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fixed merge conflict

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Jakob Meier 2022-03-14 15:25:17 +01:00
parent d4ade5e885 d5ff6da40b
commit 1b7e0371c3
899 changed files with 56826 additions and 51523 deletions
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# Changed from ASTP 1.1.0 to 1.2.0
## API Changes
### FSFW Architecture
- New src folder which contains all source files except the HAL, contributed code and test code
- External and internal API mostly stayed the same
- Folder names are now all smaller case: internalError was renamed to internalerror and
FreeRTOS was renamed to freertos
- Warning if optional headers are used but the modules was not added to the source files to compile
### HAL
- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
made using it more complicated than necessary
## Bugfixes
### FreeRTOS QueueMapManager
- Fixed a bug which causes the first generated Queue ID to be invalid
## Enhancements
### FSFW Architecture
- See API changes chapter. This change will keep the internal API consistent in the future
# Changes from ASTP 1.0.0 to 1.1.0
## API Changes
### PUS
- Added PUS C support
- SUBSYSTEM_IDs added for PUS Services
- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
### ObjectManager
- ObjectManager is now a singelton
### Configuration
- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which
need to be specified in FSFWConfig.h
### CMake
- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
## Bugfixes
- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
- TCP server fixes
## Enhancements
### FreeRTOS Queue Handles
- Fixed an internal issue how FreeRTOS MessageQueues were handled
### Linux OSAL
- Better printf error messages
### CMake
- Check for C++11 as mininimum required Version
### Debug Output
- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
# Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
### FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
a C file without issues
### PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
### EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
### Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
bucket number of the pools per page and the number of pages are passed to the ctor instead of
two ctor arguments and a template parameter
### Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies
between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
1. Domain ID (1 byte)
2. Unique Identifier (1 byte)
3. Linear Index (2 bytes)
The linear index can be used for arrays as well as matrices.
The parameter load command now explicitely expects the ECSS PTC and PFC
information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### File System Interface
- A new interfaces specifies the functions for a software object which exposes the file system of
a given hardware to use message based file handling (e.g. PUS commanding)
### Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for
the exisiting three error values and the new error set will be hardcoded for
now, the the constructor for the internal error reporter just takes an object
ID for now.
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for
a clear distinction between operation and communication steps
- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
- getTransitionDelayMs is now an abstract method
### DeviceHandlerIF
- Typo for UNKNOWN_DEVICE_REPLY
### Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared `constexpr`
now
### Commanding Service Base
- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each
CSB instance. This variable has to be set in the FSFWConfig.h file
### Service Interface
- Proper printf support contained in ServiceInterfacePrinter.h
- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration.
Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts.
For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h.
For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
If this is not the case, everything should work as usual.
### ActionHelper and ActionMessage
- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit
information whether to report a success or failure message instead of deriving it implicitely
from returnvalue
### PUS Parameter Service 20
Added PUS parameter service 20 (only custom subservices available).

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Change Log
=======
All notable changes to this project will be documented in this file.
The format is based on [Keep a Changelog](http://keepachangelog.com/)
and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v5.0.0]
## Changes
- GPIO HAL: Renamed entries of enumerations to avoid nameclashes with Windows defines.
`IN` and `OUT` in `Direction` changed to `DIR_IN` and `DIR_OUT`.
`CALLBACK` in `GpioTypes` changed to `TYPE_CALLBACK`
- HAL Devicehandlers: Periodic printout is run-time configurable now
- `oneShotAction` flag in the `TestTask` class is not static anymore
## Removed
- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
datapools have been implemented
## Additions
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
# [v4.0.0]
## Additions
- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
allow sending of CFDP packets to the CCSDS handlers.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
- added virtual function to print datasets
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
- doSendRead Hook
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
- Dockumentation for DHB
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
### HAL additions
- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
- uio Mapper
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
## Changes
- Applied the `clang-format` auto-formatter to all source code
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
- Updated Catch2 to v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
- Changed CI to use prebuilt docker image
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
## Bugfix
- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
- Fix for build regression in Catch2 v3.0.0-preview4
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
- Fix in unittest which failed on CI
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
- Fix in helper script
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
## API Changes
- Aforementioned changes to existing TMTC stack
## Known bugs
-
# [v3.0.1]
## API Changes
*
## Bugfixes
* Version number was not updated for v3.0.0 #542
## Enhancement
*
## Known bugs
*
# [v3.0.0]
## API Changes
#### TCP Socket Changes
* Keep Open TCP Implementation #496
* The socket will now kept open after disconnect. This allows reconnecting.
* Only one connection is allowed
* No internal influence but clients need to change their Code.
### GPIO IF
* Add feature to open GPIO by line name #506
### Bitutil
* Unittests for Op Divider and Bitutility #510
### Filesystem IF changed
* Filesystem Base Interface: Use IF instead of void pointer #511
### STM32
* STM32 SPI Updates #518
## Bugfixes
* Small bugfix for LIS3 handler #504
* Spelling fixed for function names #509
* CMakeLists fixes #517
* Out of bound reads and writes in unittests #519
* Bug in TmPacketStoredPusC (#478)
* Windows ifdef fixed #529
## Enhancement
* FSFW.h.in more default values #491
* Minor updates for PUS services #498
* HasReturnvaluesIF naming for parameter #499
* Tests can now be built as part of FSFW and versioning moved to CMake #500
* Added integration test code #508
* More printouts for rejected TC packets #505
* Arrayprinter format improvements #514
* Adding code for CI with docker and jenkins #520
* Added new function in SerializeAdapter #513
* Enables simple deSerialize if you keep track of the buffer position yourself
* `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
* ``'-o', '--open', Open coverage data in webbrowser``
* Documentation updated. Sphinx Documentation can now be build with python script #526
## Known bugs
* Version number was not updated for v3.0.0 #542
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
# [v2.0.0]
## API Changes
### File Structure changed to fit more common structure
* See pull request (#445)
* HAL is now part of the main project
* **See Instructions below:**
#### Instruction how to update existing / user code
* Changes in `#include`:
* Rename `internalError` in includes to `internalerror`
* Rename `fsfw/hal` to `fsfw_hal`
* Rename `fsfw/tests` to `fsfw_tests`
* Rename `osal/FreeRTOS` to `osal/freertos`
* Changes in `CMakeLists.txt`:
* Rename `OS_FSFW` to `FSFW_OSAL`
* Changes in `DleEncoder.cpp`
* Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
### Removed osal/linux/Timer (#486)
* Was redundant to timemanager/Countdown
#### Instruction how to update existing / user code
* Use timemanager/Countdown instead
## Bugfixes
### TM Stack
* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
#### Host OSAL / FreeRTOS
* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
#### Events
* Event output is now consistent (#447)
#### DLE Encoder
* Fixed possible out of bounds access in DLE Encoder (#492)
## Enhancment
* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
* Linux HAL updates (#456)
* FreeRTOS Header cleaning update and Cmake tweaks (#442)
* Printer updates (#453)
* New returnvalue for for empty PST (#485)
* TMTC Bridge: Increase limit of packets stored (#484)
## Known bugs
* Bug in TmPacketStoredPusC (#478)
All Pull Requests:
Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
# [v1.2.0]
## API Changes
### FSFW Architecture
- New src folder which contains all source files except the HAL, contributed code and test code
- External and internal API mostly stayed the same
- Folder names are now all smaller case: internalError was renamed to internalerror and
FreeRTOS was renamed to freertos
- Warning if optional headers are used but the modules was not added to the source files to compile
### HAL
- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
made using it more complicated than necessary
## Bugfixes
### FreeRTOS QueueMapManager
- Fixed a bug which causes the first generated Queue ID to be invalid
## Enhancements
### FSFW Architecture
- See API changes chapter. This change will keep the internal API consistent in the future
# [v1.1.0]
## API Changes
### PUS
- Added PUS C support
- SUBSYSTEM_IDs added for PUS Services
- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
### ObjectManager
- ObjectManager is now a singelton
### Configuration
- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which
need to be specified in FSFWConfig.h
### CMake
- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
## Bugfixes
- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
- TCP server fixes
## Enhancements
### FreeRTOS Queue Handles
- Fixed an internal issue how FreeRTOS MessageQueues were handled
### Linux OSAL
- Better printf error messages
### CMake
- Check for C++11 as mininimum required Version
### Debug Output
- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
# Changes from ASTP 0.0.1 to 1.0.0
### Host OSAL
- Bugfix in MessageQueue, which caused the sender not to be set properly
### FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
a C file without issues
### PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets
### EnhancedControllerBase
- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
### Local Pool
- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
bucket number of the pools per page and the number of pages are passed to the ctor instead of
two ctor arguments and a template parameter
### Parameter Service
- The API of the parameter service has been changed to prevent inconsistencies
between documentation and actual code and to clarify usage.
- The parameter ID now consists of:
1. Domain ID (1 byte)
2. Unique Identifier (1 byte)
3. Linear Index (2 bytes)
The linear index can be used for arrays as well as matrices.
The parameter load command now explicitely expects the ECSS PTC and PFC
information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### File System Interface
- A new interfaces specifies the functions for a software object which exposes the file system of
a given hardware to use message based file handling (e.g. PUS commanding)
### Internal Error Reporter
- The new internal error reporter uses the local data pools. The pool IDs for
the exisiting three error values and the new error set will be hardcoded for
now, the the constructor for the internal error reporter just takes an object
ID for now.
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for
a clear distinction between operation and communication steps
- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
- getTransitionDelayMs is now an abstract method
### DeviceHandlerIF
- Typo for UNKNOWN_DEVICE_REPLY
### Events
- makeEvent function: Now takes three input parameters instead of two and
allows setting a unique ID. Event.cpp source file removed, functions now
defined in header directly. Namespaces renamed. Functions declared `constexpr`
now
### Commanding Service Base
- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each
CSB instance. This variable has to be set in the FSFWConfig.h file
### Service Interface
- Proper printf support contained in ServiceInterfacePrinter.h
- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration.
Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts.
For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h.
For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
If this is not the case, everything should work as usual.
### ActionHelper and ActionMessage
- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit
information whether to report a success or failure message instead of deriving it implicitely
from returnvalue
### PUS Parameter Service 20
Added PUS parameter service 20 (only custom subservices available).

