdp::ConditionCode conditionCode);
void setFaultLoc(EntityIdTlv *faultLoc);
void setFaultLoc(EntityIdTlv* faultLoc);
ReturnValue_t setFileSize(size_t size, bool isLarge);
private:
private:
cfdp::ConditionCode conditionCode;
uint32_t checksum;
cfdp::FileSize fileSize;

@@ -1,25 +1,25 @@
#include "EofPduDeserializer.h"
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
EofPduDeserializer::EofPduDeserializer(const uint8_t *pduBuf, size_t maxSize, EofInfo& eofInfo):
FileDirectiveDeserializer(pduBuf, maxSize), info(eofInfo) {
}
EofPduDeserializer::EofPduDeserializer(const uint8_t* pduBuf, size_t maxSize, EofInfo& eofInfo)
: FileDirectiveDeserializer(pduBuf, maxSize), info(eofInfo) {}
ReturnValue_t EofPduDeserializer::parseData() {
ReturnValue_t result = FileDirectiveDeserializer::parseData();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
const uint8_t* bufPtr = rawPtr;
size_t expectedFileFieldLen = 4;
if(this->getLargeFileFlag()) {
if (this->getLargeFileFlag()) {
expectedFileFieldLen = 8;
}
size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
size_t deserLen = maxSize;
if(maxSize < currentIdx + 5 + expectedFileFieldLen) {
if (maxSize < currentIdx + 5 + expectedFileFieldLen) {
return SerializeIF::STREAM_TOO_SHORT;
}
@@ -31,32 +31,33 @@ ReturnValue_t EofPduDeserializer::parseData() {
uint32_t checksum = 0;
auto endianness = getEndianness();
result = SerializeAdapter::deSerialize(&checksum, &bufPtr, &deserLen, endianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
info.setChecksum(checksum);
if(this->getLargeFileFlag()) {
if (this->getLargeFileFlag()) {
uint64_t fileSizeValue = 0;
result = SerializeAdapter::deSerialize(&fileSizeValue, &bufPtr, &deserLen, endianness);
info.setFileSize(fileSizeValue, true);
}
else {
} else {
uint32_t fileSizeValue = 0;
result = SerializeAdapter::deSerialize(&fileSizeValue, &bufPtr, &deserLen, endianness);
info.setFileSize(fileSizeValue, false);
}
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
if (info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
EntityIdTlv* tlvPtr = info.getFaultLoc();
if(tlvPtr == nullptr) {
if (tlvPtr == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "EofPduDeserializer::parseData: Ca not deserialize fault location,"
" given TLV pointer invalid" << std::endl;
" given TLV pointer invalid"
<< std::endl;
#else
sif::printWarning("EofPduDeserializer::parseData: Ca not deserialize fault location,"
sif::printWarning(
"EofPduDeserializer::parseData: Ca not deserialize fault location,"
" given TLV pointer invalid");
#endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */

@@ -1,18 +1,17 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
#define FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_
#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
#include "EofInfo.h"
#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
class EofPduDeserializer: public FileDirectiveDeserializer {
public:
class EofPduDeserializer : public FileDirectiveDeserializer {
public:
EofPduDeserializer(const uint8_t* pduBuf, size_t maxSize, EofInfo& eofInfo);
virtual ReturnValue_t parseData() override;
private:
private:
EofInfo& info;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_EOFPDUDESERIALIZER_H_ */

@@ -1,9 +1,10 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "EofPduSerializer.h"
EofPduSerializer::EofPduSerializer(PduConfig &conf, EofInfo& info):
FileDirectiveSerializer(conf, cfdp::FileDirectives::EOF_DIRECTIVE, 9), info(info) {
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
EofPduSerializer::EofPduSerializer(PduConfig &conf, EofInfo &info)
: FileDirectiveSerializer(conf, cfdp::FileDirectives::EOF_DIRECTIVE, 9), info(info) {
setDirectiveDataFieldLen(info.getSerializedSize(getLargeFileFlag()));
}
@@ -13,12 +14,12 @@ size_t EofPduSerializer::getSerializedSize() const {
ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const {
ReturnValue_t result = FileDirectiveSerializer::serialize(buffer, size, maxSize,
streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
ReturnValue_t result =
FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(*size + 1 > maxSize) {
if (*size + 1 > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
**buffer = info.getConditionCode() << 4;
@@ -26,20 +27,17 @@ ReturnValue_t EofPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t
*size += 1;
uint32_t checksum = info.getChecksum();
result = SerializeAdapter::serialize(&checksum, buffer, size, maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(info.getFileSize().isLargeFile()) {
if (info.getFileSize().isLargeFile()) {
uint64_t fileSizeValue = info.getFileSize().getSize();
result = SerializeAdapter::serialize(&fileSizeValue, buffer, size,
maxSize, streamEndianness);
}
else {
result = SerializeAdapter::serialize(&fileSizeValue, buffer, size, maxSize, streamEndianness);
} else {
uint32_t fileSizeValue = info.getFileSize().getSize();
result = SerializeAdapter::serialize(&fileSizeValue, buffer, size,
maxSize, streamEndianness);
result = SerializeAdapter::serialize(&fileSizeValue, buffer, size, maxSize, streamEndianness);
}
if(info.getFaultLoc() != nullptr and info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
if (info.getFaultLoc() != nullptr and info.getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
result = info.getFaultLoc()->serialize(buffer, size, maxSize, streamEndianness);
}
return result;

