fsfw/fsfw-example-common
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This commit is contained in:
Robin Müller 2022-05-05 20:55:28 +02:00
parent c2a9db8ac8
commit c88a534e1c
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GPG Key ID: 71B58F8A3CDFA9AC
42 changed files with 1667 additions and 1859 deletions
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42
config/commonPollingSequenceFactory.cpp
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@ -1,22 +1,17 @@
#include "pollingsequence/pollingSequenceFactory.h"
#include "objects/systemObjectList.h"
#include "example/test/FsfwExampleTask.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h> #include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h> #include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include "example/test/FsfwExampleTask.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"
ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) { ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0, thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
FsfwExampleTask::OpCodes::SEND_RAND_NUM); thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0, thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0,
FsfwExampleTask::OpCodes::SEND_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.2, thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.2,
FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM); FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
@ -25,17 +20,13 @@ ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.2, thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.2,
FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM); FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.5, thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
FsfwExampleTask::OpCodes::DELAY_SHORT); thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.5, thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
FsfwExampleTask::OpCodes::DELAY_SHORT);
thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.5,
FsfwExampleTask::OpCodes::DELAY_SHORT);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} } else {
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl; sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl;
#else #else
@ -54,10 +45,8 @@ ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3 * length, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3 * length, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3 * length, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3 * length, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.45 * length, thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.45 * length, DeviceHandlerIF::GET_WRITE);
DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.45 * length, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.45 * length,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length, DeviceHandlerIF::SEND_READ);
@ -67,8 +56,7 @@ ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} } else {
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "pst::pollingSequenceTestFunction: Initialization errors!" << std::endl; sif::error << "pst::pollingSequenceTestFunction: Initialization errors!" << std::endl;
#else #else
@ -77,7 +65,3 @@ ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }

1
config/commonSubsystemIds.h
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@ -14,5 +14,4 @@ enum commonSubsystemId: uint8_t {
}; };
} }
#endif /* COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_ */ #endif /* COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_ */

5
config/commonSystemObjects.h
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@ -1,9 +1,10 @@
#ifndef COMMON_COMMONSYSTEMOBJECTS_H_ #ifndef COMMON_COMMONSYSTEMOBJECTS_H_
#define COMMON_COMMONSYSTEMOBJECTS_H_ #define COMMON_COMMONSYSTEMOBJECTS_H_
#include <cstdint>
#include <fsfw/objectmanager/frameworkObjects.h> #include <fsfw/objectmanager/frameworkObjects.h>
#include <cstdint>
namespace objects { namespace objects {
enum commonObjects : object_id_t { enum commonObjects : object_id_t {
@ -35,6 +36,4 @@ enum commonObjects: object_id_t {
}; };
} }
#endif /* COMMON_COMMONSYSTEMOBJECTS_H_ */ #endif /* COMMON_COMMONSYSTEMOBJECTS_H_ */

109
example/controller/FsfwTestController.cpp
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@ -1,15 +1,16 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "FsfwTestController.h" #include "FsfwTestController.h"
#include <fsfw/datapool/PoolReadGuard.h>
FsfwTestController::FsfwTestController(object_id_t objectId, object_id_t device0, FsfwTestController::FsfwTestController(object_id_t objectId, object_id_t device0,
object_id_t device1, uint8_t verboseLevel): object_id_t device1, uint8_t verboseLevel)
TestController(objectId, objects::NO_OBJECT, 5), device0Id(device0), : TestController(objectId, objects::NO_OBJECT, 5),
device1Id(device1), deviceDataset0(device0), deviceDataset1(device1) { device0Id(device0),
} device1Id(device1),
deviceDataset0(device0),
deviceDataset1(device1) {}
FsfwTestController::~FsfwTestController() { FsfwTestController::~FsfwTestController() {}
}
ReturnValue_t FsfwTestController::handleCommandMessage(CommandMessage* message) { ReturnValue_t FsfwTestController::handleCommandMessage(CommandMessage* message) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
@ -44,8 +45,8 @@ void FsfwTestController::performControlOperation() {
} }
PoolReadGuard readHelper(&deviceDataset0.testUint8Var); PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tracing device 0 variable 0 (UINT8), current value: " << sif::info << "Tracing device 0 variable 0 (UINT8), current value: "
static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl; << static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
#else #else
sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n", sif::printInfo("Tracing device 0 variable 0 (UINT8), current value: %d\n",
deviceDataset0.testUint8Var.value); deviceDataset0.testUint8Var.value);
@ -56,7 +57,6 @@ void FsfwTestController::performControlOperation() {
case (TRACE_DEV_0_VECTOR): { case (TRACE_DEV_0_VECTOR): {
break; break;
} }
} }
} }
} }
@ -67,14 +67,16 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
HasLocalDataPoolIF* device0 = ObjectManager::instance()->get<HasLocalDataPoolIF>( HasLocalDataPoolIF* device0 =
deviceDataset0.getCreatorObjectId()); ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
if (device0 == nullptr) { if (device0 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 " sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!" << std::endl; "handle invalid!"
<< std::endl;
#else #else
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 0 " sif::printWarning(
"TestController::initializeAfterTaskCreation: Test device handler 0 "
"handle invalid!"); "handle invalid!");
#endif #endif
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
@ -82,21 +84,22 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface(); ProvidesDataPoolSubscriptionIF* subscriptionIF = device0->getSubscriptionInterface();
if (subscriptionIF != nullptr) { if (subscriptionIF != nullptr) {
/* For DEVICE_0, we only subscribe for notifications */ /* For DEVICE_0, we only subscribe for notifications */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(), subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(), getCommandQueue(),
false);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID, getObjectId(),
getCommandQueue(), false); getCommandQueue(), false);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
getObjectId(), getCommandQueue(), false);
} }
HasLocalDataPoolIF* device1 =
HasLocalDataPoolIF* device1 = ObjectManager::instance()->get<HasLocalDataPoolIF>( ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
deviceDataset0.getCreatorObjectId());
if (device1 == nullptr) { if (device1 == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 " sif::warning << "TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!" << std::endl; "handle invalid!"
<< std::endl;
#else #else
sif::printWarning("TestController::initializeAfterTaskCreation: Test device handler 1 " sif::printWarning(
"TestController::initializeAfterTaskCreation: Test device handler 1 "
"handle invalid!"); "handle invalid!");
#endif #endif
} }
@ -104,18 +107,15 @@ ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
subscriptionIF = device1->getSubscriptionInterface(); subscriptionIF = device1->getSubscriptionInterface();
if (subscriptionIF != nullptr) { if (subscriptionIF != nullptr) {
/* For DEVICE_1, we will subscribe for snapshots */ /* For DEVICE_1, we will subscribe for snapshots */
subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(), subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(), getCommandQueue(),
true);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID, getObjectId(),
getCommandQueue(), true); getCommandQueue(), true);
subscriptionIF->subscribeForVariableUpdateMessage(td::PoolIds::TEST_UINT8_ID,
getObjectId(), getCommandQueue(), true);
} }
return result; return result;
} }
LocalPoolDataSetBase* FsfwTestController::getDataSetHandle(sid_t sid) { LocalPoolDataSetBase* FsfwTestController::getDataSetHandle(sid_t sid) { return nullptr; }
return nullptr;
}
ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) { uint32_t* msToReachTheMode) {
@ -130,17 +130,20 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
char const* printout = nullptr; char const* printout = nullptr;
if (storeId == storeId::INVALID_STORE_ADDRESS) { if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification"; printout = "Notification";
} } else {
else {
printout = "Snapshot"; printout = "Snapshot";
} }
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "FsfwTestController::handleChangedDataset: " << printout << " update" sif::info << "FsfwTestController::handleChangedDataset: " << printout
"from object ID " << setw(8) << setfill('0') << hex << sid.objectId << << " update"
" and set ID " << sid.ownerSetId << dec << setfill(' ') << endl; "from object ID "
<< setw(8) << setfill('0') << hex << sid.objectId << " and set ID " << sid.ownerSetId
<< dec << setfill(' ') << endl;
#else #else
sif::printInfo("FsfwTestController::handleChangedPoolVariable: %s update from" sif::printInfo(
"object ID 0x%08x and set ID %lu\n", printout, sid.objectId, sid.ownerSetId); "FsfwTestController::handleChangedPoolVariable: %s update from"
"object ID 0x%08x and set ID %lu\n",
printout, sid.objectId, sid.ownerSetId);
#endif #endif
if (storeId == storeId::INVALID_STORE_ADDRESS) { if (storeId == storeId::INVALID_STORE_ADDRESS) {
@ -151,11 +154,11 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
floatVec[1] = deviceDataset0.testFloat3Vec.value[1]; floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
floatVec[2] = deviceDataset0.testFloat3Vec.value[2]; floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current float vector (3) values: [" << floatVec[0] << ", " << sif::info << "Current float vector (3) values: [" << floatVec[0] << ", " << floatVec[1]
floatVec[1] << ", " << floatVec[2] << "]" << std::endl; << ", " << floatVec[2] << "]" << std::endl;
#else #else
sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n", sif::printInfo("Current float vector (3) values: [%f, %f, %f]\n", floatVec[0], floatVec[1],
floatVec[0], floatVec[1], floatVec[2]); floatVec[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
} }
} }
@ -171,33 +174,35 @@ void FsfwTestController::handleChangedDataset(sid_t sid, store_address_t storeId
void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId, void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) { bool* clearMessage) {
using namespace std; using namespace std;
if (verboseLevel >= 1) { if (verboseLevel >= 1) {
char const* printout = nullptr; char const* printout = nullptr;
if (storeId == storeId::INVALID_STORE_ADDRESS) { if (storeId == storeId::INVALID_STORE_ADDRESS) {
printout = "Notification"; printout = "Notification";
} } else {
else {
printout = "Snapshot"; printout = "Snapshot";
} }
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestController::handleChangedPoolVariable: " << printout << " update from object " sif::info << "TestController::handleChangedPoolVariable: " << printout
"ID 0x" << setw(8) << setfill('0') << hex << globPoolId.objectId << << " update from object "
" and local pool ID " << globPoolId.localPoolId << dec << setfill(' ') << endl; "ID 0x"
<< setw(8) << setfill('0') << hex << globPoolId.objectId << " and local pool ID "
<< globPoolId.localPoolId << dec << setfill(' ') << endl;
#else #else
sif::printInfo("TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and " sif::printInfo(
"local pool ID %lu\n", printout, globPoolId.objectId, globPoolId.localPoolId); "TestController::handleChangedPoolVariable: %s update from object ID 0x%08x and "
"local pool ID %lu\n",
printout, globPoolId.objectId, globPoolId.localPoolId);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
if (storeId == storeId::INVALID_STORE_ADDRESS) { if (storeId == storeId::INVALID_STORE_ADDRESS) {
if (globPoolId.objectId == device0Id) { if (globPoolId.objectId == device0Id) {
PoolReadGuard readHelper(&deviceDataset0.testUint8Var); PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Current test variable 0 (UINT8) value: " << static_cast<int>( sif::info << "Current test variable 0 (UINT8) value: "
deviceDataset0.testUint8Var.value) << std::endl; << static_cast<int>(deviceDataset0.testUint8Var.value) << std::endl;
#else #else
sif::printInfo("Current test variable 0 (UINT8) value %d\n", sif::printInfo("Current test variable 0 (UINT8) value %d\n",
deviceDataset0.testUint8Var.value); deviceDataset0.testUint8Var.value);
@ -213,5 +218,3 @@ void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId, store_add
currentTraceType = TraceTypes::TRACE_DEV_0_UINT8; currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
} }
} }