49
CMakeLists.txt
View File

@ -1,9 +1,12 @@
cmake_minimum_required(VERSION 3.13)
set(FSFW_VERSION 2)
set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0)
# Add the cmake folder so the FindSphinx module is found
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
option(FSFW_GENERATE_SECTIONS
"Generate function and data sections. Required to remove unused code" ON
)
@ -12,6 +15,7 @@ if(FSFW_GENERATE_SECTIONS)
endif()
option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
endif()
@ -36,7 +40,9 @@ option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
set(LIB_FSFW_NAME fsfw)
set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
project(${LIB_FSFW_NAME})
add_library(${LIB_FSFW_NAME})
if(FSFW_BUILD_UNITTESTS)
@ -50,16 +56,17 @@ if(FSFW_BUILD_UNITTESTS)
FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
GIT_TAG v3.0.0-preview3
GIT_TAG v3.0.0-preview4
)
FetchContent_MakeAvailable(Catch2)
#fixes regression -preview4, to be confirmed in later releases
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
configure_file(tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in OBSWConfig.h)
project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT})
@ -85,7 +92,7 @@ set(FSFW_CORE_INC_PATH "inc")
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
# Configure Files
# For configure files
target_include_directories(${LIB_FSFW_NAME} PRIVATE
${CMAKE_CURRENT_BINARY_DIR}
)
@ -147,13 +154,8 @@ else()
set(OS_FSFW "host")
endif()
if(FSFW_BUILD_UNITTESTS)
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
else()
configure_file(src/fsfw/FSFW.h.in FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
endif()
message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
@ -163,6 +165,9 @@ if(FSFW_ADD_HAL)
add_subdirectory(hal)
endif()
add_subdirectory(contrib)
if(FSFW_BUILD_DOCS)
add_subdirectory(docs)
endif()
if(FSFW_BUILD_UNITTESTS)
if(FSFW_TESTS_GEN_COV)
@ -189,13 +194,13 @@ if(FSFW_BUILD_UNITTESTS)
"--exclude-unreachable-branches"
)
set(COVERAGE_EXCLUDES
"/c/msys64/mingw64/*"
"/c/msys64/mingw64/*" "*/fsfw_hal/*"
)
elseif(UNIX)
set(COVERAGE_EXCLUDES
"/usr/include/*" "/usr/bin/*" "Catch2/*"
"/usr/local/include/*" "*/fsfw_tests/*"
"*/catch2-src/*"
"*/catch2-src/*" "*/fsfw_hal/*"
)
endif()
@ -234,9 +239,11 @@ endif()
# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH)
message(WARNING "Flight Software Framework configuration path not set!")
set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
if(NOT FSFW_BUILD_DOCS)
message(WARNING "Flight Software Framework configuration path not set!")
message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
endif()
add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
endif()
@ -274,6 +281,24 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
-Wduplicated-cond # check for duplicate conditions
-Wduplicated-branches # check for duplicate branches
-Wlogical-op # Search for bitwise operations instead of logical
-Wnull-dereference # Search for NULL dereference
-Wundef # Warn if undefind marcos are used
-Wformat=2 # Format string problem detection
-Wformat-overflow=2 # Formatting issues in printf
-Wformat-truncation=2 # Formatting issues in printf
-Wformat-security # Search for dangerous printf operations
-Wstrict-overflow=3 # Warn if integer overflows might happen
-Warray-bounds=2 # Some array bounds violations will be found
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-Wcast-qual # Warn if the constness is cast away
-Wstringop-overflow=4
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives
# -Warith-conversion # Use with Wconversion to find more implicit conversions
# -fanalyzer # Should be used to look through problems
)
endif()