@@ -1,22 +1,21 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFPDUSERIALIZER_H_
#define FSFW_SRC_FSFW_CFDP_PDU_EOFPDUSERIALIZER_H_
#include "EofInfo.h"
#include "fsfw/cfdp/pdu/FileDirectiveSerializer.h"
#include "fsfw/cfdp/tlv/EntityIdTlv.h"
#include "EofInfo.h"
class EofPduSerializer: public FileDirectiveSerializer {
public:
EofPduSerializer(PduConfig &conf, EofInfo& info);
class EofPduSerializer : public FileDirectiveSerializer {
public:
EofPduSerializer(PduConfig& conf, EofInfo& info);
size_t getSerializedSize() const override;
ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const override;
private:
private:
EofInfo& info;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_EOFPDUSERIALIZER_H_ */

@@ -1,13 +1,12 @@
#include "FileDataDeserializer.h"
FileDataDeserializer::FileDataDeserializer(const uint8_t *pduBuf, size_t maxSize,
FileDataInfo& info):
HeaderDeserializer(pduBuf, maxSize), info(info) {
}
FileDataDeserializer::FileDataDeserializer(const uint8_t* pduBuf, size_t maxSize,
FileDataInfo& info)
: HeaderDeserializer(pduBuf, maxSize), info(info) {}
ReturnValue_t FileDataDeserializer::parseData() {
ReturnValue_t result = HeaderDeserializer::parseData();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t currentIdx = HeaderDeserializer::getHeaderSize();
@@ -16,16 +15,15 @@ ReturnValue_t FileDataDeserializer::parseData() {
if (remSize < 1) {
return SerializeIF::STREAM_TOO_SHORT;
}
if(hasSegmentMetadataFlag()) {
if (hasSegmentMetadataFlag()) {
info.setSegmentMetadataFlag(true);
info.setRecordContinuationState(static_cast<cfdp::RecordContinuationState>(
(*buf >> 6) & 0b11));
info.setRecordContinuationState(static_cast<cfdp::RecordContinuationState>((*buf >> 6) & 0b11));
size_t segmentMetadataLen = *buf & 0b00111111;
info.setSegmentMetadataLen(segmentMetadataLen);
if(remSize < segmentMetadataLen + 1) {
if (remSize < segmentMetadataLen + 1) {
return SerializeIF::STREAM_TOO_SHORT;
}
if(segmentMetadataLen > 0) {
if (segmentMetadataLen > 0) {
buf += 1;
remSize -= 1;
info.setSegmentMetadata(buf);
@@ -34,18 +32,16 @@ ReturnValue_t FileDataDeserializer::parseData() {
}
}
result = info.getOffset().deSerialize(&buf, &remSize, this->getEndianness());
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(remSize > 0) {
if (remSize > 0) {
info.setFileData(buf, remSize);
}
return HasReturnvaluesIF::RETURN_OK;
}
SerializeIF::Endianness FileDataDeserializer::getEndianness() const {
return endianness;
}
SerializeIF::Endianness FileDataDeserializer::getEndianness() const { return endianness; }
void FileDataDeserializer::setEndianness(SerializeIF::Endianness endianness) {
this->endianness = endianness;

@@ -1,20 +1,19 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_FILEDATADESERIALIZER_H_
#define FSFW_SRC_FSFW_CFDP_PDU_FILEDATADESERIALIZER_H_
#include "../definitions.h"
#include "FileDataInfo.h"
#include "HeaderDeserializer.h"
#include "../definitions.h"
class FileDataDeserializer: public HeaderDeserializer {
public:
class FileDataDeserializer : public HeaderDeserializer {
public:
FileDataDeserializer(const uint8_t* pduBuf, size_t maxSize, FileDataInfo& info);
ReturnValue_t parseData();
SerializeIF::Endianness getEndianness() const;
void setEndianness(SerializeIF::Endianness endianness = SerializeIF::Endianness::NETWORK);
private:
private:
SerializeIF::Endianness endianness = SerializeIF::Endianness::NETWORK;
FileDataInfo& info;
};