13
example/controller/FsfwTestController.h
View File

@ -17,7 +17,6 @@ public:
void performControlOperation() override; void performControlOperation() override;
private: private:
object_id_t device0Id; object_id_t device0Id;
object_id_t device1Id; object_id_t device1Id;
testdevice::TestDataSet deviceDataset0; testdevice::TestDataSet deviceDataset0;
@ -28,16 +27,11 @@ private:
uint8_t traceCycles = 5; uint8_t traceCycles = 5;
uint8_t traceCounter = traceCycles; uint8_t traceCounter = traceCycles;
enum TraceTypes { enum TraceTypes { NONE, TRACE_DEV_0_UINT8, TRACE_DEV_0_VECTOR };
NONE,
TRACE_DEV_0_UINT8,
TRACE_DEV_0_VECTOR
};
TraceTypes currentTraceType = TraceTypes::NONE; TraceTypes currentTraceType = TraceTypes::NONE;
ReturnValue_t initializeAfterTaskCreation() override; ReturnValue_t initializeAfterTaskCreation() override;
void handleChangedDataset(sid_t sid, store_address_t storeId, void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
bool* clearMessage) override;
void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId, void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
bool* clearMessage) override; bool* clearMessage) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -45,9 +39,6 @@ private:
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override; uint32_t* msToReachTheMode) override;
}; };
#endif /* EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_ */ #endif /* EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_ */

65
example/core/GenericFactory.cpp
View File

@ -1,22 +1,10 @@
#include "GenericFactory.h" #include "GenericFactory.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "fsfw/FSFW.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#include "objects/systemObjectList.h"
#include "example/utility/TmFunnel.h"
#include "example/test/FsfwExampleTask.h" #include "example/test/FsfwExampleTask.h"
#include "example/test/FsfwReaderTask.h" #include "example/test/FsfwReaderTask.h"
#include "example/utility/TmFunnel.h"
#include "fsfw_tests/internal/InternalUnitTester.h" #include "fsfw/FSFW.h"
#include "fsfw_tests/integration/assemblies/TestAssembly.h"
#include "fsfw_tests/integration/devices/TestCookie.h"
#include "fsfw_tests/integration/devices/TestDeviceHandler.h"
#include "fsfw_tests/integration/devices/TestEchoComIF.h"
#include "fsfw_tests/integration/controller/TestController.h"
#include "fsfw/devicehandlers/CookieIF.h" #include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/events/EventManager.h" #include "fsfw/events/EventManager.h"
#include "fsfw/health/HealthTable.h" #include "fsfw/health/HealthTable.h"
@ -34,8 +22,15 @@
#include "fsfw/tcdistribution/PUSDistributor.h" #include "fsfw/tcdistribution/PUSDistributor.h"
#include "fsfw/timemanager/TimeStamper.h" #include "fsfw/timemanager/TimeStamper.h"
#include "fsfw/tmtcpacket/pus/tm.h" #include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw_tests/integration/assemblies/TestAssembly.h"
#include "fsfw_tests/integration/controller/TestController.h"
#include "fsfw_tests/integration/devices/TestCookie.h"
#include "fsfw_tests/integration/devices/TestDeviceHandler.h"
#include "fsfw_tests/integration/devices/TestEchoComIF.h"
#include "fsfw_tests/internal/InternalUnitTester.h"
#include "objects/systemObjectList.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
void ObjectFactory::produceGenericObjects() { void ObjectFactory::produceGenericObjects() {
#if OBSW_ADD_CORE_COMPONENTS == 1 #if OBSW_ADD_CORE_COMPONENTS == 1
@ -45,30 +40,27 @@ void ObjectFactory::produceGenericObjects() {
new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER); new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
new TimeStamper(objects::TIME_STAMPER); new TimeStamper(objects::TIME_STAMPER);
new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR); new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR);
new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR, new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR, objects::CCSDS_DISTRIBUTOR);
objects::CCSDS_DISTRIBUTOR);
new TmFunnel(objects::TM_FUNNEL); new TmFunnel(objects::TM_FUNNEL);
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */ #endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
/* PUS stack */ /* PUS stack */
#if OBSW_ADD_PUS_STACK == 1 #if OBSW_ADD_PUS_STACK == 1
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, apid::APID,
apid::APID, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 5); pus::PUS_SERVICE_1, objects::TM_FUNNEL, 5);
new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, apid::APID, pus::PUS_SERVICE_2, 3,
apid::APID, pus::PUS_SERVICE_2, 3, 10); 10);
new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID, pus::PUS_SERVICE_3); new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID, pus::PUS_SERVICE_3);
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::APID, pus::PUS_SERVICE_5,
apid::APID, pus::PUS_SERVICE_5, 50); 50);
new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, apid::APID,
apid::APID, pus::PUS_SERVICE_8, 3, 10); pus::PUS_SERVICE_8, 3, 10);
new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::APID, new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::APID, pus::PUS_SERVICE_9);
pus::PUS_SERVICE_9); new Service17Test(objects::PUS_SERVICE_17_TEST, apid::APID, pus::PUS_SERVICE_17);
new Service17Test(objects::PUS_SERVICE_17_TEST, apid::APID,
pus::PUS_SERVICE_17);
new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::APID, new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::APID,
pus::PUS_SERVICE_20); pus::PUS_SERVICE_20);
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::APID,
apid::APID, pus::PUS_SERVICE_200); pus::PUS_SERVICE_200);
#endif /* OBSW_ADD_PUS_STACK == 1 */ #endif /* OBSW_ADD_PUS_STACK == 1 */
#if OBSW_ADD_TASK_EXAMPLE == 1 #if OBSW_ADD_TASK_EXAMPLE == 1
@ -77,7 +69,6 @@ void ObjectFactory::produceGenericObjects() {
new FsfwExampleTask(objects::TEST_DUMMY_2); new FsfwExampleTask(objects::TEST_DUMMY_2);
new FsfwExampleTask(objects::TEST_DUMMY_3); new FsfwExampleTask(objects::TEST_DUMMY_3);
bool enablePrintout = false; bool enablePrintout = false;
#if OBSW_TASK_EXAMPLE_PRINTOUT == 1 #if OBSW_TASK_EXAMPLE_PRINTOUT == 1
enablePrintout = true; enablePrintout = true;
@ -95,8 +86,8 @@ void ObjectFactory::produceGenericObjects() {
/* Demo device handler object */ /* Demo device handler object */
size_t expectedMaxReplyLen = 64; size_t expectedMaxReplyLen = 64;
CookieIF* testCookie = new TestCookie( CookieIF* testCookie = new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0),
static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0), expectedMaxReplyLen); expectedMaxReplyLen);
new TestEchoComIF(objects::TEST_ECHO_COM_IF); new TestEchoComIF(objects::TEST_ECHO_COM_IF);
new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF, testCookie, new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF, testCookie,
testdevice::DeviceIndex::DEVICE_0, enableInfoPrintout); testdevice::DeviceIndex::DEVICE_0, enableInfoPrintout);
@ -110,7 +101,6 @@ void ObjectFactory::produceGenericObjects() {
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */ #endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
/* Demo controller object */ /* Demo controller object */
#if OBSW_ADD_CONTROLLER_DEMO == 1 #if OBSW_ADD_CONTROLLER_DEMO == 1
@ -153,7 +143,4 @@ void Factory::setStaticFrameworkObjectIds() {
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketBase::timeStamperId = objects::TIME_STAMPER; TmPacketBase::timeStamperId = objects::TIME_STAMPER;
} }

3
example/core/GenericFactory.h
View File

@ -11,7 +11,6 @@ namespace ObjectFactory {
*/ */
void produceGenericObjects(); void produceGenericObjects();
} } // namespace ObjectFactory
#endif /* MISSION_CORE_GENERICFACTORY_H_ */ #endif /* MISSION_CORE_GENERICFACTORY_H_ */

2
example/devices/TestDeviceHandler.h
View File

@ -7,6 +7,4 @@
// //
//}; //};
#endif /* EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_ */ #endif /* EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_ */

100
example/test/FsfwExampleTask.cpp
View File

@ -1,25 +1,24 @@
#include "FsfwExampleTask.h" #include "FsfwExampleTask.h"
#include <fsfw/ipc/CommandMessage.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "commonSystemObjects.h" #include "commonSystemObjects.h"
#include "objects/systemObjectList.h" #include "objects/systemObjectList.h"
#include <fsfw/serviceinterface/ServiceInterface.h> FsfwExampleTask::FsfwExampleTask(object_id_t objectId)
#include <fsfw/objectmanager/ObjectManager.h> : SystemObject(objectId),
#include <fsfw/tasks/TaskFactory.h> poolManager(this, nullptr),
#include <fsfw/ipc/QueueFactory.h> demoSet(this),
#include <fsfw/ipc/CommandMessage.h> monitor(objectId, MONITOR_ID, gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10) {
commandQueue = QueueFactory::instance()->createMessageQueue(10, CommandMessage::MAX_MESSAGE_SIZE);
FsfwExampleTask::FsfwExampleTask(object_id_t objectId): SystemObject(objectId),
poolManager(this, nullptr), demoSet(this),
monitor(objectId, MONITOR_ID, gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10)
{
commandQueue = QueueFactory::instance()->createMessageQueue(10,
CommandMessage::MAX_MESSAGE_SIZE);
} }
FsfwExampleTask::~FsfwExampleTask() { FsfwExampleTask::~FsfwExampleTask() {}
}
ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) { ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) {
if (operationCode == OpCodes::DELAY_SHORT) { if (operationCode == OpCodes::DELAY_SHORT) {
@ -39,10 +38,8 @@ ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) {
} }
} }
if (operationCode == OpCodes::RECEIVE_RAND_NUM) { if (operationCode == OpCodes::RECEIVE_RAND_NUM) {
result = performReceiveOperation(); result = performReceiveOperation();
} }
return 0; return 0;
@ -80,7 +77,6 @@ object_id_t FsfwExampleTask::getSender() {
} }
} }
ReturnValue_t FsfwExampleTask::initialize() { ReturnValue_t FsfwExampleTask::initialize() {
// Get the dataset of the sender. Will be cached for later checks. // Get the dataset of the sender. Will be cached for later checks.
object_id_t sender = getSender(); object_id_t sender = getSender();
@ -111,36 +107,25 @@ ReturnValue_t FsfwExampleTask::initializeAfterTaskCreation() {
return poolManager.initializeAfterTaskCreation(); return poolManager.initializeAfterTaskCreation();
} }
object_id_t FsfwExampleTask::getObjectId() const { object_id_t FsfwExampleTask::getObjectId() const { return SystemObject::getObjectId(); }
return SystemObject::getObjectId();
}
MessageQueueId_t FsfwExampleTask::getMessageQueueId(){ MessageQueueId_t FsfwExampleTask::getMessageQueueId() { return commandQueue->getId(); }
return commandQueue->getId();
}
void FsfwExampleTask::setTaskIF(PeriodicTaskIF* task){ void FsfwExampleTask::setTaskIF(PeriodicTaskIF* task) { this->task = task; }
this->task = task;
}
LocalPoolDataSetBase* FsfwExampleTask::getDataSetHandle(sid_t sid) { LocalPoolDataSetBase* FsfwExampleTask::getDataSetHandle(sid_t sid) { return &demoSet; }
return &demoSet;
}
uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const { uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const { return task->getPeriodMs(); }
return task->getPeriodMs();
}
ReturnValue_t FsfwExampleTask::initializeLocalDataPool( ReturnValue_t FsfwExampleTask::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE, new PoolEntry<uint32_t>({0})); localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT, new PoolEntry<uint16_t>({0})); localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT, new PoolEntry<uint16_t>({0}));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t FsfwExampleTask::performMonitoringDemo() { ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
ReturnValue_t result = demoSet.variableLimit.read( ReturnValue_t result = demoSet.variableLimit.read(MutexIF::TimeoutType::WAITING, 20);
MutexIF::TimeoutType::WAITING, 20);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */ /* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -174,7 +159,6 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t randomNumber = rand() % 100; uint32_t randomNumber = rand() % 100;
CommandMessage message; CommandMessage message;
message.setParameter(randomNumber); message.setParameter(randomNumber);
@ -182,11 +166,9 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
/* Send message using own message queue */ /* Send message using own message queue */
ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message); ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message);
if (result != HasReturnvaluesIF::RETURN_OK if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
&& result != MessageQueueIF::FULL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
std::endl;
#else #else
sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result); sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
#endif #endif
@ -195,8 +177,7 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
/* Send message without via MessageQueueSenderIF */ /* Send message without via MessageQueueSenderIF */
result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message, result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message,
commandQueue->getId()); commandQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
&& result != MessageQueueIF::FULL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl; sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
#else #else
@ -215,8 +196,7 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
while (result != MessageQueueIF::EMPTY) { while (result != MessageQueueIF::EMPTY) {
CommandMessage receivedMessage; CommandMessage receivedMessage;
result = commandQueue->receiveMessage(&receivedMessage); result = commandQueue->receiveMessage(&receivedMessage);
if (result != HasReturnvaluesIF::RETURN_OK if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::EMPTY) {
&& result != MessageQueueIF::EMPTY) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Receive failed with " << result << std::endl; sif::debug << "Receive failed with " << result << std::endl;
#endif #endif
@ -225,9 +205,9 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
if (result != MessageQueueIF::EMPTY) { if (result != MessageQueueIF::EMPTY) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
#if OBSW_VERBOSE_LEVEL >= 2 #if OBSW_VERBOSE_LEVEL >= 2
sif::debug << "Message Received by " << getObjectId() << " from Queue " << sif::debug << "Message Received by " << getObjectId() << " from Queue "
receivedMessage.getSender() << " ObjectId " << receivedMessage.getParameter() << << receivedMessage.getSender() << " ObjectId " << receivedMessage.getParameter()
" Queue " << receivedMessage.getParameter2() << std::endl; << " Queue " << receivedMessage.getParameter2() << std::endl;
#endif #endif
#endif #endif
@ -235,30 +215,24 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
result = senderSet->variableRead.read(MutexIF::TimeoutType::WAITING, result = senderSet->variableRead.read(MutexIF::TimeoutType::WAITING, 20);
20);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
if (senderSet->variableRead.value != receivedMessage.getParameter()) { if (senderSet->variableRead.value != receivedMessage.getParameter()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FsfwDemoTask::performReceiveOperation: Variable " << std::hex << sif::error << "FsfwDemoTask::performReceiveOperation: Variable " << std::hex << "0x"
"0x" << senderSet->variableRead.getDataPoolId() << std::dec << << senderSet->variableRead.getDataPoolId() << std::dec << " has wrong value."
" has wrong value." << std::endl; << std::endl;
sif::error << "Value: " << demoSet.variableRead.value << ", expected: " << sif::error << "Value: " << demoSet.variableRead.value
receivedMessage.getParameter() << std::endl; << ", expected: " << receivedMessage.getParameter() << std::endl;
#endif #endif
} }
} }
} }
return result; return result;
} }
MessageQueueId_t FsfwExampleTask::getCommandQueue() const { MessageQueueId_t FsfwExampleTask::getCommandQueue() const { return commandQueue->getId(); }
return commandQueue->getId();
}
LocalDataPoolManager* FsfwExampleTask::getHkManagerHandle() { LocalDataPoolManager* FsfwExampleTask::getHkManagerHandle() { return &poolManager; }
return &poolManager;
}