64
README.md
View File

@ -42,7 +42,7 @@ There are some functions like `printChar` which are different depending on the t
and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](doc/README-config.md#top) provides more specific
a starting point. The [configuration section](docs/README-config.md#top) provides more specific
information about the possible options.
## Adding the library
@ -72,7 +72,7 @@ add and link against the FSFW library in general.
4. Link against the FSFW library
```cmake
target_link_libraries(<YourProjectName> PRIVATE fsfw)
target_link_libraries(${YourProjectName} PRIVATE fsfw)
```
5. It should now be possible use the FSFW as a static library from the user code.
@ -91,7 +91,7 @@ You can use the following commands inside the `fsfw` folder to set up the build
```sh
mkdir build-Unittest && cd build-Unittest
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
```
You can also use `-DFSFW_OSAL=linux` on Linux systems.
@ -107,16 +107,58 @@ cmake --build . -- fsfw-tests_coverage -j
The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
## Building the documentations
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
```sh
sudo apt-get install doxygen graphviz
```
And the following Python packages
```sh
python3 -m pip install sphinx breathe
```
You can set up a documentation build system using the following commands
```sh
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
```
Then you can generate the documentation using
```sh
cmake --build . -j
```
You can find the generated documentation inside the `docs/sphinx` folder inside the build
folder. Simply open the `index.html` in the webbrowser of your choice.
The `helper.py` script located in the script` folder can also be used to create, build
and open the documentation conveniently. Try `helper.py -h for more information.
## Formatting the sources
The formatting is done by the `clang-format` tool. The configuration is contained within the
`.clang-format` file in the repository root. As long as `clang-format` is installed, you
can run the `apply-clang-format.sh` helper script to format all source files consistently.
## Index
[1. High-level overview](doc/README-highlevel.md#top) <br>
[2. Core components](doc/README-core.md#top) <br>
[3. Configuration](doc/README-config.md#top) <br>
[4. OSAL overview](doc/README-osal.md#top) <br>
[5. PUS services](doc/README-pus.md#top) <br>
[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
[7. Controller overview](doc/README-controllers.md#top) <br>
[8. Local Data Pools](doc/README-localpools.md#top) <br>
[1. High-level overview](docs/README-highlevel.md#top) <br>
[2. Core components](docs/README-core.md#top) <br>
[3. Configuration](docs/README-config.md#top) <br>
[4. OSAL overview](docs/README-osal.md#top) <br>
[5. PUS services](docs/README-pus.md#top) <br>
[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
[7. Controller overview](docs/README-controllers.md#top) <br>
[8. Local Data Pools](docs/README-localpools.md#top) <br>

2
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@ -5,4 +5,4 @@ RUN apt-get --yes upgrade
#tzdata is a dependency, won't install otherwise
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano
RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

43
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@ -1,28 +1,17 @@
pipeline {
agent any
environment {
BUILDDIR = 'build-unittests'
BUILDDIR = 'build-tests'
}
agent {
docker { image 'fsfw-ci:d1'}
}
stages {
stage('Create Docker') {
agent {
dockerfile {
dir 'automation'
additionalBuildArgs '--no-cache'
reuseNode true
}
}
stage('Clean') {
steps {
sh 'rm -rf $BUILDDIR'
}
}
stage('Configure') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
@ -30,38 +19,20 @@ pipeline {
}
}
stage('Build') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'cmake --build . -j'
sh 'cmake --build . -j4'
}
}
}
stage('Unittests') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'cmake --build . -- fsfw-tests_coverage -j'
sh 'cmake --build . -- fsfw-tests_coverage -j4'
}
}
}
stage('Valgrind') {
agent {
dockerfile {
dir 'automation'
reuseNode true
}
}
steps {
dir(BUILDDIR) {
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'

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

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@ -0,0 +1 @@
/_build

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

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

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

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

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0
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API
====
.. toctree::
:maxdepth: 4
api/objectmanager
api/task
api/ipc
api/returnvalue
api/event
api/modes
api/health
api/action
api/devicehandler
api/controller

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.. _dhb-prim-doc:
Device Handlers
==================
Device handler components represent, control and monitor equipment, for example sensors or actuators
of a spacecraft or the payload.
Most device handlers have the same common functionality or
requirements, which are fulfilled by implementing certain interfaces:
- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
- The handler needs to communicate with the physical device via a dedicated
communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
- The handler has housekeeping data which has to be exposed to the operator and/or other software
components: :cpp:class:`HasLocalDataPoolIF`
- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
also implements :cpp:class:`HasParametersIF`
- The handler has health states, for example to indicate a broken device:
:cpp:class:`HasHealthIF`
- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
but that it is not periodically polling data from the
physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
The device handler base therefore provides abstractions for a lot of common
functionality, which can potentially avoid high amounts or logic and code duplication.
Template Device Handler Base File
----------------------------------
This is an example template device handler header file with all necessary
functions implemented:
.. code-block:: cpp
#ifndef __TESTDEVICEHANDLER_H_
#define __TESTDEVICEHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class TestDeviceHandler: DeviceHandlerBase {
public:
TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
private:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
};
#endif /* __TESTDEVICEHANDLER_H_ */
and the respective source file with sensible default return values:
.. code-block:: cpp
#include "TestDeviceHandler.h"
TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
: DeviceHandlerBase(objectId, comIF, cookie) {}
void TestDeviceHandler::doStartUp() {}
void TestDeviceHandler::doShutDown() {}
ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
void TestDeviceHandler::fillCommandAndReplyMap() {}
ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 10000;
}
ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}

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Getting Started
================
Getting started
----------------
The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
It is recommended to get started by building and playing around with the demo application.
There are also other examples provided for all OSALs using the popular embedded platforms
Raspberry Pi, Beagle Bone Black and STM32H7.
Generally, the FSFW is included in a project by providing
a configuration folder, building the static library and linking against it.
There are some functions like ``printChar`` which are different depending on the target architecture
and need to be implemented by the mission developer.
A template configuration folder was provided and can be copied into the project root to have
a starting point. The [configuration section](docs/README-config.md#top) provides more specific
information about the possible options.
Adding the library
-------------------
The following steps show how to add and use FSFW components. It is still recommended to
try out the example mentioned above to get started, but the following steps show how to
add and link against the FSFW library in general.
1. Add this repository as a submodule
.. code-block:: console
git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
.. code-block:: cmake
add_subdirectory(fsfw)
3. Make sure to provide a configuration folder and supply the path to that folder with
the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
It is also necessary to provide the `printChar` function. You can find an example
implementation for a hosted build
`here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
4. Link against the FSFW library
.. code-block:: cmake
target_link_libraries(<YourProjectName> PRIVATE fsfw)
5. It should now be possible use the FSFW as a static library from the user code.
Building the unittests
-------------------------
The FSFW also has unittests which use the `Catch2 library`_.
These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
from your project `CMakeLists.txt` file or from the command line.
The fsfw-tests binary will be built as part of the static library and dropped alongside it.
If the unittests are built, the library and the tests will be built with coverage information by
default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
You can use the following commands inside the ``fsfw`` folder to set up the build system
.. code-block:: console
mkdir build-tests && cd build-tests
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
To build the unittests, run them and then generare the coverage data in this format,
the following command can be used inside the build directory after the build system was set up
.. code-block:: console
cmake --build . -- fsfw-tests_coverage -j
The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the unittests conveniently. Try ``helper.py -h`` for more information.
Building the documentation
----------------------------
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
want to do this locally, set up the prerequisites first. This requires a ``python3``
installation as well. Example here is for Ubuntu.
.. code-block:: console
sudo apt-get install doxygen graphviz
And the following Python packages
.. code-block:: console
python3 -m pip install sphinx breathe
You can set up a documentation build system using the following commands
.. code-block:: bash
mkdir build-docs && cd build-docs
cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
Then you can generate the documentation using
.. code-block:: bash
cmake --build . -j
You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
folder. Simply open the ``index.html`` in the webbrowser of your choice.
The ``helper.py`` script located in the ``script`` folder can also be used to create, build
and open the documentation conveniently. Try ``helper.py -h`` for more information.
Formatting the source
-----------------------
The formatting is done by the ``clang-format`` tool. The configuration is contained within the
``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
.. _`Catch2 library`: https://github.com/catchorg/Catch2
.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

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

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

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

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@ECHO OFF
pushd %~dp0
REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
)
set SOURCEDIR=.
set BUILDDIR=_build
if "%1" == "" goto help
%SPHINXBUILD% >NUL 2>NUL
if errorlevel 9009 (
echo.
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point
echo.to the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.
echo.If you don't have Sphinx installed, grab it from
echo.http://sphinx-doc.org/
exit /b 1
)
%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
goto end
:help
%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
:end
popd