@@ -1,14 +1,12 @@
#include "FileDataInfo.h"
FileDataInfo::FileDataInfo(cfdp::FileSize &offset, const uint8_t *fileData, size_t fileSize):
offset(offset), fileData(fileData), fileSize(fileSize) {
}
FileDataInfo::FileDataInfo(cfdp::FileSize &offset, const uint8_t *fileData, size_t fileSize)
: offset(offset), fileData(fileData), fileSize(fileSize) {}
FileDataInfo::FileDataInfo(cfdp::FileSize &offset): offset(offset) {
}
FileDataInfo::FileDataInfo(cfdp::FileSize &offset) : offset(offset) {}
void FileDataInfo::setSegmentMetadataFlag(bool enable) {
if(enable) {
if (enable) {
segmentMetadataFlag = cfdp::SegmentMetadataFlag::PRESENT;
} else {
segmentMetadataFlag = cfdp::SegmentMetadataFlag::NOT_PRESENT;
@@ -17,10 +15,10 @@ void FileDataInfo::setSegmentMetadataFlag(bool enable) {
size_t FileDataInfo::getSerializedSize(bool largeFile) const {
size_t sz = 0;
if(segmentMetadataFlag == cfdp::SegmentMetadataFlag::PRESENT) {
if (segmentMetadataFlag == cfdp::SegmentMetadataFlag::PRESENT) {
sz += 1 + segmentMetadataLen;
}
if(largeFile) {
if (largeFile) {
sz += 8;
} else {
sz += 4;
@@ -34,7 +32,7 @@ cfdp::SegmentMetadataFlag FileDataInfo::getSegmentMetadataFlag() const {
}
bool FileDataInfo::hasSegmentMetadata() const {
if(segmentMetadataFlag == cfdp::SegmentMetadataFlag::PRESENT) {
if (segmentMetadataFlag == cfdp::SegmentMetadataFlag::PRESENT) {
return true;
}
return false;
@@ -44,15 +42,14 @@ cfdp::RecordContinuationState FileDataInfo::getRecordContinuationState() const {
return this->recContState;
}
size_t FileDataInfo::getSegmentMetadataLen() const {
return segmentMetadataLen;
}
size_t FileDataInfo::getSegmentMetadataLen() const { return segmentMetadataLen; }
ReturnValue_t FileDataInfo::addSegmentMetadataInfo(cfdp::RecordContinuationState recContState,
const uint8_t* segmentMetadata, size_t segmentMetadataLen) {
const uint8_t *segmentMetadata,
size_t segmentMetadataLen) {
this->segmentMetadataFlag = cfdp::SegmentMetadataFlag::PRESENT;
this->recContState = recContState;
if(segmentMetadataLen > 63) {
if (segmentMetadataLen > 63) {
return HasReturnvaluesIF::RETURN_FAILED;
}
this->segmentMetadata = segmentMetadata;
@@ -60,44 +57,36 @@ ReturnValue_t FileDataInfo::addSegmentMetadataInfo(cfdp::RecordContinuationState
return HasReturnvaluesIF::RETURN_OK;
}
const uint8_t* FileDataInfo::getFileData(size_t *fileSize) const {
if(fileSize != nullptr) {
const uint8_t *FileDataInfo::getFileData(size_t *fileSize) const {
if (fileSize != nullptr) {
*fileSize = this->fileSize;
}
return fileData;
}
const uint8_t* FileDataInfo::getSegmentMetadata(size_t *segmentMetadataLen) {
if(segmentMetadataLen != nullptr) {
const uint8_t *FileDataInfo::getSegmentMetadata(size_t *segmentMetadataLen) {
if (segmentMetadataLen != nullptr) {
*segmentMetadataLen = this->segmentMetadataLen;
}
return segmentMetadata;
}
cfdp::FileSize& FileDataInfo::getOffset() {
return offset;
}
cfdp::FileSize &FileDataInfo::getOffset() { return offset; }
void FileDataInfo::setRecordContinuationState(cfdp::RecordContinuationState recContState) {
this->recContState = recContState;
}
void FileDataInfo::setSegmentMetadataLen(size_t len) {
this->segmentMetadataLen = len;
}
void FileDataInfo::setSegmentMetadataLen(size_t len) { this->segmentMetadataLen = len; }
void FileDataInfo::setSegmentMetadata(const uint8_t *ptr) {
this->segmentMetadata = ptr;
}
void FileDataInfo::setSegmentMetadata(const uint8_t *ptr) { this->segmentMetadata = ptr; }
void FileDataInfo::setFileData(const uint8_t *fileData, size_t fileSize) {
this->fileData = fileData;
this->fileSize = fileSize;
}
cfdp::SegmentationControl FileDataInfo::getSegmentationControl() const {
return segCtrl;
}
cfdp::SegmentationControl FileDataInfo::getSegmentationControl() const { return segCtrl; }
void FileDataInfo::setSegmentationControl(cfdp::SegmentationControl segCtrl) {
this->segCtrl = segCtrl;