26
example/test/FsfwExampleTask.h
View File

@ -1,18 +1,17 @@
#ifndef MISSION_DEMO_FSFWDEMOTASK_H_ #ifndef MISSION_DEMO_FSFWDEMOTASK_H_
#define MISSION_DEMO_FSFWDEMOTASK_H_ #define MISSION_DEMO_FSFWDEMOTASK_H_
#include "testdefinitions/demoDefinitions.h"
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h> #include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/tasks/ExecutableObjectIF.h> #include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/ipc/MessageQueueIF.h> #include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/monitoring/AbsLimitMonitor.h> #include <fsfw/monitoring/AbsLimitMonitor.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include "testdefinitions/demoDefinitions.h"
class PeriodicTaskIF; class PeriodicTaskIF;
/** /**
* @brief This demo set shows the local data pool functionality and fixed * @brief This demo set shows the local data pool functionality and fixed
* timeslot capabilities of the FSFW. * timeslot capabilities of the FSFW.
@ -25,16 +24,9 @@ class PeriodicTaskIF;
* value directly from the sender via the local data pool interface. * value directly from the sender via the local data pool interface.
* If the timing is set up correctly, the values will always be the same. * If the timing is set up correctly, the values will always be the same.
*/ */
class FsfwExampleTask: class FsfwExampleTask : public ExecutableObjectIF, public SystemObject, public HasLocalDataPoolIF {
public ExecutableObjectIF,
public SystemObject,
public HasLocalDataPoolIF {
public: public:
enum OpCodes { enum OpCodes { SEND_RAND_NUM, RECEIVE_RAND_NUM, DELAY_SHORT };
SEND_RAND_NUM,
RECEIVE_RAND_NUM,
DELAY_SHORT
};
static constexpr uint8_t MONITOR_ID = 2; static constexpr uint8_t MONITOR_ID = 2;
@ -86,7 +78,6 @@ public:
MessageQueueId_t getMessageQueueId(); MessageQueueId_t getMessageQueueId();
private: private:
LocalDataPoolManager poolManager; LocalDataPoolManager poolManager;
FsfwDemoSet* senderSet = nullptr; FsfwDemoSet* senderSet = nullptr;
@ -99,8 +90,7 @@ private:
MessageQueueId_t getCommandQueue() const override; MessageQueueId_t getCommandQueue() const override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
uint32_t getPeriodicOperationFrequency() const override; uint32_t getPeriodicOperationFrequency() const override;
ReturnValue_t initializeLocalDataPool( ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override; LocalDataPoolManager& poolManager) override;
LocalDataPoolManager* getHkManagerHandle() override; LocalDataPoolManager* getHkManagerHandle() override;

19
example/test/FsfwReaderTask.cpp
View File

@ -1,25 +1,23 @@
#include "FsfwReaderTask.h" #include "FsfwReaderTask.h"
#include <OBSWConfig.h>
#include <fsfw/datapool/PoolReadGuard.h> #include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h> #include <fsfw/timemanager/Stopwatch.h>
#include <OBSWConfig.h> FsfwReaderTask::FsfwReaderTask(object_id_t objectId, bool enablePrintout)
: SystemObject(objectId),
printoutEnabled(enablePrintout),
FsfwReaderTask::FsfwReaderTask(object_id_t objectId, bool enablePrintout): opDivider(10),
SystemObject(objectId), printoutEnabled(enablePrintout), opDivider(10), readSet(this->getObjectId(), gp_id_t(objects::TEST_DUMMY_1, FsfwDemoSet::PoolIds::VARIABLE),
readSet(this->getObjectId(),
gp_id_t(objects::TEST_DUMMY_1, FsfwDemoSet::PoolIds::VARIABLE),
gp_id_t(objects::TEST_DUMMY_2, FsfwDemoSet::PoolIds::VARIABLE), gp_id_t(objects::TEST_DUMMY_2, FsfwDemoSet::PoolIds::VARIABLE),
gp_id_t(objects::TEST_DUMMY_3, FsfwDemoSet::PoolIds::VARIABLE)) { gp_id_t(objects::TEST_DUMMY_3, FsfwDemoSet::PoolIds::VARIABLE)) {
/* Special protection for set reading because each variable is read from a different pool */ /* Special protection for set reading because each variable is read from a different pool */
readSet.setReadCommitProtectionBehaviour(true); readSet.setReadCommitProtectionBehaviour(true);
} }
FsfwReaderTask::~FsfwReaderTask() { FsfwReaderTask::~FsfwReaderTask() {}
}
ReturnValue_t FsfwReaderTask::initializeAfterTaskCreation() { ReturnValue_t FsfwReaderTask::initializeAfterTaskCreation() {
/* Give other task some time to set up local data pools. */ /* Give other task some time to set up local data pools. */
@ -49,7 +47,8 @@ ReturnValue_t FsfwReaderTask::performOperation(uint8_t operationCode) {
#endif #endif
} }
#else #else
if(variable1 and variable2 and variable3) {}; if (variable1 and variable2 and variable3) {
};
#endif #endif
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }

6
example/test/FsfwReaderTask.h
View File

@ -1,11 +1,11 @@
#ifndef MISSION_DEMO_FSFWPERIODICTASK_H_ #ifndef MISSION_DEMO_FSFWPERIODICTASK_H_
#define MISSION_DEMO_FSFWPERIODICTASK_H_ #define MISSION_DEMO_FSFWPERIODICTASK_H_
#include "testdefinitions/demoDefinitions.h"
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include "testdefinitions/demoDefinitions.h"
class FsfwReaderTask : public ExecutableObjectIF, public SystemObject { class FsfwReaderTask : public ExecutableObjectIF, public SystemObject {
public: public:

5
example/test/FsfwTestTask.cpp
View File

@ -1,8 +1,7 @@
#include "FsfwTestTask.h" #include "FsfwTestTask.h"
FsfwTestTask::FsfwTestTask(object_id_t objectId, bool periodicEvent): FsfwTestTask::FsfwTestTask(object_id_t objectId, bool periodicEvent)
TestTask(objectId), periodicEvent(periodicEvent) { : TestTask(objectId), periodicEvent(periodicEvent) {}
}
ReturnValue_t FsfwTestTask::performPeriodicAction() { ReturnValue_t FsfwTestTask::performPeriodicAction() {
if (periodicEvent) { if (periodicEvent) {

7
example/test/FsfwTestTask.h
View File

@ -1,18 +1,17 @@
#ifndef EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_ #ifndef EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_
#define EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_ #define EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_
#include "fsfw_tests/integration/task/TestTask.h"
#include "fsfw/events/Event.h"
#include "events/subsystemIdRanges.h" #include "events/subsystemIdRanges.h"
#include "fsfw/events/Event.h"
#include "fsfw_tests/integration/task/TestTask.h"
class FsfwTestTask : public TestTask { class FsfwTestTask : public TestTask {
public: public:
FsfwTestTask(object_id_t objectId, bool periodicEvent); FsfwTestTask(object_id_t objectId, bool periodicEvent);
ReturnValue_t performPeriodicAction() override; ReturnValue_t performPeriodicAction() override;
private:
private:
bool periodicEvent = false; bool periodicEvent = false;
static constexpr uint8_t subsystemId = SUBSYSTEM_ID::TEST_TASK_ID; static constexpr uint8_t subsystemId = SUBSYSTEM_ID::TEST_TASK_ID;
static constexpr Event TEST_EVENT = event::makeEvent(subsystemId, 0, severity::INFO); static constexpr Event TEST_EVENT = event::makeEvent(subsystemId, 0, severity::INFO);

4
example/test/MutexExample.cpp
View File

@ -3,13 +3,11 @@
#include <fsfw/ipc/MutexFactory.h> #include <fsfw/ipc/MutexFactory.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
void MutexExample::example() { void MutexExample::example() {
MutexIF* mutex = MutexFactory::instance()->createMutex(); MutexIF* mutex = MutexFactory::instance()->createMutex();
MutexIF* mutex2 = MutexFactory::instance()->createMutex(); MutexIF* mutex2 = MutexFactory::instance()->createMutex();
ReturnValue_t result = mutex->lockMutex(MutexIF::TimeoutType::WAITING, ReturnValue_t result = mutex->lockMutex(MutexIF::TimeoutType::WAITING, 2 * 60 * 1000);
2 * 60 * 1000);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MutexExample::example: Lock Failed with " << result << std::endl; sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;