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

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@ -0,0 +1,2 @@
PUS Services
==============

9
hal/CMakeLists.txt
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@ -3,7 +3,14 @@ cmake_minimum_required(VERSION 3.13)
# Can also be changed by upper CMakeLists.txt file
find_library(LIB_FSFW_NAME fsfw REQUIRED)
option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
# On by default for now because I did not have an issue including and compiling those files
# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
# but CMake is able to determine whether this library is installed with find_library.
option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

2
hal/src/fsfw_hal/CMakeLists.txt
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@ -1,7 +1,7 @@
add_subdirectory(devicehandlers)
add_subdirectory(common)
if(FSFW_HAL_ADD_LINUX)
if(UNIX)
add_subdirectory(linux)
endif()

12
hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
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@ -1,8 +1,8 @@
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
GpioCookie::GpioCookie() {
}
GpioCookie::GpioCookie() {}
ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (gpioConfig == nullptr) {
@ -19,8 +19,8 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
if (statusPair.second == false) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
" to GPIO map" << std::endl;
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
<< std::endl;
#else
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
#endif
@ -39,9 +39,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
return HasReturnvaluesIF::RETURN_FAILED;
}
GpioMap GpioCookie::getGpioMap() const {
return gpioMap;
}
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
GpioCookie::~GpioCookie() {
for (auto& config : gpioMap) {

7
hal/src/fsfw_hal/common/gpio/GpioCookie.h
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@ -1,12 +1,12 @@
#ifndef COMMON_GPIO_GPIOCOOKIE_H_
#define COMMON_GPIO_GPIOCOOKIE_H_
#include "GpioIF.h"
#include "gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "GpioIF.h"
#include "gpioDefinitions.h"
/**
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
* GPIOs to initialize and whether they should be configured as in- or
@ -19,7 +19,6 @@
*/
class GpioCookie : public CookieIF {
public:
GpioCookie();
virtual ~GpioCookie();

6
hal/src/fsfw_hal/common/gpio/GpioIF.h
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@ -1,9 +1,10 @@
#ifndef COMMON_GPIO_GPIOIF_H_
#define COMMON_GPIO_GPIOIF_H_
#include "gpioDefinitions.h"
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "gpioDefinitions.h"
class GpioCookie;
@ -14,7 +15,6 @@ class GpioCookie;
*/
class GpioIF : public HasReturnvaluesIF {
public:
virtual ~GpioIF(){};
/**

101
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
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@ -1,29 +1,19 @@
#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
#define COMMON_GPIO_GPIODEFINITIONS_H_
#include <map>
#include <string>
#include <unordered_map>
#include <map>
using gpioId_t = uint16_t;
namespace gpio {
enum Levels: uint8_t {
LOW = 0,
HIGH = 1,
NONE = 99
};
enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
enum Direction: uint8_t {
IN = 0,
OUT = 1
};
enum class Direction : int { IN = 0, OUT = 1 };
enum GpioOperation {
READ,
WRITE
};
enum class GpioOperation { READ, WRITE };
enum class GpioTypes {
NONE,
@ -38,7 +28,7 @@ static constexpr gpioId_t NO_GPIO = -1;
using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
void* args);
}
} // namespace gpio
/**
* @brief Struct containing information about the GPIO to use. This is
@ -56,12 +46,11 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
*/
class GpioBase {
public:
GpioBase() = default;
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue):
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
gpio::Levels initValue)
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
virtual ~GpioBase(){};
@ -75,14 +64,13 @@ public:
class GpiodRegularBase : public GpioBase {
public:
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue, int lineNum):
GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
}
gpio::Levels initValue, int lineNum)
: GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
// line number will be configured at a later point for the open by line name configuration
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
}
gpio::Levels initValue)
: GpioBase(gpioType, consumer, direction, initValue) {}
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
@ -90,23 +78,20 @@ public:
class GpiodRegularByChip : public GpiodRegularBase {
public:
GpiodRegularByChip() :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
std::string(), gpio::Direction::IN, gpio::LOW, 0) {
}
GpiodRegularByChip()
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
gpio::Levels::LOW, 0) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
consumer_, direction_, initValue_, lineNum_),
chipname(chipname_){
}
gpio::Direction direction_, gpio::Levels initValue_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, direction_, initValue_,
lineNum_),
chipname(chipname_) {}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
chipname(chipname_) {
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
gpio::Levels::LOW, lineNum_),
chipname(chipname_) {}
std::string chipname;
};
@ -114,17 +99,15 @@ public:
class GpiodRegularByLabel : public GpiodRegularBase {
public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
direction_, initValue_, lineNum_),
label(label_) {
}
gpio::Direction direction_, gpio::Levels initValue_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, direction_, initValue_,
lineNum_),
label(label_) {}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
label(label_) {
}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
gpio::Levels::LOW, lineNum_),
label(label_) {}
std::string label;
};
@ -137,15 +120,15 @@ public:
class GpiodRegularByLineName : public GpiodRegularBase {
public:
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
gpio::Levels initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_), lineName(lineName_) {
}
gpio::Levels initValue_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
initValue_),
lineName(lineName_) {}
GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
}
GpiodRegularByLineName(std::string lineName_, std::string consumer_)
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
gpio::Levels::LOW),
lineName(lineName_) {}
std::string lineName;
};
@ -153,15 +136,15 @@ public:
class GpioCallback : public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
gpio::gpio_cb_t callback, void* callbackArgs):
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback), callbackArgs(callbackArgs) {}
gpio::gpio_cb_t callback, void* callbackArgs)
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
callback(callback),
callbackArgs(callbackArgs) {}
gpio::gpio_cb_t callback = nullptr;
void* callbackArgs = nullptr;
};
using GpioMap = std::map<gpioId_t, GpioBase*>;
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
using GpioMapIter = GpioMap::iterator;

7
hal/src/fsfw_hal/common/spi/spiCommon.h
View File

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

80
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -1,17 +1,14 @@
#include "GyroL3GD20Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs), dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
}
CookieIF *comCookie, uint32_t transitionDelayMs)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs),
dataset(this) {}
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
@ -32,8 +29,7 @@ void GyroHandlerL3GD20H::doStartUp() {
internalState = InternalState::NORMAL;
if (goNormalModeImmediately) {
setMode(MODE_NORMAL);
}
else {
} else {
setMode(_MODE_TO_ON);
}
commandExecuted = false;
@ -41,9 +37,7 @@ void GyroHandlerL3GD20H::doStartUp() {
}
}
void GyroHandlerL3GD20H::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
@ -69,9 +63,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
#if FSFW_CPP_OSTREAM_ENABLED == 1
/* Might be a configuration error. */
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!" << std::endl;
"Unknown internal state!"
<< std::endl;
#else
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
sif::printDebug(
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!\n");
#endif
return HasReturnvaluesIF::RETURN_OK;
@ -84,8 +80,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (L3GD20H::READ_REGS): {
@ -112,11 +108,9 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
if (not fsH and not fsL) {
sensitivity = L3GD20H::SENSITIVITY_00;
}
else if(not fsH and fsL) {
} else if (not fsH and fsL) {
sensitivity = L3GD20H::SENSITIVITY_01;
}
else {
} else {
sensitivity = L3GD20H::SENSITIVITY_11;
}
@ -131,8 +125,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
break;
}
case (L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
L3GD20H::READ_MASK;
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer;
@ -167,8 +160,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
packet[5] == ctrlReg5Value) {
commandExecuted = true;
}
else {
} else {
// Attempt reconfiguration
internalState = InternalState::CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
@ -180,8 +172,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
else {
} else {
if (internalState == InternalState::CHECK_REGS) {
commandExecuted = true;
}
@ -198,8 +189,8 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
@ -213,31 +204,28 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
sif::printInfo("Z: %f\n", angVelocZ);
#endif
}
#endif
}
PoolReadGuard readSet(&dataset);
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(angVelocX) < this->absLimitX) {
dataset.angVelocX = angVelocX;
dataset.angVelocX.setValid(true);
}
else {
} else {
dataset.angVelocX.setValid(false);
}
if (std::abs(angVelocY) < this->absLimitY) {
dataset.angVelocY = angVelocY;
dataset.angVelocY.setValid(true);
}
else {
} else {
dataset.angVelocY.setValid(false);
}
if (std::abs(angVelocZ) < this->absLimitZ) {
dataset.angVelocZ = angVelocZ;
dataset.angVelocZ.setValid(true);
}
else {
} else {
dataset.angVelocZ.setValid(false);
}
@ -252,17 +240,14 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
return result;
}
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs;
}
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
this->goNormalModeImmediately = true;
}
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
@ -276,12 +261,15 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
}
void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::NONE;
}
void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX;
this->absLimitY = limitY;
this->absLimitZ = limitZ;
}
void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