@@ -1,11 +1,11 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_FILEDATAINFO_H_
#define FSFW_SRC_FSFW_CFDP_PDU_FILEDATAINFO_H_
#include <fsfw/cfdp/definitions.h>
#include <fsfw/cfdp/FileSize.h>
#include <fsfw/cfdp/definitions.h>
class FileDataInfo {
public:
public:
FileDataInfo(cfdp::FileSize& offset);
FileDataInfo(cfdp::FileSize& offset, const uint8_t* fileData, size_t fileSize);
@@ -30,10 +30,9 @@ public:
const uint8_t* segmentMetadata, size_t segmentMetadataLen);
const uint8_t* getSegmentMetadata(size_t* segmentMetadataLen = nullptr);
private:
private:
cfdp::SegmentMetadataFlag segmentMetadataFlag = cfdp::SegmentMetadataFlag::NOT_PRESENT;
cfdp::SegmentationControl segCtrl =
cfdp::SegmentationControl::NO_RECORD_BOUNDARIES_PRESERVATION;
cfdp::SegmentationControl segCtrl = cfdp::SegmentationControl::NO_RECORD_BOUNDARIES_PRESERVATION;
cfdp::FileSize& offset;
const uint8_t* fileData = nullptr;
size_t fileSize = 0;

@@ -1,8 +1,9 @@
#include "FileDataSerializer.h"
#include <cstring>
FileDataSerializer::FileDataSerializer(PduConfig& conf, FileDataInfo& info):
HeaderSerializer(conf, cfdp::PduType::FILE_DATA, 0, info.getSegmentMetadataFlag()),
FileDataSerializer::FileDataSerializer(PduConfig& conf, FileDataInfo& info)
: HeaderSerializer(conf, cfdp::PduType::FILE_DATA, 0, info.getSegmentMetadataFlag()),
info(info) {
update();
}
@@ -13,13 +14,13 @@ void FileDataSerializer::update() {
setPduDataFieldLen(info.getSerializedSize(this->getLargeFileFlag()));
}
ReturnValue_t FileDataSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
ReturnValue_t FileDataSerializer::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
Endianness streamEndianness) const {
ReturnValue_t result = HeaderSerializer::serialize(buffer, size, maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(*size + this->getSerializedSize() > maxSize) {
if (*size + this->getSerializedSize() > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
const uint8_t* readOnlyPtr = nullptr;
@@ -35,12 +36,12 @@ ReturnValue_t FileDataSerializer::serialize(uint8_t **buffer, size_t *size, size
}
cfdp::FileSize& offset = info.getOffset();
result = offset.serialize(this->getLargeFileFlag(), buffer, size, maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t fileSize = 0;
readOnlyPtr = info.getFileData(&fileSize);
if(*size + fileSize > maxSize) {
if (*size + fileSize > maxSize) {
return SerializeIF::BUFFER_TOO_SHORT;
}
std::memcpy(*buffer, readOnlyPtr, fileSize);

@@ -1,12 +1,12 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_FILEDATASERIALIZER_H_
#define FSFW_SRC_FSFW_CFDP_PDU_FILEDATASERIALIZER_H_
#include "FileDataInfo.h"
#include "../definitions.h"
#include "FileDataInfo.h"
#include "HeaderSerializer.h"
class FileDataSerializer: public HeaderSerializer {
public:
class FileDataSerializer : public HeaderSerializer {
public:
FileDataSerializer(PduConfig& conf, FileDataInfo& info);
void update();
@@ -16,7 +16,7 @@ public:
size_t getSerializedSize() const override;
private:
private:
FileDataInfo& info;
};