35
example/test/testdefinitions/demoDefinitions.h
View File

@ -1,8 +1,8 @@
#ifndef MISSION_DEMO_DEMODEFINITIONS_H_ #ifndef MISSION_DEMO_DEMODEFINITIONS_H_
#define MISSION_DEMO_DEMODEFINITIONS_H_ #define MISSION_DEMO_DEMODEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h> #include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
/** /**
* @brief This demo set showcases the local data pool functionality of the * @brief This demo set showcases the local data pool functionality of the
@ -13,25 +13,20 @@
*/ */
class FsfwDemoSet : public StaticLocalDataSet<3> { class FsfwDemoSet : public StaticLocalDataSet<3> {
public: public:
static constexpr uint32_t DEMO_SET_ID = 0; static constexpr uint32_t DEMO_SET_ID = 0;
enum PoolIds { enum PoolIds { VARIABLE, VARIABLE_LIMIT };
VARIABLE,
VARIABLE_LIMIT
};
FsfwDemoSet(HasLocalDataPoolIF* hkOwner): FsfwDemoSet(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
lp_var_t<uint32_t> variableRead =
lp_var_t<uint32_t>(sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_READ);
lp_var_t<uint32_t> variableWrite =
lp_var_t<uint32_t>(sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_WRITE);
lp_var_t<uint16_t> variableLimit =
lp_var_t<uint16_t>(sid.objectId, PoolIds::VARIABLE_LIMIT, this);
lp_var_t<uint32_t> variableRead = lp_var_t<uint32_t>(sid.objectId,
PoolIds::VARIABLE, this, pool_rwm_t::VAR_READ);
lp_var_t<uint32_t> variableWrite = lp_var_t<uint32_t>(sid.objectId,
PoolIds::VARIABLE, this, pool_rwm_t::VAR_WRITE);
lp_var_t<uint16_t> variableLimit = lp_var_t<uint16_t>(sid.objectId,
PoolIds::VARIABLE_LIMIT, this);
private: private:
}; };
/** /**
@ -43,21 +38,17 @@ class CompleteDemoReadSet: public StaticLocalDataSet<3> {
public: public:
static constexpr uint32_t DEMO_SET_ID = 0; static constexpr uint32_t DEMO_SET_ID = 0;
CompleteDemoReadSet(object_id_t owner, gp_id_t variable1, CompleteDemoReadSet(object_id_t owner, gp_id_t variable1, gp_id_t variable2, gp_id_t variable3)
gp_id_t variable2, gp_id_t variable3): : StaticLocalDataSet(sid_t(owner, DEMO_SET_ID)),
StaticLocalDataSet(sid_t(owner, DEMO_SET_ID)),
variable1(variable1, this, pool_rwm_t::VAR_READ), variable1(variable1, this, pool_rwm_t::VAR_READ),
variable2(variable2, this, pool_rwm_t::VAR_READ), variable2(variable2, this, pool_rwm_t::VAR_READ),
variable3(variable3, this, pool_rwm_t::VAR_READ) {} variable3(variable3, this, pool_rwm_t::VAR_READ) {}
lp_var_t<uint32_t> variable1; lp_var_t<uint32_t> variable1;
lp_var_t<uint32_t> variable2; lp_var_t<uint32_t> variable2;
lp_var_t<uint32_t> variable3; lp_var_t<uint32_t> variable3;
private: private:
}; };
#endif /* MISSION_DEMO_DEMODEFINITIONS_H_ */ #endif /* MISSION_DEMO_DEMODEFINITIONS_H_ */

5
example/utility/PusPacketCreator.cpp
View File

@ -1,10 +1,9 @@
#include <fsfw/tmtcpacket/pus/tc.h>
#include <fsfw/tmtcpacket/pus/tm.h>
#include <fsfw/globalfunctions/arrayprinter.h> #include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tmtcpacket/pus/tc.h>
#include <fsfw/tmtcpacket/pus/tm.h>
#include <mission/utility/PusPacketCreator.h> #include <mission/utility/PusPacketCreator.h>
void PusPacketCreator::createPusPacketAndPrint() { void PusPacketCreator::createPusPacketAndPrint() {
// TODO: use TC packet stored here instead.. // TODO: use TC packet stored here instead..
} }

11
example/utility/TaskCreation.h
View File

@ -8,15 +8,14 @@ namespace task {
void printInitError(const char* objName, object_id_t objectId) { void printInitError(const char* objName, object_id_t objectId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission: Adding object " << objName << "(" sif::error << "InitMission: Adding object " << objName << "(" << std::setw(8) << std::setfill('0')
<< std::setw(8) << std::setfill('0') << std::hex << objectId << std::hex << objectId << std::dec << ") failed." << std::endl;
<< std::dec << ") failed." << std::endl;
#else #else
sif::printError("InitMission: Adding object %s (0x%08x) failed.\n", sif::printError("InitMission: Adding object %s (0x%08x) failed.\n", objName,
objName, static_cast<unsigned int>(objectId)); static_cast<unsigned int>(objectId));
#endif #endif
} }
} } // namespace task
#endif /* MISSION_UTILITY_TASKCREATION_H_ */ #endif /* MISSION_UTILITY_TASKCREATION_H_ */

44
example/utility/TmFunnel.cpp
View File

@ -2,22 +2,21 @@
#include <fsfw/ipc/QueueFactory.h> #include <fsfw/ipc/QueueFactory.h>
#include <fsfw/objectmanager/ObjectManager.h> #include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tmtcpacket/pus/tm.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tmtcpacket/pus/tm.h>
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT; object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
object_id_t TmFunnel::storageDestination = objects::NO_OBJECT; object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth): TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth)
SystemObject(objectId), messageDepth(messageDepth) { : SystemObject(objectId), messageDepth(messageDepth) {
tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth, tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE); MessageQueueMessage::MAX_MESSAGE_SIZE);
storageQueue = QueueFactory::instance()->createMessageQueue(messageDepth, storageQueue = QueueFactory::instance()->createMessageQueue(
MessageQueueMessage::MAX_MESSAGE_SIZE); messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
} }
TmFunnel::~TmFunnel() { TmFunnel::~TmFunnel() {}
}
MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) { MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
return tmQueue->getId(); return tmQueue->getId();
@ -26,8 +25,7 @@ MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) { ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
TmTcMessage currentMessage; TmTcMessage currentMessage;
ReturnValue_t status = tmQueue->receiveMessage(&currentMessage); ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
while(status == HasReturnvaluesIF::RETURN_OK) while (status == HasReturnvaluesIF::RETURN_OK) {
{
status = handlePacket(&currentMessage); status = handlePacket(&currentMessage);
if (status != HasReturnvaluesIF::RETURN_OK) { if (status != HasReturnvaluesIF::RETURN_OK) {
break; break;
@ -37,8 +35,7 @@ ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
if (status == MessageQueueIF::EMPTY) { if (status == MessageQueueIF::EMPTY) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} } else {
else {
return status; return status;
} }
} }
@ -46,16 +43,14 @@ ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) { ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
uint8_t* packetData = nullptr; uint8_t* packetData = nullptr;
size_t size = 0; size_t size = 0;
ReturnValue_t result = tmPool->modifyData(message->getStorageId(), ReturnValue_t result = tmPool->modifyData(message->getStorageId(), &packetData, &size);
&packetData, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
TmPacketPusC packet(packetData); TmPacketPusC packet(packetData);
packet.setPacketSequenceCount(this->sourceSequenceCount); packet.setPacketSequenceCount(this->sourceSequenceCount);
sourceSequenceCount++; sourceSequenceCount++;
sourceSequenceCount = sourceSequenceCount % sourceSequenceCount = sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT;
SpacePacketBase::LIMIT_SEQUENCE_COUNT;
packet.setErrorControl(); packet.setErrorControl();
result = tmQueue->sendToDefault(message); result = tmQueue->sendToDefault(message);
@ -81,24 +76,24 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
} }
ReturnValue_t TmFunnel::initialize() { ReturnValue_t TmFunnel::initialize() {
tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE); tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
if (tmPool == nullptr) { if (tmPool == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmFunnel::initialize: TM store not set." << std::endl; sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
sif::error << "Make sure the tm store is set up properly and implements StorageManagerIF" << sif::error << "Make sure the tm store is set up properly and implements StorageManagerIF"
std::endl; << std::endl;
#endif #endif
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
AcceptsTelemetryIF* tmTarget = ObjectManager::instance()-> AcceptsTelemetryIF* tmTarget =
get<AcceptsTelemetryIF>(downlinkDestination); ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
if (tmTarget == nullptr) { if (tmTarget == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl; sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
sif::error << "Make sure the downlink destination object is set up properly and implements " sif::error << "Make sure the downlink destination object is set up properly and implements "
"AcceptsTelemetryIF" << std::endl; "AcceptsTelemetryIF"
<< std::endl;
#endif #endif
return ObjectManagerIF::CHILD_INIT_FAILED; return ObjectManagerIF::CHILD_INIT_FAILED;
} }
@ -109,11 +104,10 @@ ReturnValue_t TmFunnel::initialize() {
return SystemObject::initialize(); return SystemObject::initialize();
} }
AcceptsTelemetryIF* storageTarget = ObjectManager::instance()-> AcceptsTelemetryIF* storageTarget =
get<AcceptsTelemetryIF>(storageDestination); ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
if (storageTarget != nullptr) { if (storageTarget != nullptr) {
storageQueue->setDefaultDestination( storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue());
storageTarget->getReportReceptionQueue());
} }
return SystemObject::initialize(); return SystemObject::initialize();

11
example/utility/TmFunnel.h
View File

@ -1,10 +1,10 @@
#ifndef MISSION_UTILITY_TMFUNNEL_H_ #ifndef MISSION_UTILITY_TMFUNNEL_H_
#define MISSION_UTILITY_TMFUNNEL_H_ #define MISSION_UTILITY_TMFUNNEL_H_
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h> #include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h> #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
#include <fsfw/ipc/MessageQueueIF.h>
#include <fsfw/tmtcservices/TmTcMessage.h> #include <fsfw/tmtcservices/TmTcMessage.h>
namespace Factory { namespace Factory {
@ -19,17 +19,14 @@ void setStaticFrameworkObjectIds();
* @ingroup utility * @ingroup utility
* @author J. Meier * @author J. Meier
*/ */
class TmFunnel: class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
public AcceptsTelemetryIF,
public ExecutableObjectIF,
public SystemObject {
friend void(Factory::setStaticFrameworkObjectIds)(); friend void(Factory::setStaticFrameworkObjectIds)();
public: public:
TmFunnel(object_id_t objectId, uint32_t messageDepth = 20); TmFunnel(object_id_t objectId, uint32_t messageDepth = 20);
virtual ~TmFunnel(); virtual ~TmFunnel();
virtual MessageQueueId_t getReportReceptionQueue( virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
uint8_t virtualChannel = 0) override;
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
virtual ReturnValue_t initialize() override; virtual ReturnValue_t initialize() override;