43
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
View File

@ -1,12 +1,11 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@ -18,10 +17,12 @@
*/
class GyroHandlerL3GD20H : public DeviceHandlerBase {
public:
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelayMs);
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Set the absolute limit for the values on the axis in degrees per second.
* The dataset values will be marked as invalid if that limit is exceeded
@ -35,22 +36,18 @@ public:
* @brief Configure device handler to go to normal mode immediately
*/
void setToGoToNormalMode(bool enable);
protected:
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
@ -66,12 +63,7 @@ private:
float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00;
enum class InternalState {
NONE,
CONFIGURE,
CHECK_REGS,
NORMAL
};
enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
@ -89,11 +81,8 @@ private:
// Set default value
float sensitivity = L3GD20H::SENSITIVITY_00;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider = nullptr;
#endif
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

174
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -8,24 +8,19 @@
#include <cmath>
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this),
transitionDelay(transitionDelay) {
// Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
void MgmLIS3MDLHandler::doStartUp() {
switch (internalState) {
@ -51,8 +46,7 @@ void MgmLIS3MDLHandler::doStartUp() {
commandExecuted = false;
if (goToNormalMode) {
setMode(MODE_NORMAL);
}
else {
} else {
setMode(_MODE_TO_ON);
}
}
@ -61,15 +55,11 @@ void MgmLIS3MDLHandler::doStartUp() {
default:
break;
}
}
void MgmLIS3MDLHandler::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
case (InternalState::STATE_NONE):
case (InternalState::STATE_NORMAL): {
@ -90,14 +80,13 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
default: {
/* might be a configuration error. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
<< std::endl;
#else
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
return HasReturnvaluesIF::RETURN_OK;
}
}
return buildCommandFromCommand(*id, NULL, 0);
}
@ -119,7 +108,6 @@ uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
}
void MgmLIS3MDLHandler::setupMgm() {
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@ -129,24 +117,21 @@ void MgmLIS3MDLHandler::setupMgm() {
prepareCtrlRegisterWrite();
}
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
// Data/config register will be read in an alternating manner.
if (communicationStep == CommunicationStep::DATA) {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0);
}
else {
} else {
*id = MGMLIS3MDL::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0);
}
}
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
@ -195,16 +180,15 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
return RETURN_OK;
}
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
// Check validity by checking config registers
if (start[1] != registers[0] or start[2] != registers[1] or
start[3] != registers[2] or start[4] != registers[3] or
start[5] != registers[4]) {
if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
start[4] != registers[3] or start[5] != registers[4]) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
@ -218,16 +202,13 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
commandExecuted = true;
}
}
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
} else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
}
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
} else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM;
}
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len;
*foundId = getPendingCommand();
if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
@ -235,9 +216,11 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!" << std::endl;
"Device identification failed!"
<< std::endl;
#else
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
sif::printWarning(
"MGMHandlerLIS3MDL::scanForReply: "
"Device identification failed!\n");
#endif
#endif
@ -248,23 +231,18 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
commandExecuted = true;
}
}
}
else {
} else {
return DeviceHandlerIF::INVALID_DATA;
}
/* Data with SPI Interface always has this answer */
if (start[0] == 0b11111111) {
return RETURN_OK;
}
else {
} else {
return DeviceHandlerIF::INVALID_DATA;
}
}
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case MGMLIS3MDL::IDENTIFY_DEVICE: {
break;
@ -276,26 +254,27 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
// TODO: Store configuration in new local datasets.
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
int16_t mgmMeasurementRawX =
packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
int16_t mgmMeasurementRawY =
packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
int16_t mgmMeasurementRawZ =
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
/* Target value in microtesla */
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
// Target value in microtesla
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl;
" microtesla:"
<< std::endl;
sif::info << "X: " << mgmX << " uT" << std::endl;
sif::info << "Y: " << mgmY << " uT" << std::endl;
sif::info << "Z: " << mgmZ << " uT" << std::endl;
@ -306,30 +285,28 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
sif::printInfo("Z: %f uT\n", mgmZ);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
}
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
}
PoolReadGuard readHelper(&dataset);
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) < absLimitX) {
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthX.setValid(true);
}
else {
} else {
dataset.fieldStrengthX.setValid(false);
}
if (std::abs(mgmY) < absLimitY) {
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthY.setValid(true);
}
else {
} else {
dataset.fieldStrengthY.setValid(false);
}
if (std::abs(mgmZ) < absLimitZ) {
dataset.fieldStrengthZ = mgmZ;
dataset.fieldStrengthZ.setValid(true);
}
else {
} else {
dataset.fieldStrengthZ.setValid(false);
}
}
@ -339,16 +316,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
if(debugDivider->check()) {
if (periodicPrintout) {
if (debugDivider.check()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
std::endl;
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
#else
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif
}
#endif
}
ReturnValue_t result = dataset.read();
if (result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue;
@ -360,7 +337,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
default: {
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
}
@ -400,9 +376,8 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
}
}
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
const uint8_t *commandData, size_t commandDataLen) {
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen) {
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2;
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
@ -471,9 +446,7 @@ void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
}
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
this->goToNormalMode = enable;
}
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
@ -489,27 +462,19 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
}
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return transitionDelay;
}
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
void MgmLIS3MDLHandler::modeChanged(void) {
internalState = InternalState::STATE_NONE;
}
void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
new PoolEntry<float>({0.0}));
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
}
@ -518,3 +483,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
this->absLimitY = yLimit;
this->absLimitZ = zLimit;
}
void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

39
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
View File

@ -1,11 +1,10 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "fsfw/FSFW.h"
#include "events/subsystemIdRanges.h"
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
class PeriodicOperationDivider;
@ -20,10 +19,7 @@ class PeriodicOperationDivider;
*/
class MgmLIS3MDLHandler : public DeviceHandlerBase {
public:
enum class CommunicationStep {
DATA,
TEMPERATURE
};
enum class CommunicationStep { DATA, TEMPERATURE };
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
@ -34,6 +30,7 @@ public:
uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
* be marked as invalid if that limit is exceeded
@ -45,21 +42,17 @@ public:
void setToGoToNormalMode(bool enable);
protected:
/** DeviceHandlerBase overrides */
void doShutDown() override;
void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
/**
* This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
@ -67,8 +60,7 @@ protected:
* @param packet
* @return
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@ -159,16 +151,14 @@ private:
* @param commandData On or Off
* @param length of the commandData: has to be 1
*/
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen);
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
/**
* Sets the accuracy of the measurement of the axis. The noise is changing.
* @param commandData LOW, MEDIUM, HIGH, ULTRA
* @param length of the command, has to be 1
*/
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
size_t commandDataLen);
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
/**
* We always update all registers together, so this method updates
@ -178,9 +168,8 @@ private:
*/
ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider;
#endif
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