@@ -1,26 +1,23 @@
#include "FileDirectiveDeserializer.h"
FileDirectiveDeserializer::FileDirectiveDeserializer(const uint8_t *pduBuf, size_t maxSize):
HeaderDeserializer(pduBuf, maxSize) {
}
FileDirectiveDeserializer::FileDirectiveDeserializer(const uint8_t *pduBuf, size_t maxSize)
: HeaderDeserializer(pduBuf, maxSize) {}
cfdp::FileDirectives FileDirectiveDeserializer::getFileDirective() const {
return fileDirective;
}
cfdp::FileDirectives FileDirectiveDeserializer::getFileDirective() const { return fileDirective; }
ReturnValue_t FileDirectiveDeserializer::parseData() {
ReturnValue_t result = HeaderDeserializer::parseData();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(this->getPduDataFieldLen() < 1) {
if (this->getPduDataFieldLen() < 1) {
return cfdp::INVALID_PDU_DATAFIELD_LEN;
}
if(FileDirectiveDeserializer::getWholePduSize() > maxSize) {
if (FileDirectiveDeserializer::getWholePduSize() > maxSize) {
return SerializeIF::STREAM_TOO_SHORT;
}
size_t currentIdx = HeaderDeserializer::getHeaderSize();
if(not checkFileDirective(rawPtr[currentIdx])) {
if (not checkFileDirective(rawPtr[currentIdx])) {
return cfdp::INVALID_DIRECTIVE_FIELDS;
}
setFileDirective(static_cast<cfdp::FileDirectives>(rawPtr[currentIdx]));
@@ -33,9 +30,8 @@ size_t FileDirectiveDeserializer::getHeaderSize() const {
}
bool FileDirectiveDeserializer::checkFileDirective(uint8_t rawByte) {
if(rawByte < cfdp::FileDirectives::EOF_DIRECTIVE or
(rawByte > cfdp::FileDirectives::PROMPT and
rawByte != cfdp::FileDirectives::KEEP_ALIVE)) {
if (rawByte < cfdp::FileDirectives::EOF_DIRECTIVE or
(rawByte > cfdp::FileDirectives::PROMPT and rawByte != cfdp::FileDirectives::KEEP_ALIVE)) {
// Invalid directive field. TODO: Custom returnvalue
return false;
}
@@ -50,6 +46,4 @@ void FileDirectiveDeserializer::setEndianness(SerializeIF::Endianness endianness
this->endianness = endianness;
}
SerializeIF::Endianness FileDirectiveDeserializer::getEndianness() const {
return endianness;
}
SerializeIF::Endianness FileDirectiveDeserializer::getEndianness() const { return endianness; }

@@ -11,8 +11,8 @@
* This is a zero-copy implementation and #parseData needs to be called to ensure the data is
* valid.
*/
class FileDirectiveDeserializer: public HeaderDeserializer {
public:
class FileDirectiveDeserializer : public HeaderDeserializer {
public:
FileDirectiveDeserializer(const uint8_t* pduBuf, size_t maxSize);
/**
@@ -27,15 +27,13 @@ public:
void setEndianness(SerializeIF::Endianness endianness);
SerializeIF::Endianness getEndianness() const;
protected:
protected:
bool checkFileDirective(uint8_t rawByte);
private:
private:
void setFileDirective(cfdp::FileDirectives fileDirective);
cfdp::FileDirectives fileDirective = cfdp::FileDirectives::INVALID_DIRECTIVE;
SerializeIF::Endianness endianness = SerializeIF::Endianness::NETWORK;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_FILEDIRECTIVEDESERIALIZER_H_ */

@@ -1,11 +1,10 @@
#include "FileDirectiveSerializer.h"
FileDirectiveSerializer::FileDirectiveSerializer(PduConfig &pduConf,
cfdp::FileDirectives directiveCode, size_t directiveParamFieldLen):
HeaderSerializer(pduConf, cfdp::PduType::FILE_DIRECTIVE, directiveParamFieldLen + 1),
directiveCode(directiveCode) {
}
cfdp::FileDirectives directiveCode,
size_t directiveParamFieldLen)
: HeaderSerializer(pduConf, cfdp::PduType::FILE_DIRECTIVE, directiveParamFieldLen + 1),
directiveCode(directiveCode) {}
size_t FileDirectiveSerializer::getSerializedSize() const {
return HeaderSerializer::getSerializedSize() + 1;
@@ -13,18 +12,18 @@ size_t FileDirectiveSerializer::getSerializedSize() const {
ReturnValue_t FileDirectiveSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
Endianness streamEndianness) const {
if(buffer == nullptr or size == nullptr) {
if (buffer == nullptr or size == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
if(FileDirectiveSerializer::getWholePduSize() > maxSize) {
if (FileDirectiveSerializer::getWholePduSize() > maxSize) {
return BUFFER_TOO_SHORT;
}
ReturnValue_t result = HeaderSerializer::serialize(buffer, size, maxSize, streamEndianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if(*size >= maxSize) {
if (*size >= maxSize) {
return BUFFER_TOO_SHORT;
}
**buffer = directiveCode;