81
example/utility/compile_time.h
View File

@ -5,14 +5,17 @@
* Authors: * Authors:
* *
* Assembled from the code released on Stackoverflow by: * Assembled from the code released on Stackoverflow by:
* Dennis (instructable.com/member/nqtronix) | https://stackoverflow.com/questions/23032002/c-c-how-to-get-integer-unix-timestamp-of-build-time-not-string * Dennis (instructable.com/member/nqtronix) |
* https://stackoverflow.com/questions/23032002/c-c-how-to-get-integer-unix-timestamp-of-build-time-not-string
* and * and
* Alexis Wilke | https://stackoverflow.com/questions/10538444/do-you-know-of-a-c-macro-to-compute-unix-time-and-date * Alexis Wilke |
* https://stackoverflow.com/questions/10538444/do-you-know-of-a-c-macro-to-compute-unix-time-and-date
* *
* Assembled by Jean Rabault * Assembled by Jean Rabault
* *
* UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds since 1st Jan 1970) of compilation from macros using the compiler defined __TIME__ macro. * UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds since 1st Jan 1970) of
* This should include Gregorian calendar leap days, in particular the 29ths of February, 100 and 400 years modulo leaps. * compilation from macros using the compiler defined __TIME__ macro. This should include Gregorian
* calendar leap days, in particular the 29ths of February, 100 and 400 years modulo leaps.
* *
* Careful: __TIME__ is the local time of the computer, NOT the UTC time in general! * Careful: __TIME__ is the local time of the computer, NOT the UTC time in general!
* *
@ -34,18 +37,20 @@
#define CONV_STR2DEC_4(str, i) (CONV_STR2DEC_3(str, i) * 10 + str[i + 3] - '0') #define CONV_STR2DEC_4(str, i) (CONV_STR2DEC_3(str, i) * 10 + str[i + 3] - '0')
// Custom "glue logic" to convert the month name to a usable number // Custom "glue logic" to convert the month name to a usable number
#define GET_MONTH(str, i) (str[i]=='J' && str[i+1]=='a' && str[i+2]=='n' ? 1 : \ #define GET_MONTH(str, i) \
str[i]=='F' && str[i+1]=='e' && str[i+2]=='b' ? 2 : \ (str[i] == 'J' && str[i + 1] == 'a' && str[i + 2] == 'n' ? 1 \
str[i]=='M' && str[i+1]=='a' && str[i+2]=='r' ? 3 : \ : str[i] == 'F' && str[i + 1] == 'e' && str[i + 2] == 'b' ? 2 \
str[i]=='A' && str[i+1]=='p' && str[i+2]=='r' ? 4 : \ : str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'r' ? 3 \
str[i]=='M' && str[i+1]=='a' && str[i+2]=='y' ? 5 : \ : str[i] == 'A' && str[i + 1] == 'p' && str[i + 2] == 'r' ? 4 \
str[i]=='J' && str[i+1]=='u' && str[i+2]=='n' ? 6 : \ : str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'y' ? 5 \
str[i]=='J' && str[i+1]=='u' && str[i+2]=='l' ? 7 : \ : str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'n' ? 6 \
str[i]=='A' && str[i+1]=='u' && str[i+2]=='g' ? 8 : \ : str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'l' ? 7 \
str[i]=='S' && str[i+1]=='e' && str[i+2]=='p' ? 9 : \ : str[i] == 'A' && str[i + 1] == 'u' && str[i + 2] == 'g' ? 8 \
str[i]=='O' && str[i+1]=='c' && str[i+2]=='t' ? 10 : \ : str[i] == 'S' && str[i + 1] == 'e' && str[i + 2] == 'p' ? 9 \
str[i]=='N' && str[i+1]=='o' && str[i+2]=='v' ? 11 : \ : str[i] == 'O' && str[i + 1] == 'c' && str[i + 2] == 't' ? 10 \
str[i]=='D' && str[i+1]=='e' && str[i+2]=='c' ? 12 : 0) : str[i] == 'N' && str[i + 1] == 'o' && str[i + 2] == 'v' ? 11 \
: str[i] == 'D' && str[i + 1] == 'e' && str[i + 2] == 'c' ? 12 \
: 0)
// extract the information from the time string given by __TIME__ and __DATE__ // extract the information from the time string given by __TIME__ and __DATE__
#define __TIME_SECONDS__ CONV_STR2DEC_2(__TIME__, 6) #define __TIME_SECONDS__ CONV_STR2DEC_2(__TIME__, 6)
@ -57,41 +62,29 @@
// Days in February // Days in February
#define _UNIX_TIMESTAMP_FDAY(year) \ #define _UNIX_TIMESTAMP_FDAY(year) \
(((year) % 400) == 0UL ? 29UL : \ (((year) % 400) == 0UL ? 29UL \
(((year) % 100) == 0UL ? 28UL : \ : (((year) % 100) == 0UL ? 28UL : (((year) % 4) == 0UL ? 29UL : 28UL)))
(((year) % 4) == 0UL ? 29UL : \
28UL)))
// Days in the year // Days in the year
#define _UNIX_TIMESTAMP_YDAY(year, month, day) \ #define _UNIX_TIMESTAMP_YDAY(year, month, day) \
( \ (/* January */ day /* February */ + (month >= 2 ? 31UL : 0UL) /* March */ + \
/* January */ day \ (month >= 3 ? _UNIX_TIMESTAMP_FDAY(year) : 0UL) /* April */ + \
/* February */ + (month >= 2 ? 31UL : 0UL) \ (month >= 4 ? 31UL : 0UL) /* May */ + (month >= 5 ? 30UL : 0UL) /* June */ + \
/* March */ + (month >= 3 ? _UNIX_TIMESTAMP_FDAY(year) : 0UL) \ (month >= 6 ? 31UL : 0UL) /* July */ + (month >= 7 ? 30UL : 0UL) /* August */ + \
/* April */ + (month >= 4 ? 31UL : 0UL) \ (month >= 8 ? 31UL : 0UL) /* September */ + (month >= 9 ? 31UL : 0UL) /* October */ + \
/* May */ + (month >= 5 ? 30UL : 0UL) \ (month >= 10 ? 30UL : 0UL) /* November */ + (month >= 11 ? 31UL : 0UL) /* December */ + \
/* June */ + (month >= 6 ? 31UL : 0UL) \ (month >= 12 ? 30UL : 0UL))
/* July */ + (month >= 7 ? 30UL : 0UL) \
/* August */ + (month >= 8 ? 31UL : 0UL) \
/* September */+ (month >= 9 ? 31UL : 0UL) \
/* October */ + (month >= 10 ? 30UL : 0UL) \
/* November */ + (month >= 11 ? 31UL : 0UL) \
/* December */ + (month >= 12 ? 30UL : 0UL) \
)
// get the UNIX timestamp from a digits representation // get the UNIX timestamp from a digits representation
#define _UNIX_TIMESTAMP(year, month, day, hour, minute, second) \ #define _UNIX_TIMESTAMP(year, month, day, hour, minute, second) \
( /* time */ second \ (/* time */ second + minute * SEC_PER_MIN + hour * SEC_PER_HOUR + \
+ minute * SEC_PER_MIN \ /* year day (month + day) */ (_UNIX_TIMESTAMP_YDAY(year, month, day) - 1) * SEC_PER_DAY + \
+ hour * SEC_PER_HOUR \ /* year */ (year - 1970UL) * SEC_PER_YEAR + ((year - 1969UL) / 4UL) * SEC_PER_DAY - \
+ /* year day (month + day) */ (_UNIX_TIMESTAMP_YDAY(year, month, day) - 1) * SEC_PER_DAY \ ((year - 1901UL) / 100UL) * SEC_PER_DAY + ((year - 1601UL) / 400UL) * SEC_PER_DAY)
+ /* year */ (year - 1970UL) * SEC_PER_YEAR \
+ ((year - 1969UL) / 4UL) * SEC_PER_DAY \
- ((year - 1901UL) / 100UL) * SEC_PER_DAY \
+ ((year - 1601UL) / 400UL) * SEC_PER_DAY \
)
// the UNIX timestamp // the UNIX timestamp
#define UNIX_TIMESTAMP (_UNIX_TIMESTAMP(__TIME_YEARS__, __TIME_MONTH__, __TIME_DAYS__, __TIME_HOURS__, __TIME_MINUTES__, __TIME_SECONDS__)) #define UNIX_TIMESTAMP \
(_UNIX_TIMESTAMP(__TIME_YEARS__, __TIME_MONTH__, __TIME_DAYS__, __TIME_HOURS__, \
__TIME_MINUTES__, __TIME_SECONDS__))
#endif #endif

6
example/utility/utility.cpp
View File

@ -1,7 +1,7 @@
#include "utility.h" #include "utility.h"
#include <FSFWConfig.h> #include <FSFWConfig.h>
#include <OBSWVersion.h> #include <OBSWVersion.h>
#include <fsfw/serviceinterface/ServiceInterface.h> #include <fsfw/serviceinterface/ServiceInterface.h>
void utility::commonInitPrint(const char* const os, const char* const board) { void utility::commonInitPrint(const char* const os, const char* const board) {
@ -9,8 +9,8 @@ void utility::commonInitPrint(const char *const os, const char* const board) {
return; return;
} }
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
std::cout << "-- FSFW Example (" << os<< ") v" << FSFW_EXAMPLE_VERSION << "." << std::cout << "-- FSFW Example (" << os << ") v" << FSFW_EXAMPLE_VERSION << "."
FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION << " --" << std::endl; << FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION << " --" << std::endl;
std::cout << "-- Compiled for " << board << " --" << std::endl; std::cout << "-- Compiled for " << board << " --" << std::endl;
std::cout << "-- Compiled on " << __DATE__ << " " << __TIME__ << " --" << std::endl; std::cout << "-- Compiled on " << __DATE__ << " " << __TIME__ << " --" << std::endl;
#else #else

1
example/utility/utility.h
View File

@ -7,5 +7,4 @@ void commonInitPrint(const char *const os, const char* const board);
} }
#endif /* COMMON_UTILITY_UTILITY_H_ */ #endif /* COMMON_UTILITY_UTILITY_H_ */

10
stm32h7/STM32TestTask.cpp
View File

@ -1,9 +1,10 @@
#include "STM32TestTask.h" #include "STM32TestTask.h"
#include "stm32h7xx_nucleo.h"
#include "OBSWConfig.h"
STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout, #include "OBSWConfig.h"
bool blinkyLed): TestTask(objectId), blinkyLed(blinkyLed) { #include "stm32h7xx_nucleo.h"
STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout, bool blinkyLed)
: TestTask(objectId), blinkyLed(blinkyLed) {
BSP_LED_Init(LED1); BSP_LED_Init(LED1);
BSP_LED_Init(LED2); BSP_LED_Init(LED2);
BSP_LED_Init(LED3); BSP_LED_Init(LED3);
@ -27,7 +28,6 @@ ReturnValue_t STM32TestTask::initialize() {
if (testSpi) { if (testSpi) {
spiComIF = new SpiComIF(objects::SPI_COM_IF); spiComIF = new SpiComIF(objects::SPI_COM_IF);
spiTest = new SpiTest(*spiComIF); spiTest = new SpiTest(*spiComIF);
} }
return TestTask::initialize(); return TestTask::initialize();
} }

5
stm32h7/STM32TestTask.h
View File

@ -10,16 +10,13 @@ public:
ReturnValue_t initialize() override; ReturnValue_t initialize() override;
ReturnValue_t performPeriodicAction() override; ReturnValue_t performPeriodicAction() override;
private:
private:
SpiComIF* spiComIF = nullptr; SpiComIF* spiComIF = nullptr;
SpiTest* spiTest = nullptr; SpiTest* spiTest = nullptr;
bool blinkyLed = false; bool blinkyLed = false;
bool testSpi = true; bool testSpi = true;
}; };
#endif /* BSP_STM32_BOARDTEST_STM32TESTTASK_H_ */ #endif /* BSP_STM32_BOARDTEST_STM32TESTTASK_H_ */