96
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -1,20 +1,16 @@
#include "MgmRM3100Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this), transitionDelay(transitionDelay) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
}
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this),
transitionDelay(transitionDelay) {}
MgmRM3100Handler::~MgmRM3100Handler() {}
@ -45,8 +41,7 @@ void MgmRM3100Handler::doStartUp() {
internalState = InternalState::NORMAL;
if (goToNormalModeAtStartup) {
setMode(MODE_NORMAL);
}
else {
} else {
setMode(_MODE_TO_ON);
}
}
@ -58,12 +53,9 @@ void MgmRM3100Handler::doStartUp() {
}
}
void MgmRM3100Handler::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
size_t commandLen = 0;
switch (internalState) {
case (InternalState::NONE):
@ -93,9 +85,11 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
#if FSFW_CPP_OSTREAM_ENABLED == 1
// Might be a configuration error
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state" << std::endl;
"Unknown internal state"
<< std::endl;
#else
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
sif::printWarning(
"MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n");
#endif
#endif
@ -106,7 +100,8 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
}
ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
@ -154,16 +149,13 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
return RETURN_OK;
}
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// For SPI, ID will always be the one of the last sent command
*foundId = this->getPendingCommand();
*foundLen = len;
@ -189,8 +181,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
bitutil::clear(&cmmValue, 6);
if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
commandExecuted = true;
}
else {
} else {
// Attempt reconfiguration
internalState = InternalState::CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
@ -204,8 +195,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
if (mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
} else {
// Attempt reconfiguration
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
@ -239,7 +229,8 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
const uint8_t *commandData,
size_t commandDataLen) {
if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@ -247,11 +238,9 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
// Set cycle count
if (commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen);
}
else if(commandDataLen == 6) {
} else if (commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen);
}
else {
} else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@ -264,11 +253,11 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen) {
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
ReturnValue_t result =
command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -289,7 +278,8 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
}
ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
const uint8_t *commandData,
size_t commandDataLen) {
if (commandData == nullptr or commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@ -315,12 +305,10 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
}
void MgmRM3100Handler::modeChanged(void) {
internalState = InternalState::NONE;
}
void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
@ -331,9 +319,7 @@ uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelay;
}
void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
goToNormalModeAtStartup = enable;
}
void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
@ -347,11 +333,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" << std::endl;
" microtesla:"
<< std::endl;
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
@ -362,7 +349,7 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif
}
#endif
}
// TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset);
@ -374,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
}
return RETURN_OK;
}
void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

43
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
View File

@ -1,13 +1,9 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "fsfw/FSFW.h"
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
/**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
@ -21,19 +17,19 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
0x00, severity::INFO);
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent(
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
static constexpr Event cycleCountersSet =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay);
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);
virtual ~MgmRM3100Handler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Configure device handler to go to normal mode after startup immediately
* @param enable
@ -41,17 +37,15 @@ public:
void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
@ -61,7 +55,6 @@ protected:
LocalDataPoolManager &poolManager) override;
private:
enum class InternalState {
NONE,
CONFIGURE_CMM,
@ -95,16 +88,16 @@ private:
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t *packet);
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
PeriodicOperationDivider* debugDivider;
#endif
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

38
hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -3,6 +3,7 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint>
namespace L3GD20H {
@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
static constexpr uint8_t SET_Y_ENABLE = 1;
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
SET_Y_ENABLE | SET_X_ENABLE;
static constexpr uint8_t CTRL_REG_1_VAL =
SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
/* Register 2 */
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds: lp_id_t {
ANG_VELOC_X,
ANG_VELOC_Y,
ANG_VELOC_Z,
TEMPERATURE
};
enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
}
} // namespace L3GD20H
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
GyroPrimaryDataset(object_id_t mgmId)
: StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
L3GD20H::TEMPERATURE, this);
private:
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

43
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
View File

@ -1,26 +1,18 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint>
namespace MGMLIS3MDL {
enum Set {
ON, OFF
};
enum OpMode {
LOW, MEDIUM, HIGH, ULTRA
};
enum Set { ON, OFF };
enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
enum Sensitivies: uint8_t {
GAUSS_4 = 4,
GAUSS_8 = 8,
GAUSS_12 = 12,
GAUSS_16 = 16
};
enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
/* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -114,8 +106,8 @@ static const uint8_t DO2 = 4; // Output data rate bit 4
static const uint8_t OM0 = 5; // XY operating mode bit 5
static const uint8_t OM1 = 6; // XY operating mode bit 6
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
(1 << DO0) | (1 << DO1) | (1 << DO2);
static const uint8_t CTRL_REG1_DEFAULT =
(1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
/* CTRL_REG2 bits */
// reset configuration registers and user registers
@ -156,23 +148,16 @@ enum MgmPoolIds: lp_id_t {
class MgmPrimaryDataset : public StaticLocalDataSet<4> {
public:
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
MgmPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
TEMPERATURE_CELCIUS, this);
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
};
}
} // namespace MGMLIS3MDL
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

32
hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
View File

@ -1,10 +1,11 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <cstdint>
namespace RM3100 {
@ -24,8 +25,8 @@ static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
static constexpr uint8_t SET_CMM_START = 1;
static constexpr uint8_t CMM_REGISTER = 0x01;
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
SET_CMM_DRDM | SET_CMM_START;
static constexpr uint8_t CMM_VALUE =
SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
/*----------------------------------------------------------------------------*/
/* Cycle count register */
@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
// Default value (200)
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
100 * 38;
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
/*----------------------------------------------------------------------------*/
@ -75,8 +75,7 @@ public:
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override {
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
size, streamEndianness);
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
if (oneCycleCount) {
cycleCountY = cycleCountX;
cycleCountZ = cycleCountX;
@ -110,23 +109,16 @@ enum MgmPoolIds: lp_id_t {
class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
public:
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
Rm3100PrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
// Field strengths in micro Tesla.
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
};
}
} // namespace RM3100
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

7
hal/src/fsfw_hal/linux/CMakeLists.txt
View File

@ -4,10 +4,17 @@ endif()
target_sources(${LIB_FSFW_NAME} PRIVATE
UnixFileGuard.cpp
CommandExecutor.cpp
utility.cpp
)
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart)
endif()
add_subdirectory(uio)