@@ -3,8 +3,8 @@
#include "fsfw/cfdp/pdu/HeaderSerializer.h"
class FileDirectiveSerializer: public HeaderSerializer {
public:
class FileDirectiveSerializer : public HeaderSerializer {
public:
FileDirectiveSerializer(PduConfig& pduConf, cfdp::FileDirectives directiveCode,
size_t directiveParamFieldLen);
@@ -20,9 +20,9 @@ public:
Endianness streamEndianness) const override;
void setDirectiveDataFieldLen(size_t len);
private:
cfdp::FileDirectives directiveCode = cfdp::FileDirectives::INVALID_DIRECTIVE;
private:
cfdp::FileDirectives directiveCode = cfdp::FileDirectives::INVALID_DIRECTIVE;
};
#endif /* FSFW_SRC_FSFW_CFDP_PDU_FILEDIRECTIVESERIALIZER_H_ */

@@ -1,110 +1,101 @@
#include "FinishedInfo.h"
FinishedInfo::FinishedInfo() {
}
FinishedInfo::FinishedInfo() {}
FinishedInfo::FinishedInfo(cfdp::ConditionCode conditionCode,
cfdp::FinishedDeliveryCode deliveryCode, cfdp::FinishedFileStatus fileStatus):
conditionCode(conditionCode), deliveryCode(deliveryCode), fileStatus(fileStatus) {
}
cfdp::FinishedDeliveryCode deliveryCode,
cfdp::FinishedFileStatus fileStatus)
: conditionCode(conditionCode), deliveryCode(deliveryCode), fileStatus(fileStatus) {}
size_t FinishedInfo::getSerializedSize() const {
size_t size = 1;
if(hasFsResponses()) {
for(size_t idx = 0; idx < fsResponsesLen; idx++) {
if (hasFsResponses()) {
for (size_t idx = 0; idx < fsResponsesLen; idx++) {
size += fsResponses[idx]->getSerializedSize();
}
}
if(this->faultLocation != nullptr) {
if (this->faultLocation != nullptr) {
size += faultLocation->getSerializedSize();
}
return size;
}
bool FinishedInfo::hasFsResponses() const {
if(fsResponses != nullptr and fsResponsesLen > 0) {
if (fsResponses != nullptr and fsResponsesLen > 0) {
return true;
}
return false;
}
bool FinishedInfo::canHoldFsResponses() const {
if(fsResponses != nullptr and fsResponsesMaxLen > 0) {
if (fsResponses != nullptr and fsResponsesMaxLen > 0) {
return true;
}
return false;
}
ReturnValue_t FinishedInfo::setFilestoreResponsesArray(FilestoreResponseTlv** fsResponses,
size_t* fsResponsesLen, const size_t* maxFsResponsesLen) {
size_t* fsResponsesLen,
const size_t* maxFsResponsesLen) {
this->fsResponses = fsResponses;
if(fsResponsesLen != nullptr) {
if (fsResponsesLen != nullptr) {
this->fsResponsesLen = *fsResponsesLen;
if(this->fsResponsesMaxLen < *fsResponsesLen) {
if (this->fsResponsesMaxLen < *fsResponsesLen) {
this->fsResponsesMaxLen = this->fsResponsesLen;
}
}
if(maxFsResponsesLen != nullptr) {
if (maxFsResponsesLen != nullptr) {
this->fsResponsesMaxLen = *maxFsResponsesLen;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FinishedInfo::getFilestoreResonses(FilestoreResponseTlv ***fsResponses,
size_t *fsResponsesLen, size_t* fsResponsesMaxLen) {
if(fsResponses == nullptr) {
ReturnValue_t FinishedInfo::getFilestoreResonses(FilestoreResponseTlv*** fsResponses,
size_t* fsResponsesLen,
size_t* fsResponsesMaxLen) {
if (fsResponses == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*fsResponses = this->fsResponses;
if(fsResponsesLen != nullptr) {
if (fsResponsesLen != nullptr) {
*fsResponsesLen = this->fsResponsesLen;
}
if(fsResponsesMaxLen != nullptr) {
if (fsResponsesMaxLen != nullptr) {
*fsResponsesMaxLen = this->fsResponsesMaxLen;
}
return HasReturnvaluesIF::RETURN_OK;
}
void FinishedInfo::setFaultLocation(EntityIdTlv *faultLocation) {
void FinishedInfo::setFaultLocation(EntityIdTlv* faultLocation) {
this->faultLocation = faultLocation;
}
ReturnValue_t FinishedInfo::getFaultLocation(EntityIdTlv** faultLocation) {
if(this->faultLocation == nullptr) {
if (this->faultLocation == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*faultLocation = this->faultLocation;
return HasReturnvaluesIF::RETURN_OK;
}
cfdp::ConditionCode FinishedInfo::getConditionCode() const {
return conditionCode;
}
cfdp::ConditionCode FinishedInfo::getConditionCode() const { return conditionCode; }
void FinishedInfo::setConditionCode(cfdp::ConditionCode conditionCode) {
this->conditionCode = conditionCode;
}
cfdp::FinishedDeliveryCode FinishedInfo::getDeliveryCode() const {
return deliveryCode;
}
cfdp::FinishedDeliveryCode FinishedInfo::getDeliveryCode() const { return deliveryCode; }
void FinishedInfo::setDeliveryCode(cfdp::FinishedDeliveryCode deliveryCode) {
this->deliveryCode = deliveryCode;
}
cfdp::FinishedFileStatus FinishedInfo::getFileStatus() const {
return fileStatus;
}
cfdp::FinishedFileStatus FinishedInfo::getFileStatus() const { return fileStatus; }
void FinishedInfo::setFilestoreResponsesArrayLen(size_t fsResponsesLen) {
this->fsResponsesLen = fsResponsesLen;
}
size_t FinishedInfo::getFsResponsesLen() const {
return fsResponsesLen;
}
size_t FinishedInfo::getFsResponsesLen() const { return fsResponsesLen; }
void FinishedInfo::setFileStatus(cfdp::FinishedFileStatus fileStatus) {
this->fileStatus = fileStatus;