75
stm32h7/networking/TmTcLwIpUdpBridge.cpp
View File

@ -1,18 +1,17 @@
#include "TmTcLwIpUdpBridge.h" #include "TmTcLwIpUdpBridge.h"
#include "udp_config.h"
#include <OBSWConfig.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/serialize/EndianConverter.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include "app_ethernet.h" #include "app_ethernet.h"
#include "ethernetif.h" #include "ethernetif.h"
#include <OBSWConfig.h> #include "udp_config.h"
#include <fsfw/ipc/MutexGuard.h> TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
#include <fsfw/serviceinterface/ServiceInterface.h> object_id_t tmStoreId, object_id_t tcStoreId)
#include <fsfw/serialize/EndianConverter.h> : TmTcBridge(objectId, ccsdsPacketDistributor, tmStoreId, tcStoreId) {
TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId,
object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
object_id_t tcStoreId):
TmTcBridge(objectId, ccsdsPacketDistributor, tmStoreId, tcStoreId) {
TmTcLwIpUdpBridge::lastAdd.addr = IPADDR_TYPE_ANY; TmTcLwIpUdpBridge::lastAdd.addr = IPADDR_TYPE_ANY;
} }
@ -32,21 +31,16 @@ ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
err_t err; err_t err;
/* Create a new UDP control block */ /* Create a new UDP control block */
TmTcLwIpUdpBridge::upcb = udp_new(); TmTcLwIpUdpBridge::upcb = udp_new();
if (TmTcLwIpUdpBridge::upcb) if (TmTcLwIpUdpBridge::upcb) {
{
/* Bind the upcb to the UDP_PORT port */ /* Bind the upcb to the UDP_PORT port */
/* Using IP_ADDR_ANY allow the upcb to be used by any local interface */ /* Using IP_ADDR_ANY allow the upcb to be used by any local interface */
err = udp_bind(TmTcLwIpUdpBridge::upcb, IP_ADDR_ANY, UDP_SERVER_PORT); err = udp_bind(TmTcLwIpUdpBridge::upcb, IP_ADDR_ANY, UDP_SERVER_PORT);
if(err == ERR_OK) if (err == ERR_OK) {
{
/* Set a receive callback for the upcb */ /* Set a receive callback for the upcb */
udp_recv(TmTcLwIpUdpBridge::upcb, &udp_server_receive_callback, udp_recv(TmTcLwIpUdpBridge::upcb, &udp_server_receive_callback, (void*)this);
(void*) this);
return RETURN_OK; return RETURN_OK;
} } else {
else
{
udp_remove(TmTcLwIpUdpBridge::upcb); udp_remove(TmTcLwIpUdpBridge::upcb);
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -67,15 +61,13 @@ ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
int ipAddress4 = ipAddress & 0xFF; int ipAddress4 = ipAddress & 0xFF;
#if OBSW_VERBOSE_LEVEL == 1 #if OBSW_VERBOSE_LEVEL == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmTcLwIpUdpBridge: Client IP Address " << std::dec sif::info << "TmTcLwIpUdpBridge: Client IP Address " << std::dec << ipAddress4 << "."
<< ipAddress4 << "." << ipAddress3 << "." << ipAddress2 << "." << ipAddress3 << "." << ipAddress2 << "." << ipAddress1 << std::endl;
<< ipAddress1 << std::endl;
uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort); uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort);
sif::info << "TmTcLwIpUdpBridge: Client IP Port " sif::info << "TmTcLwIpUdpBridge: Client IP Port " << (int)portSwapped << std::endl;
<< (int)portSwapped << std::endl;
#else #else
sif::printInfo("TmTcLwIpUdpBridge: Client IP Address %d.%d.%d.%d\n", sif::printInfo("TmTcLwIpUdpBridge: Client IP Address %d.%d.%d.%d\n", ipAddress4, ipAddress3,
ipAddress4, ipAddress3, ipAddress2, ipAddress1); ipAddress2, ipAddress1);
uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort); uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort);
sif::printInfo("TmTcLwIpUdpBridge: Client IP Port: %d\n", portSwapped); sif::printInfo("TmTcLwIpUdpBridge: Client IP Port: %d\n", portSwapped);
#endif #endif
@ -111,23 +103,21 @@ ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t * data, size_t dataLen) {
/* free the UDP connection, so we can accept new clients */ /* free the UDP connection, so we can accept new clients */
udp_disconnect(TmTcLwIpUdpBridge::upcb); udp_disconnect(TmTcLwIpUdpBridge::upcb);
} } else {
else{
return RETURN_FAILED; return RETURN_FAILED;
} }
return RETURN_OK; return RETURN_OK;
} }
void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg, struct udp_pcb* upcb_,
void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg, struct pbuf* p, const ip_addr_t* addr,
struct udp_pcb* upcb_, struct pbuf* p, const ip_addr_t* addr,
u16_t port) { u16_t port) {
struct pbuf* p_tx = nullptr; struct pbuf* p_tx = nullptr;
auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge*>(arg); auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge*>(arg);
if (udpBridge == nullptr) { if (udpBridge == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!" << sif::warning << "TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!"
std::endl; << std::endl;
#else #else
sif::printWarning("TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!\n"); sif::printWarning("TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!\n");
#endif #endif
@ -135,8 +125,7 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
/* allocate pbuf from RAM*/ /* allocate pbuf from RAM*/
p_tx = pbuf_alloc(PBUF_TRANSPORT, p->len, PBUF_RAM); p_tx = pbuf_alloc(PBUF_TRANSPORT, p->len, PBUF_RAM);
if(p_tx != NULL) if (p_tx != NULL) {
{
if (udpBridge != nullptr) { if (udpBridge != nullptr) {
MutexGuard lg(udpBridge->bridgeLock); MutexGuard lg(udpBridge->bridgeLock);
udpBridge->upcb = upcb_; udpBridge->upcb = upcb_;
@ -161,8 +150,8 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
#endif #endif
store_address_t storeId; store_address_t storeId;
ReturnValue_t returnValue = udpBridge->tcStore->addData(&storeId, ReturnValue_t returnValue =
reinterpret_cast<uint8_t*>(p->payload), p->len); udpBridge->tcStore->addData(&storeId, reinterpret_cast<uint8_t*>(p->payload), p->len);
if (returnValue != RETURN_OK) { if (returnValue != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UDP Server: Data storage failed" << std::endl; sif::warning << "UDP Server: Data storage failed" << std::endl;
@ -171,8 +160,7 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
return; return;
} }
TmTcMessage message(storeId); TmTcMessage message(storeId);
if (udpBridge->tmTcReceptionQueue->sendToDefault(&message) if (udpBridge->tmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) {
!= RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TmTcLwIpUdpBridgw::udp_server_receive_callback:" sif::warning << "TmTcLwIpUdpBridgw::udp_server_receive_callback:"
<< " Sending message to queue failed" << std::endl; << " Sending message to queue failed" << std::endl;
@ -185,9 +173,7 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
} }
/* Caller must ensure thread-safety */ /* Caller must ensure thread-safety */
bool TmTcLwIpUdpBridge::comLinkUp() const { bool TmTcLwIpUdpBridge::comLinkUp() const { return communicationLinkUp; }
return communicationLinkUp;
}
/* Caller must ensure thread-safety */ /* Caller must ensure thread-safety */
void TmTcLwIpUdpBridge::physicalConnectStatusChange(bool connect) { void TmTcLwIpUdpBridge::physicalConnectStatusChange(bool connect) {
@ -195,8 +181,7 @@ void TmTcLwIpUdpBridge::physicalConnectStatusChange(bool connect) {
/* Physical connection does not mean there is a recipient to send packets too. /* Physical connection does not mean there is a recipient to send packets too.
This will be done by the receive callback! */ This will be done by the receive callback! */
physicalConnection = true; physicalConnection = true;
} } else {
else {
physicalConnection = false; physicalConnection = false;
/* If there is no physical connection, we can't send anything back */ /* If there is no physical connection, we can't send anything back */
registerCommDisconnect(); registerCommDisconnect();

12
stm32h7/networking/TmTcLwIpUdpBridge.h
View File

@ -2,9 +2,8 @@
#define BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_ #define BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
#include <fsfw/tmtcservices/TmTcBridge.h> #include <fsfw/tmtcservices/TmTcBridge.h>
#include <lwip/udp.h>
#include <lwip/ip_addr.h> #include <lwip/ip_addr.h>
#include <lwip/udp.h>
#define TCPIP_RECV_WIRETAPPING 0 #define TCPIP_RECV_WIRETAPPING 0
@ -13,9 +12,9 @@
*/ */
class TmTcLwIpUdpBridge : public TmTcBridge { class TmTcLwIpUdpBridge : public TmTcBridge {
friend class UdpTcLwIpPollingTask; friend class UdpTcLwIpPollingTask;
public: public:
TmTcLwIpUdpBridge(object_id_t objectId, TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
object_id_t tcStoreId); object_id_t tcStoreId);
virtual ~TmTcLwIpUdpBridge(); virtual ~TmTcLwIpUdpBridge();
@ -45,9 +44,8 @@ public:
* @param addr Source address which will be bound to TmTcUdpBridge::lastAdd * @param addr Source address which will be bound to TmTcUdpBridge::lastAdd
* @param port * @param port
*/ */
static void udp_server_receive_callback(void *arg, static void udp_server_receive_callback(void *arg, struct udp_pcb *upcb_, struct pbuf *p,
struct udp_pcb *upcb_, struct pbuf *p, const ip_addr_t *addr, const ip_addr_t *addr, u16_t port);
u16_t port);
/** /**
* Check whether the communication link is up. * Check whether the communication link is up.

28
stm32h7/networking/UdpTcLwIpPollingTask.cpp
View File

@ -1,26 +1,22 @@
#include "UdpTcLwIpPollingTask.h" #include "UdpTcLwIpPollingTask.h"
#include "TmTcLwIpUdpBridge.h"
#include "app_ethernet.h"
#include "ethernetif.h"
#include "app_dhcp.h"
#include "networking.h"
#include <hardware_init.h> #include <hardware_init.h>
#include "TmTcLwIpUdpBridge.h"
#include "app_dhcp.h"
#include "app_ethernet.h"
#include "ethernetif.h"
#include "fsfw/ipc/MutexGuard.h" #include "fsfw/ipc/MutexGuard.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "lwip/timeouts.h" #include "lwip/timeouts.h"
#include "networking.h"
UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId, UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
struct netif* gnetif): struct netif* gnetif)
SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId), gnetif(gnetif) { : SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId), gnetif(gnetif) {}
}
UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() { UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {}
}
ReturnValue_t UdpTcLwIpPollingTask::initialize() { ReturnValue_t UdpTcLwIpPollingTask::initialize() {
udpBridge = ObjectManager::instance()->get<TmTcLwIpUdpBridge>(bridgeId); udpBridge = ObjectManager::instance()->get<TmTcLwIpUdpBridge>(bridgeId);
@ -33,7 +29,6 @@ ReturnValue_t UdpTcLwIpPollingTask::initialize() {
return RETURN_OK; return RETURN_OK;
} }
/* Poll the EMAC Interface and pass content to the network interface (lwIP) */ /* Poll the EMAC Interface and pass content to the network interface (lwIP) */
ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) { ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) {
/* Read a received packet from the Ethernet buffers and send it /* Read a received packet from the Ethernet buffers and send it
@ -52,8 +47,7 @@ ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) {
/* In case ethernet cable is disconnected */ /* In case ethernet cable is disconnected */
if (not networking::getEthCableConnected() and udpBridge->comLinkUp()) { if (not networking::getEthCableConnected() and udpBridge->comLinkUp()) {
udpBridge->physicalConnectStatusChange(false); udpBridge->physicalConnectStatusChange(false);
} } else if (networking::getEthCableConnected() and not udpBridge->comLinkUp()) {
else if(networking::getEthCableConnected() and not udpBridge->comLinkUp()) {
udpBridge->physicalConnectStatusChange(true); udpBridge->physicalConnectStatusChange(true);
} }
} }

8
stm32h7/networking/UdpTcLwIpPollingTask.h
View File

@ -2,9 +2,8 @@
#define BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ #define BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h> #include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <lwip/netif.h> #include <lwip/netif.h>
class TmTcLwIpUdpBridge; class TmTcLwIpUdpBridge;
@ -13,8 +12,7 @@ class TmTcLwIpUdpBridge;
* @brief Separate task to poll EMAC interface. * @brief Separate task to poll EMAC interface.
* Polled data is passed to the netif (lwIP) * Polled data is passed to the netif (lwIP)
*/ */
class UdpTcLwIpPollingTask: class UdpTcLwIpPollingTask : public SystemObject,
public SystemObject,
public ExecutableObjectIF, public ExecutableObjectIF,
public HasReturnvaluesIF { public HasReturnvaluesIF {
public: public:
@ -29,6 +27,7 @@ public:
* @return * @return
*/ */
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
private: private:
static const uint8_t PERIODIC_HANDLE_TRIGGER = 5; static const uint8_t PERIODIC_HANDLE_TRIGGER = 5;
uint8_t periodicHandleCounter; uint8_t periodicHandleCounter;
@ -37,5 +36,4 @@ private:
struct netif* gnetif = nullptr; struct netif* gnetif = nullptr;
}; };
#endif /* BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ */ #endif /* BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ */

31
stm32h7/networking/app_dhcp.cpp
View File

@ -1,13 +1,12 @@
#include "OBSWConfig.h"
#include "app_dhcp.h" #include "app_dhcp.h"
#include "app_ethernet.h"
#include "networking.h"
#include "udp_config.h"
#include "ethernetif.h"
#include "OBSWConfig.h"
#include "app_ethernet.h"
#include "ethernetif.h"
#include "lwip/dhcp.h" #include "lwip/dhcp.h"
#include "networking.h"
#include "stm32h7xx_nucleo.h" #include "stm32h7xx_nucleo.h"
#include "udp_config.h"
#if LWIP_DHCP == 1 #if LWIP_DHCP == 1
@ -24,8 +23,7 @@ void handle_dhcp_down(struct netif* netif);
* @param None * @param None
* @retval None * @retval None
*/ */
void DHCP_Process(struct netif *netif) void DHCP_Process(struct netif* netif) {
{
struct dhcp* dhcp = NULL; struct dhcp* dhcp = NULL;
switch (DHCP_state) { switch (DHCP_state) {
case DHCP_START: { case DHCP_START: {
@ -84,8 +82,7 @@ void handle_dhcp_timeout(struct netif* netif) {
* @param netif * @param netif
* @retval None * @retval None
*/ */
void DHCP_Periodic_Handle(struct netif *netif) void DHCP_Periodic_Handle(struct netif* netif) {
{
/* Fine DHCP periodic process every 500ms */ /* Fine DHCP periodic process every 500ms */
if (HAL_GetTick() - DHCPfineTimer >= DHCP_FINE_TIMER_MSECS) { if (HAL_GetTick() - DHCPfineTimer >= DHCP_FINE_TIMER_MSECS) {
DHCPfineTimer = HAL_GetTick(); DHCPfineTimer = HAL_GetTick();
@ -120,13 +117,11 @@ void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
BSP_LED_Off(LED2); BSP_LED_Off(LED2);
#endif #endif
#endif #endif
} } else {
else {
*dhcp = (struct dhcp*)netif_get_client_data(netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP); *dhcp = (struct dhcp*)netif_get_client_data(netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP);
/* DHCP timeout */ /* DHCP timeout */
if ((*dhcp)->tries > MAX_DHCP_TRIES) if ((*dhcp)->tries > MAX_DHCP_TRIES) {
{
handle_dhcp_timeout(netif); handle_dhcp_timeout(netif);
} }
} }
@ -146,12 +141,8 @@ void handle_dhcp_down(struct netif* netif) {
networking::setEthCableConnected(false); networking::setEthCableConnected(false);
} }
uint8_t get_dhcp_state() { uint8_t get_dhcp_state() { return DHCP_state; }
return DHCP_state;
}
void set_dhcp_state(uint8_t new_state) { void set_dhcp_state(uint8_t new_state) { DHCP_state = new_state; }
DHCP_state = new_state;
}
#endif /* LWIP_DHCP == 1 */ #endif /* LWIP_DHCP == 1 */

29
stm32h7/networking/app_ethernet.cpp
View File

@ -1,17 +1,18 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "app_ethernet.h" #include "app_ethernet.h"
#include "ethernetif.h" #include "ethernetif.h"
#include "udp_config.h"
#include "networking.h" #include "networking.h"
#include "udp_config.h"
#if LWIP_DHCP #if LWIP_DHCP
#include "app_dhcp.h" #include "app_dhcp.h"
#endif #endif
#include <lwipopts.h>
#include <lwip/netif.h>
#include <stm32h7xx_nucleo.h>
#include <OBSWConfig.h> #include <OBSWConfig.h>
#include <lwip/netif.h>
#include <lwipopts.h>
#include <stm32h7xx_nucleo.h>
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/
@ -22,22 +23,17 @@ uint32_t ethernetLinkTimer = 0;
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
void handle_status_change(struct netif* netif, bool link_up); void handle_status_change(struct netif* netif, bool link_up);
/* Private functions ---------------------------------------------------------*/ /* Private functions ---------------------------------------------------------*/
/** /**
* @brief Notify the User about the network interface config status * @brief Notify the User about the network interface config status
* @param netif: the network interface * @param netif: the network interface
* @retval None * @retval None
*/ */
void networking::ethernetLinkStatusUpdated(struct netif *netif) void networking::ethernetLinkStatusUpdated(struct netif* netif) {
{ if (netif_is_link_up(netif)) {
if (netif_is_link_up(netif))
{
networking::setEthCableConnected(true); networking::setEthCableConnected(true);
handle_status_change(netif, true); handle_status_change(netif, true);
} } else {
else
{
networking::setEthCableConnected(false); networking::setEthCableConnected(false);
handle_status_change(netif, false); handle_status_change(netif, false);
} }
@ -58,8 +54,7 @@ void handle_status_change(struct netif* netif, bool link_up) {
BSP_LED_Off(LED2); BSP_LED_Off(LED2);
#endif #endif
#endif /* LWIP_DHCP */ #endif /* LWIP_DHCP */
} } else {
else {
printf("Network cable disconnected\n\r"); printf("Network cable disconnected\n\r");
#if LWIP_DHCP #if LWIP_DHCP
/* Update DHCP state machine */ /* Update DHCP state machine */
@ -80,11 +75,9 @@ void handle_status_change(struct netif* netif, bool link_up) {
* @param netif * @param netif
* @retval None * @retval None
*/ */
void networking::ethernetLinkPeriodicHandle(struct netif *netif) void networking::ethernetLinkPeriodicHandle(struct netif* netif) {
{
/* Ethernet Link every 100ms */ /* Ethernet Link every 100ms */
if (HAL_GetTick() - ethernetLinkTimer >= 100) if (HAL_GetTick() - ethernetLinkTimer >= 100) {
{
ethernetLinkTimer = HAL_GetTick(); ethernetLinkTimer = HAL_GetTick();
ethernet_link_check_state(netif); ethernet_link_check_state(netif);
} }

4
stm32h7/networking/app_ethernet.h
View File

@ -65,7 +65,7 @@ namespace networking {
void ethernetLinkStatusUpdated(struct netif *netif); void ethernetLinkStatusUpdated(struct netif *netif);
void ethernetLinkPeriodicHandle(struct netif *netif); void ethernetLinkPeriodicHandle(struct netif *netif);
} } // namespace networking
#ifdef __cplusplus #ifdef __cplusplus
} }
@ -73,6 +73,4 @@ void ethernetLinkPeriodicHandle(struct netif *netif);
#endif /* EXAMPLE_COMMON_APP_ETHERNET_H */ #endif /* EXAMPLE_COMMON_APP_ETHERNET_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