207
hal/src/fsfw_hal/linux/CommandExecutor.cpp Normal file
View File

@ -0,0 +1,207 @@
#include "CommandExecutor.h"
#include <unistd.h>
#include <cstring>
#include "fsfw/container/DynamicFIFO.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/serviceinterface.h"
CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
waiter.events = POLLIN;
}
ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmd = command;
this->blocking = blocking;
this->printOutput = printOutput;
if (state == States::IDLE) {
state = States::COMMAND_LOADED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::execute() {
if (state == States::IDLE) {
return NO_COMMAND_LOADED_OR_PENDING;
} else if (state == States::PENDING) {
return COMMAND_PENDING;
}
currentCmdFile = popen(currentCmd.c_str(), "r");
if (currentCmdFile == nullptr) {
lastError = errno;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (blocking) {
ReturnValue_t result = executeBlocking();
state = States::IDLE;
return result;
} else {
currentFd = fileno(currentCmdFile);
waiter.fd = currentFd;
}
state = States::PENDING;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CommandExecutor::close() {
if (state == States::PENDING) {
// Attempt to close process, irrespective of if it is running or not
if (currentCmdFile != nullptr) {
pclose(currentCmdFile);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::printLastError(std::string funcName) const {
if (lastError != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << funcName << " pclose failed with code " << lastError << ": "
<< strerror(lastError) << std::endl;
#else
sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
strerror(lastError));
#endif
}
}
void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
DynamicFIFO<uint16_t>* sizesFifo) {
this->ringBuffer = ringBuffer;
this->sizesFifo = sizesFifo;
}
ReturnValue_t CommandExecutor::check(bool& replyReceived) {
if (blocking) {
return HasReturnvaluesIF::RETURN_OK;
}
switch (state) {
case (States::IDLE):
case (States::COMMAND_LOADED): {
return NO_COMMAND_LOADED_OR_PENDING;
}
case (States::PENDING): {
break;
}
}
int result = poll(&waiter, 1, 0);
switch (result) {
case (0): {
return HasReturnvaluesIF::RETURN_OK;
break;
}
case (1): {
if (waiter.revents & POLLIN) {
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
if (readBytes == 0) {
// Should not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: No bytes read "
"after poll event.."
<< std::endl;
#else
sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
#endif
break;
} else if (readBytes > 0) {
replyReceived = true;
if (printOutput) {
// It is assumed the command output is line terminated
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << readVec.data();
#else
sif::printInfo("%s | %s", currentCmd, readVec.data());
#endif
}
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(readBytes);
}
}
} else {
// Should also not happen
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
<< std::endl;
#else
sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
#endif
}
}
if (waiter.revents & POLLERR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
#else
sif::printWarning("CommandExecuter::check: Poll error\n");
#endif
return COMMAND_ERROR;
}
if (waiter.revents & POLLHUP) {
result = pclose(currentCmdFile);
ReturnValue_t retval = EXECUTION_FINISHED;
if (result != 0) {
lastError = result;
retval = HasReturnvaluesIF::RETURN_FAILED;
}
state = States::IDLE;
currentCmdFile = nullptr;
currentFd = 0;
return retval;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void CommandExecutor::reset() {
CommandExecutor::close();
currentCmdFile = nullptr;
currentFd = 0;
state = States::IDLE;
}
int CommandExecutor::getLastError() const {
// See:
// https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
return WEXITSTATUS(this->lastError);
}
CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
ReturnValue_t CommandExecutor::executeBlocking() {
while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
std::string output(readVec.data());
if (printOutput) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << currentCmd << " | " << output;
#else
sif::printInfo("%s | %s", currentCmd, output);
#endif
}
if (ringBuffer != nullptr) {
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
}
if (sizesFifo != nullptr) {
if (not sizesFifo->full()) {
sizesFifo->insert(output.size());
}
}
}
int result = pclose(currentCmdFile);
if (result != 0) {
lastError = result;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

129
hal/src/fsfw_hal/linux/CommandExecutor.h Normal file
View File

@ -0,0 +1,129 @@
#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
#include <poll.h>
#include <string>
#include <vector>
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class SimpleRingBuffer;
template <typename T>
class DynamicFIFO;
/**
* @brief Helper class to execute shell commands in blocking and non-blocking mode
* @details
* This class is able to execute processes by using the Linux popen call. It also has the
* capability of writing the read output of a process into a provided ring buffer.
*
* The executor works by first loading the command which should be executed and specifying
* whether it should be executed blocking or non-blocking. After that, execution can be started
* with the execute command. In blocking mode, the execute command will block until the command
* has finished
*/
class CommandExecutor {
public:
enum class States { IDLE, COMMAND_LOADED, PENDING };
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
//! [EXPORT] : [COMMENT] Execution of the current command has finished
static constexpr ReturnValue_t EXECUTION_FINISHED =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
//! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
//! to load another command but a command is still pending
static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
//! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
//! [EXPORT] : [COMMENT] Command execution failed
static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
//! [EXPORT] : [COMMENT]
static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
/**
* Constructor. Is initialized with maximum size of internal buffer to read data from the
* executed process.
* @param maxSize
*/
CommandExecutor(const size_t maxSize);
/**
* Load a new command which should be executed
* @param command
* @param blocking
* @param printOutput
* @return
*/
ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
/**
* Execute the loaded command.
* @return
* - In blocking mode, it will return RETURN_FAILED if
* the result of the system call was not 0. The error value can be accessed using
* getLastError
* - In non-blocking mode, this call will start
* the execution and then return RETURN_OK
*/
ReturnValue_t execute();
/**
* Only used in non-blocking mode. Checks the currently running command.
* @param bytesRead Will be set to the number of bytes read, if bytes have been read
* @return
* - BYTES_READ if bytes have been read from the executing process. It is recommended to call
* check again after this
* - RETURN_OK execution is pending, but no bytes have been read from the executing process
* - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
* - EXECUTION_FINISHED if the process was executed successfully
* - NO_COMMAND_LOADED_OR_PENDING self-explanatory
* - COMMAND_ERROR internal poll error
*/
ReturnValue_t check(bool& replyReceived);
/**
* Abort the current command. Should normally not be necessary, check can be used to find
* out whether command execution was successful
* @return RETURN_OK
*/
ReturnValue_t close();
States getCurrentState() const;
int getLastError() const;
void printLastError(std::string funcName) const;
/**
* Assign a ring buffer and a FIFO which will be filled by the executor with the output
* read from the started process
* @param ringBuffer
* @param sizesFifo
*/
void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
/**
* Reset the executor. This calls close internally and then reset the state machine so new
* commands can be loaded and executed
*/
void reset();
private:
std::string currentCmd;
bool blocking = true;
FILE* currentCmdFile = nullptr;
int currentFd = 0;
bool printOutput = true;
std::vector<char> readVec;
struct pollfd waiter {};
SimpleRingBuffer* ringBuffer = nullptr;
DynamicFIFO<uint16_t>* sizesFifo = nullptr;
States state = States::IDLE;
int lastError = 0;
ReturnValue_t executeBlocking();
};
#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

21
hal/src/fsfw_hal/linux/UnixFileGuard.cpp
View File

@ -1,13 +1,14 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include <cerrno>
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix):
fileDescriptor(fileDescriptor) {
std::string diagnosticPrefix)
: fileDescriptor(fileDescriptor) {
if (fileDescriptor == nullptr) {
return;
}
@ -15,11 +16,11 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
if (*fileDescriptor < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
errno << ": " << strerror(errno) << std::endl;
sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
<< strerror(errno) << std::endl;
#else
sif::printWarning("%s: Opening device failed with error code %d: %s\n",
diagnosticPrefix, errno, strerror(errno));
sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
openStatus = OPEN_FILE_FAILED;
@ -32,6 +33,4 @@ UnixFileGuard::~UnixFileGuard() {
}
}
ReturnValue_t UnixFileGuard::getOpenResult() const {
return openStatus;
}
ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }

9
hal/src/fsfw_hal/linux/UnixFileGuard.h
View File

@ -1,13 +1,11 @@
#ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
#define LINUX_UTILITY_UNIXFILEGUARD_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <string>
#include <fcntl.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <unistd.h>
#include <string>
class UnixFileGuard {
public:
@ -23,11 +21,10 @@ public:
virtual ~UnixFileGuard();
ReturnValue_t getOpenResult() const;
private:
int* fileDescriptor = nullptr;
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
};
#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