@@ -1,12 +1,12 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_FINISHINFO_H_
#define FSFW_SRC_FSFW_CFDP_PDU_FINISHINFO_H_
#include "../definitions.h"
#include "fsfw/cfdp/tlv/EntityIdTlv.h"
#include "fsfw/cfdp/tlv/FilestoreResponseTlv.h"
#include "../definitions.h"
class FinishedInfo {
public:
public:
FinishedInfo();
FinishedInfo(cfdp::ConditionCode conditionCode, cfdp::FinishedDeliveryCode deliveryCode,
cfdp::FinishedFileStatus fileStatus);
@@ -20,8 +20,8 @@ public:
size_t* fsResponsesLen, const size_t* maxFsResponseLen);
void setFaultLocation(EntityIdTlv* entityId);
ReturnValue_t getFilestoreResonses(FilestoreResponseTlv ***fsResponses,
size_t *fsResponsesLen, size_t* fsResponsesMaxLen);
ReturnValue_t getFilestoreResonses(FilestoreResponseTlv*** fsResponses, size_t* fsResponsesLen,
size_t* fsResponsesMaxLen);
size_t getFsResponsesLen() const;
void setFilestoreResponsesArrayLen(size_t fsResponsesLen);
ReturnValue_t getFaultLocation(EntityIdTlv** entityId);
@@ -32,7 +32,7 @@ public:
cfdp::FinishedFileStatus getFileStatus() const;
void setFileStatus(cfdp::FinishedFileStatus fileStatus);
private:
private:
cfdp::ConditionCode conditionCode = cfdp::ConditionCode::NO_CONDITION_FIELD;
cfdp::FinishedDeliveryCode deliveryCode = cfdp::FinishedDeliveryCode::DATA_COMPLETE;
cfdp::FinishedFileStatus fileStatus = cfdp::FinishedFileStatus::DISCARDED_DELIBERATELY;