154
stm32h7/networking/ethernetif.c
View File

@ -44,16 +44,17 @@
*/ */
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "fsfw/FSFW.h"
#include "ethernetif.h" #include "ethernetif.h"
#include <string.h>
#include <lan8742.h> #include <lan8742.h>
#include <stm32h7xx_hal.h>
#include <lwip/netif.h> #include <lwip/netif.h>
#include <lwip/opt.h> #include <lwip/opt.h>
#include <lwip/timeouts.h> #include <lwip/timeouts.h>
#include <netif/etharp.h> #include <netif/etharp.h>
#include <stm32h7xx_hal.h>
#include <string.h>
#include "fsfw/FSFW.h"
#ifdef FSFW_OSAL_RTEMS #ifdef FSFW_OSAL_RTEMS
#include <rtems.h> #include <rtems.h>
@ -98,24 +99,34 @@ uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer
#elif defined(__CC_ARM) /* MDK ARM Compiler */ #elif defined(__CC_ARM) /* MDK ARM Compiler */
__attribute__((section(".RxDecripSection"))) ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */ __attribute__((section(".RxDecripSection")))
__attribute__((section(".TxDecripSection"))) ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */ ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
__attribute__((section(".RxArraySection"))) uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer */ __attribute__((section(".TxDecripSection")))
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
__attribute__((section(".RxArraySection")))
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer */
#elif defined(__GNUC__) /* GNU Compiler */ #elif defined(__GNUC__) /* GNU Compiler */
#ifdef FSFW_OSAL_RTEMS #ifdef FSFW_OSAL_RTEMS
/* Put into special RTEMS section and align correctly */ /* Put into special RTEMS section and align correctly */
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */ ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]
__attribute__((section(".bsp_nocache"),
__aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */
/* Put into special RTEMS section and align correctly */ /* Put into special RTEMS section and align correctly */
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Tx DMA Descriptors */ ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]
__attribute__((section(".bsp_nocache"),
__aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Tx DMA Descriptors */
/* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely placing it */ /* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely placing it */
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
#elif defined FSFW_OSAL_FREERTOS #elif defined FSFW_OSAL_FREERTOS
/* Placement and alignment specified in linker script here */ /* Placement and alignment specified in linker script here */
ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */ ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT]
ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((section(".TxDecripSection"))); /* Ethernet Tx DMA Descriptors */ __attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE] __attribute__((section(".RxArraySection"))); /* Ethernet Receive Buffers */ ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]
__attribute__((section(".TxDecripSection"))); /* Ethernet Tx DMA Descriptors */
uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]
__attribute__((section(".RxArraySection"))); /* Ethernet Receive Buffers */
#endif /* FSFW_FREERTOS */ #endif /* FSFW_FREERTOS */
#endif /* defined ( __GNUC__ ) */ #endif /* defined ( __GNUC__ ) */
@ -141,12 +152,8 @@ int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal
int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal); int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal);
int32_t ETH_PHY_IO_GetTick(void); int32_t ETH_PHY_IO_GetTick(void);
lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init, ETH_PHY_IO_DeInit, ETH_PHY_IO_WriteReg,
lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init, ETH_PHY_IO_ReadReg, ETH_PHY_IO_GetTick};
ETH_PHY_IO_DeInit,
ETH_PHY_IO_WriteReg,
ETH_PHY_IO_ReadReg,
ETH_PHY_IO_GetTick};
/* Private functions ---------------------------------------------------------*/ /* Private functions ---------------------------------------------------------*/
/******************************************************************************* /*******************************************************************************
LL Driver Interface ( LwIP stack --> ETH) LL Driver Interface ( LwIP stack --> ETH)
@ -158,10 +165,10 @@ lan8742_IOCtx_t LAN8742_IOCtx = {ETH_PHY_IO_Init,
* @param netif the already initialized lwip network interface structure * @param netif the already initialized lwip network interface structure
* for this ethernetif * for this ethernetif
*/ */
static void low_level_init(struct netif *netif) static void low_level_init(struct netif *netif) {
{
uint32_t idx = 0; uint32_t idx = 0;
uint8_t macaddress[6]= {ETH_MAC_ADDR0, ETH_MAC_ADDR1, ETH_MAC_ADDR2, ETH_MAC_ADDR3, ETH_MAC_ADDR4, ETH_MAC_ADDR5}; uint8_t macaddress[6] = {ETH_MAC_ADDR0, ETH_MAC_ADDR1, ETH_MAC_ADDR2,
ETH_MAC_ADDR3, ETH_MAC_ADDR4, ETH_MAC_ADDR5};
EthHandle.Instance = ETH; EthHandle.Instance = ETH;
EthHandle.Init.MACAddr = macaddress; EthHandle.Init.MACAddr = macaddress;
@ -191,8 +198,7 @@ static void low_level_init(struct netif *netif)
/* don't set NETIF_FLAG_ETHARP if this device is not an ethernet one */ /* don't set NETIF_FLAG_ETHARP if this device is not an ethernet one */
netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP; netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
for(idx = 0; idx < ETH_RX_DESC_CNT; idx ++) for (idx = 0; idx < ETH_RX_DESC_CNT; idx++) {
{
HAL_ETH_DescAssignMemory(&EthHandle, idx, Rx_Buff[idx], NULL); HAL_ETH_DescAssignMemory(&EthHandle, idx, Rx_Buff[idx], NULL);
/* Set Custom pbuf free function */ /* Set Custom pbuf free function */
@ -212,7 +218,6 @@ static void low_level_init(struct netif *netif)
LAN8742_Init(&LAN8742); LAN8742_Init(&LAN8742);
ethernet_link_check_state(netif); ethernet_link_check_state(netif);
} }
/** /**
@ -230,29 +235,24 @@ static void low_level_init(struct netif *netif)
* to become availale since the stack doesn't retry to send a packet * to become availale since the stack doesn't retry to send a packet
* dropped because of memory failure (except for the TCP timers). * dropped because of memory failure (except for the TCP timers).
*/ */
static err_t low_level_output(struct netif *netif, struct pbuf *p) static err_t low_level_output(struct netif *netif, struct pbuf *p) {
{
uint32_t i = 0, framelen = 0; uint32_t i = 0, framelen = 0;
struct pbuf *q; struct pbuf *q;
err_t errval = ERR_OK; err_t errval = ERR_OK;
ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT]; ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT];
for(q = p; q != NULL; q = q->next) for (q = p; q != NULL; q = q->next) {
{ if (i >= ETH_TX_DESC_CNT) return ERR_IF;
if(i >= ETH_TX_DESC_CNT)
return ERR_IF;
Txbuffer[i].buffer = q->payload; Txbuffer[i].buffer = q->payload;
Txbuffer[i].len = q->len; Txbuffer[i].len = q->len;
framelen += q->len; framelen += q->len;
if(i>0) if (i > 0) {
{
Txbuffer[i - 1].next = &Txbuffer[i]; Txbuffer[i - 1].next = &Txbuffer[i];
} }
if(q->next == NULL) if (q->next == NULL) {
{
Txbuffer[i].next = NULL; Txbuffer[i].next = NULL;
} }
@ -279,34 +279,28 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p)
* @return a pbuf filled with the received packet (including MAC header) * @return a pbuf filled with the received packet (including MAC header)
* NULL on memory error * NULL on memory error
*/ */
static struct pbuf * low_level_input(struct netif *netif) static struct pbuf *low_level_input(struct netif *netif) {
{
struct pbuf *p = NULL; struct pbuf *p = NULL;
ETH_BufferTypeDef RxBuff; ETH_BufferTypeDef RxBuff;
uint32_t framelength = 0; uint32_t framelength = 0;
if (HAL_ETH_IsRxDataAvailable(&EthHandle)) if (HAL_ETH_IsRxDataAvailable(&EthHandle)) {
{
HAL_ETH_GetRxDataBuffer(&EthHandle, &RxBuff); HAL_ETH_GetRxDataBuffer(&EthHandle, &RxBuff);
HAL_ETH_GetRxDataLength(&EthHandle, &framelength); HAL_ETH_GetRxDataLength(&EthHandle, &framelength);
/* Invalidate data cache for ETH Rx Buffers */ /* Invalidate data cache for ETH Rx Buffers */
SCB_InvalidateDCache_by_Addr((uint32_t *)Rx_Buff, (ETH_RX_DESC_CNT * ETH_RX_BUFFER_SIZE)); SCB_InvalidateDCache_by_Addr((uint32_t *)Rx_Buff, (ETH_RX_DESC_CNT * ETH_RX_BUFFER_SIZE));
p = pbuf_alloced_custom(PBUF_RAW, framelength, PBUF_POOL, &rx_pbuf[current_pbuf_idx], RxBuff.buffer, ETH_RX_BUFFER_SIZE); p = pbuf_alloced_custom(PBUF_RAW, framelength, PBUF_POOL, &rx_pbuf[current_pbuf_idx],
if(current_pbuf_idx < (ETH_RX_DESC_CNT -1)) RxBuff.buffer, ETH_RX_BUFFER_SIZE);
{ if (current_pbuf_idx < (ETH_RX_DESC_CNT - 1)) {
current_pbuf_idx++; current_pbuf_idx++;
} } else {
else
{
current_pbuf_idx = 0; current_pbuf_idx = 0;
} }
return p; return p;
} } else {
else
{
return NULL; return NULL;
} }
} }
@ -320,8 +314,7 @@ static struct pbuf * low_level_input(struct netif *netif)
* *
* @param netif the lwip network interface structure for this ethernetif * @param netif the lwip network interface structure for this ethernetif
*/ */
void ethernetif_input(struct netif *netif) void ethernetif_input(struct netif *netif) {
{
err_t err; err_t err;
struct pbuf *p; struct pbuf *p;
@ -334,8 +327,7 @@ void ethernetif_input(struct netif *netif)
/* entry point to the LwIP stack */ /* entry point to the LwIP stack */
err = netif->input(p, netif); err = netif->input(p, netif);
if (err != ERR_OK) if (err != ERR_OK) {
{
LWIP_DEBUGF(NETIF_DEBUG, ("ethernetif_input: IP input error\n")); LWIP_DEBUGF(NETIF_DEBUG, ("ethernetif_input: IP input error\n"));
pbuf_free(p); pbuf_free(p);
p = NULL; p = NULL;
@ -356,8 +348,7 @@ void ethernetif_input(struct netif *netif)
* ERR_MEM if private data couldn't be allocated * ERR_MEM if private data couldn't be allocated
* any other err_t on error * any other err_t on error
*/ */
err_t ethernetif_init(struct netif *netif) err_t ethernetif_init(struct netif *netif) {
{
LWIP_ASSERT("netif != NULL", (netif != NULL)); LWIP_ASSERT("netif != NULL", (netif != NULL));
#if LWIP_NETIF_HOSTNAME #if LWIP_NETIF_HOSTNAME
@ -385,10 +376,8 @@ err_t ethernetif_init(struct netif *netif)
* @param pbuf: pbuf to be freed * @param pbuf: pbuf to be freed
* @retval None * @retval None
*/ */
void pbuf_free_custom(struct pbuf *p) void pbuf_free_custom(struct pbuf *p) {
{ if (p != NULL) {
if(p != NULL)
{
p->flags = 0; p->flags = 0;
p->next = NULL; p->next = NULL;
p->len = p->tot_len = 0; p->len = p->tot_len = 0;
@ -403,10 +392,7 @@ void pbuf_free_custom(struct pbuf *p)
* @param None * @param None
* @retval Current Time value * @retval Current Time value
*/ */
u32_t sys_now(void) u32_t sys_now(void) { return HAL_GetTick(); }
{
return HAL_GetTick();
}
/******************************************************************************* /*******************************************************************************
Ethernet MSP Routines Ethernet MSP Routines
@ -416,8 +402,7 @@ u32_t sys_now(void)
* @param heth: ETH handle * @param heth: ETH handle
* @retval None * @retval None
*/ */
void HAL_ETH_MspInit(ETH_HandleTypeDef *heth) void HAL_ETH_MspInit(ETH_HandleTypeDef *heth) {
{
GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitTypeDef GPIO_InitStructure;
/* Ethernett MSP init: RMII Mode */ /* Ethernett MSP init: RMII Mode */
@ -482,8 +467,7 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef *heth)
* @param None * @param None
* @retval 0 if OK, -1 if ERROR * @retval 0 if OK, -1 if ERROR
*/ */
int32_t ETH_PHY_IO_Init(void) int32_t ETH_PHY_IO_Init(void) {
{
/* We assume that MDIO GPIO configuration is already done /* We assume that MDIO GPIO configuration is already done
in the ETH_MspInit() else it should be done here in the ETH_MspInit() else it should be done here
*/ */
@ -499,10 +483,7 @@ int32_t ETH_PHY_IO_Init(void)
* @param None * @param None
* @retval 0 if OK, -1 if ERROR * @retval 0 if OK, -1 if ERROR
*/ */
int32_t ETH_PHY_IO_DeInit (void) int32_t ETH_PHY_IO_DeInit(void) { return 0; }
{
return 0;
}
/** /**
* @brief Read a PHY register through the MDIO interface. * @brief Read a PHY register through the MDIO interface.
@ -511,10 +492,8 @@ int32_t ETH_PHY_IO_DeInit (void)
* @param pRegVal: pointer to hold the register value * @param pRegVal: pointer to hold the register value
* @retval 0 if OK -1 if Error * @retval 0 if OK -1 if Error
*/ */
int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal) int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal) {
{ if (HAL_ETH_ReadPHYRegister(&EthHandle, DevAddr, RegAddr, pRegVal) != HAL_OK) {
if(HAL_ETH_ReadPHYRegister(&EthHandle, DevAddr, RegAddr, pRegVal) != HAL_OK)
{
return -1; return -1;
} }
@ -528,10 +507,8 @@ int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal
* @param RegVal: Value to be written * @param RegVal: Value to be written
* @retval 0 if OK -1 if Error * @retval 0 if OK -1 if Error
*/ */
int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal) int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal) {
{ if (HAL_ETH_WritePHYRegister(&EthHandle, DevAddr, RegAddr, RegVal) != HAL_OK) {
if(HAL_ETH_WritePHYRegister(&EthHandle, DevAddr, RegAddr, RegVal) != HAL_OK)
{
return -1; return -1;
} }
@ -542,33 +519,25 @@ int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal)
* @brief Get the time in millisecons used for internal PHY driver process. * @brief Get the time in millisecons used for internal PHY driver process.
* @retval Time value * @retval Time value
*/ */
int32_t ETH_PHY_IO_GetTick(void) int32_t ETH_PHY_IO_GetTick(void) { return HAL_GetTick(); }
{
return HAL_GetTick();
}
/** /**
* @brief * @brief
* @retval None * @retval None
*/ */
void ethernet_link_check_state(struct netif *netif) void ethernet_link_check_state(struct netif *netif) {
{
ETH_MACConfigTypeDef MACConf; ETH_MACConfigTypeDef MACConf;
uint32_t PHYLinkState; uint32_t PHYLinkState;
uint32_t linkchanged = 0, speed = 0, duplex = 0; uint32_t linkchanged = 0, speed = 0, duplex = 0;
PHYLinkState = LAN8742_GetLinkState(&LAN8742); PHYLinkState = LAN8742_GetLinkState(&LAN8742);
if(netif_is_link_up(netif) && (PHYLinkState <= LAN8742_STATUS_LINK_DOWN)) if (netif_is_link_up(netif) && (PHYLinkState <= LAN8742_STATUS_LINK_DOWN)) {
{
HAL_ETH_Stop(&EthHandle); HAL_ETH_Stop(&EthHandle);
netif_set_down(netif); netif_set_down(netif);
netif_set_link_down(netif); netif_set_link_down(netif);
} } else if (!netif_is_link_up(netif) && (PHYLinkState > LAN8742_STATUS_LINK_DOWN)) {
else if(!netif_is_link_up(netif) && (PHYLinkState > LAN8742_STATUS_LINK_DOWN)) switch (PHYLinkState) {
{
switch (PHYLinkState)
{
case LAN8742_STATUS_100MBITS_FULLDUPLEX: case LAN8742_STATUS_100MBITS_FULLDUPLEX:
duplex = ETH_FULLDUPLEX_MODE; duplex = ETH_FULLDUPLEX_MODE;
speed = ETH_SPEED_100M; speed = ETH_SPEED_100M;
@ -593,8 +562,7 @@ void ethernet_link_check_state(struct netif *netif)
break; break;
} }
if(linkchanged) if (linkchanged) {
{
/* Get MAC Config MAC */ /* Get MAC Config MAC */
HAL_ETH_GetMACConfig(&EthHandle, &MACConf); HAL_ETH_GetMACConfig(&EthHandle, &MACConf);
MACConf.DuplexMode = duplex; MACConf.DuplexMode = duplex;
@ -607,8 +575,6 @@ void ethernet_link_check_state(struct netif *netif)
} }
} }
ETH_HandleTypeDef* getEthernetHandle() { ETH_HandleTypeDef *getEthernetHandle() { return &EthHandle; }
return &EthHandle;
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

5
stm32h7/networking/ethernetif.h
View File

@ -46,10 +46,11 @@
#ifndef __ETHERNETIF_H__ #ifndef __ETHERNETIF_H__
#define __ETHERNETIF_H__ #define __ETHERNETIF_H__
#include <stdbool.h>
#include <stm32h7xx_hal.h>
#include "lwip/err.h" #include "lwip/err.h"
#include "lwip/netif.h" #include "lwip/netif.h"
#include <stm32h7xx_hal.h>
#include <stdbool.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {

14
stm32h7/networking/networking.cpp
View File

@ -1,19 +1,15 @@
#include "udp_config.h"
#include "networking.h" #include "networking.h"
#include "udp_config.h"
bool ethernetCableConnected = false; bool ethernetCableConnected = false;
void networking::setEthCableConnected(bool status) { void networking::setEthCableConnected(bool status) { ethernetCableConnected = status; }
ethernetCableConnected = status;
}
bool networking::getEthCableConnected() { bool networking::getEthCableConnected() { return ethernetCableConnected; }
return ethernetCableConnected;
}
void networking::setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) { void networking::setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) {
IP4_ADDR(ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3); IP4_ADDR(ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3);
IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1 , IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1, NETMASK_ADDR2, NETMASK_ADDR3);
NETMASK_ADDR2, NETMASK_ADDR3);
IP4_ADDR(gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3); IP4_ADDR(gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3);
} }

2
stm32h7/networking/networking.h
View File

@ -9,6 +9,6 @@ void setEthCableConnected(bool status);
bool getEthCableConnected(); bool getEthCableConnected();
void setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw); void setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw);
} } // namespace networking
#endif /* BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_ */ #endif /* BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_ */