@@ -1,12 +1,12 @@
#include "FinishedPduDeserializer.h"
FinishPduDeserializer::FinishPduDeserializer(const uint8_t *pduBuf, size_t maxSize,
FinishedInfo &info): FileDirectiveDeserializer(pduBuf, maxSize), finishedInfo(info) {
}
FinishPduDeserializer::FinishPduDeserializer(const uint8_t* pduBuf, size_t maxSize,
FinishedInfo& info)
: FileDirectiveDeserializer(pduBuf, maxSize), finishedInfo(info) {}
ReturnValue_t FinishPduDeserializer::parseData() {
ReturnValue_t result = FileDirectiveDeserializer::parseData();
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
@@ -23,18 +23,16 @@ ReturnValue_t FinishPduDeserializer::parseData() {
buf += 1;
remSize -= 1;
currentIdx += 1;
if(remSize > 0) {
if (remSize > 0) {
result = parseTlvs(remSize, currentIdx, buf, condCode);
}
return result;
}
FinishedInfo& FinishPduDeserializer::getInfo() {
return finishedInfo;
}
FinishedInfo& FinishPduDeserializer::getInfo() { return finishedInfo; }
ReturnValue_t FinishPduDeserializer::parseTlvs(size_t remLen, size_t currentIdx,
const uint8_t* buf, cfdp::ConditionCode conditionCode) {
ReturnValue_t FinishPduDeserializer::parseTlvs(size_t remLen, size_t currentIdx, const uint8_t* buf,
cfdp::ConditionCode conditionCode) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
size_t fsResponsesIdx = 0;
auto endianness = getEndianness();
@@ -42,7 +40,7 @@ ReturnValue_t FinishPduDeserializer::parseTlvs(size_t remLen, size_t currentIdx,
size_t fsResponseMaxArrayLen = 0;
EntityIdTlv* faultLocation = nullptr;
cfdp::TlvTypes nextTlv = cfdp::TlvTypes::INVALID_TLV;
while(remLen > 0) {
while (remLen > 0) {
// Simply forward parse the TLV type. Every TLV type except the last one must be a Filestore
// Response TLV, and even the last one can be a Filestore Response TLV if the fault
// location is omitted
@@ -51,34 +49,34 @@ ReturnValue_t FinishPduDeserializer::parseTlvs(size_t remLen, size_t currentIdx,
}
nextTlv = static_cast<cfdp::TlvTypes>(*buf);
if (nextTlv == cfdp::TlvTypes::FILESTORE_RESPONSE) {
if(fsResponseArray == nullptr) {
if(not finishedInfo.canHoldFsResponses()) {
if (fsResponseArray == nullptr) {
if (not finishedInfo.canHoldFsResponses()) {
return cfdp::FINISHED_CANT_PARSE_FS_RESPONSES;
}
result = finishedInfo.getFilestoreResonses(&fsResponseArray, nullptr,
&fsResponseMaxArrayLen);
result =
finishedInfo.getFilestoreResonses(&fsResponseArray, nullptr, &fsResponseMaxArrayLen);
}
if(fsResponsesIdx == fsResponseMaxArrayLen) {
if (fsResponsesIdx == fsResponseMaxArrayLen) {
return cfdp::FINISHED_CANT_PARSE_FS_RESPONSES;
}
result = fsResponseArray[fsResponsesIdx]->deSerialize(&buf, &remLen, endianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
fsResponsesIdx += 1;
} else if(nextTlv == cfdp::TlvTypes::ENTITY_ID) {
} else if (nextTlv == cfdp::TlvTypes::ENTITY_ID) {
// This needs to be the last TLV and it should not be here if the condition code
// is "No Error" or "Unsupported Checksum Type"
if(conditionCode == cfdp::ConditionCode::NO_ERROR or
if (conditionCode == cfdp::ConditionCode::NO_ERROR or
conditionCode == cfdp::ConditionCode::UNSUPPORTED_CHECKSUM_TYPE) {
return cfdp::INVALID_TLV_TYPE;
}
result = finishedInfo.getFaultLocation(&faultLocation);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = faultLocation->deSerialize(&buf, &remLen, endianness);
if(result != HasReturnvaluesIF::RETURN_OK) {
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
} else {

@@ -1,17 +1,18 @@
#ifndef FSFW_SRC_FSFW_CFDP_PDU_FINISHEDPDUDESERIALIZER_H_
#define FSFW_SRC_FSFW_CFDP_PDU_FINISHEDPDUDESERIALIZER_H_
#include "fsfw/cfdp/pdu/FinishedInfo.h"
#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
#include "fsfw/cfdp/pdu/FinishedInfo.h"
class FinishPduDeserializer: public FileDirectiveDeserializer {
public:
FinishPduDeserializer(const uint8_t *pduBuf, size_t maxSize, FinishedInfo& info);
class FinishPduDeserializer : public FileDirectiveDeserializer {
public:
FinishPduDeserializer(const uint8_t* pduBuf, size_t maxSize, FinishedInfo& info);
ReturnValue_t parseData() override;
FinishedInfo& getInfo();
private:
private:
FinishedInfo& finishedInfo;
ReturnValue_t parseTlvs(size_t remLen, size_t currentIdx, const uint8_t* buf,

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