14
hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
View File

@ -1,12 +1,16 @@
target_sources(${LIB_FSFW_NAME} PRIVATE
LinuxLibgpioIF.cpp
)
# This abstraction layer requires the gpiod library. You can install this library
# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
# to install the package before syncing the sysroot to your host computer.
find_library(LIB_GPIO gpiod REQUIRED)
find_library(LIB_GPIO gpiod)
if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
message(STATUS "gpiod library not found, not linking against it")
else()
target_sources(${LIB_FSFW_NAME} PRIVATE
LinuxLibgpioIF.cpp
)
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
${LIB_GPIO}
)
endif()

167
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -1,16 +1,15 @@
#include "LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <gpiod.h>
#include <unistd.h>
#include <utility>
#include <unistd.h>
#include <gpiod.h>
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
}
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
LinuxLibgpioIF::~LinuxLibgpioIF() {
for (auto& config : gpioMap) {
@ -96,19 +95,17 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "label: " + label;
return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
GpiodRegularByChip &gpioByChip) {
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
<< ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "chipname: " + chipname;
@ -121,8 +118,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
char chipname[MAX_CHIPNAME_LENGTH];
unsigned int lineOffset;
int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
&lineOffset);
int result =
gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
if (result != LINE_FOUND) {
parseFindeLineResult(result, lineName);
return RETURN_FAILED;
@ -132,8 +129,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
<< chipname << ". <Gpio ID: " << gpioId << std::endl;
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
<< ". <Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "line name: " + lineName;
@ -141,7 +138,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput) {
GpiodRegularBase& regularGpio,
std::string failOutput) {
unsigned int lineNum;
gpio::Direction direction;
std::string consumer;
@ -152,8 +150,8 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", " << failOutput << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
<< std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
@ -163,33 +161,33 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case(gpio::OUT): {
case (gpio::Direction::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio.initValue);
static_cast<int>(regularGpio.initValue));
break;
}
case(gpio::IN): {
case (gpio::Direction::IN): {
result = gpiod_line_request_input(lineHandle, consumer.c_str());
break;
}
default: {
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
<< std::endl;
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
return GPIO_INVALID_INSTANCE;
}
if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
<< " from GPIO instance with ID: " << gpioId << std::endl;
#else
sif::printError("LinuxLibgpioIF::configureRegularGpio: "
"Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
sif::printError(
"LinuxLibgpioIF::configureRegularGpio: "
"Failed to request line %d from GPIO instance with ID: %d\n",
lineNum, gpioId);
#endif
gpiod_line_release(lineHandle);
return RETURN_FAILED;
}
}
/**
* Write line handle to GPIO configuration instance so it can later be used to set or
@ -207,22 +205,21 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
}
auto gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
}
else {
return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
gpio::Levels::HIGH, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
gpioCallback->callbackArgs);
return RETURN_OK;
}
return GPIO_TYPE_FAILURE;
@ -240,37 +237,38 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
}
auto& gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::LOW);
}
else {
return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
gpio::Levels::LOW, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
gpioCallback->callbackArgs);
return RETURN_OK;
}
return GPIO_TYPE_FAILURE;
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
if (result < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl;
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
<< " to logic level " << static_cast<int>(logicLevel) << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
"logic level %d\n", gpioId, logicLevel);
sif::printWarning(
"LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
"logic level %d\n",
gpioId, logicLevel);
#endif
return DRIVE_GPIO_FAILURE;
}
@ -290,22 +288,21 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
}
auto gpioType = gpioMapIter->second->gpioType;
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if (regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
}
else {
} else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
if (gpioCallback->callback == nullptr) {
return GPIO_INVALID_INSTANCE;
}
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
gpio::Levels::NONE, gpioCallback->callbackArgs);
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
gpioCallback->callbackArgs);
return RETURN_OK;
}
return RETURN_OK;
@ -336,8 +333,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
return GPIO_TYPE_FAILURE;
}
// Check for conflicts and remove duplicates if necessary
result = checkForConflictsById(gpioConfig.first,
gpioConfig.second->gpioType, mapToAdd);
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
if (result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
@ -345,8 +341,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
<< std::endl;
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
#else
sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
#endif
@ -358,7 +353,8 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
}
ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
gpio::GpioTypes expectedType,
GpioMap& mapToAdd) {
// Cross check with private map
gpioMapIter = gpioMap.find(gpioIdToCheck);
if (gpioMapIter != gpioMap.end()) {
@ -385,11 +381,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
if (eraseDuplicateDifferentType) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type " << gpioIdToCheck <<
". Removing duplicate from map to add" << std::endl;
"different GPIO type "
<< gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
sif::printWarning(
"LinuxLibgpioIF::checkForConflicts: ID already exists for "
"different GPIO type %d. Removing duplicate from map to add\n",
gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
@ -398,11 +396,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
// Remove element from map to add because a entry for this GPIO already exists
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
"definition with ID " << gpioIdToCheck << " detected. " <<
"Duplicate will be removed from map to add" << std::endl;
"definition with ID "
<< gpioIdToCheck << " detected. "
<< "Duplicate will be removed from map to add" << std::endl;
#else
sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
sif::printWarning(
"LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
"with ID %d detected. Duplicate will be removed from map to add\n",
gpioIdToCheck);
#endif
mapToAdd.erase(gpioIdToCheck);
return GPIO_DUPLICATE_DETECTED;
@ -415,28 +416,32 @@ void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
case LINE_NOT_EXISTS:
case LINE_ERROR: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
" does not exist" << std::endl;
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
<< " does not exist" << std::endl;
break;
}
default: {
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name " << lineName << std::endl;
"with name "
<< lineName << std::endl;
break;
}
#else
case LINE_NOT_EXISTS:
case LINE_ERROR: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
"does not exist\n", lineName);
sif::printWarning(
"LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
"does not exist\n",
lineName);
break;
}
default: {
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name %s\n", lineName);
sif::printWarning(
"LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
"with name %s\n",
lineName);
break;
}
#endif
}
}

13
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -1,9 +1,9 @@
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw/objectmanager/SystemObject.h"
class GpioCookie;
class GpiodRegularIF;
@ -17,7 +17,6 @@ class GpiodRegularIF;
*/
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@ -40,7 +39,6 @@ public:
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
private:
static const size_t MAX_CHIPNAME_LENGTH = 11;
static const int LINE_NOT_EXISTS = 0;
static const int LINE_ERROR = -1;
@ -56,13 +54,11 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel);
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
GpiodRegularByLineName &gpioByLineName);
ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
GpiodRegularBase& regularGpio, std::string failOutput);
@ -77,8 +73,7 @@ private:
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
/**
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.

104
hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
View File

@ -1,35 +1,41 @@
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/utility.h"
#include "I2cComIF.h"
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#if FSFW_HAL_I2C_WIRETAPPING == 1
#include "fsfw/globalfunctions/arrayprinter.h"
#endif
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/i2c-dev.h>
#include <errno.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <cstring>
I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
}
I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
I2cComIF::~I2cComIF() {}
ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
address_t i2cAddress;
std::string deviceFile;
if (cookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
#endif
return NULLPOINTER;
}
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
#endif
return NULLPOINTER;
}
@ -41,28 +47,32 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
if (not statusPair.second) {
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
i2cAddress << "to I2C device " << "map" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
<< i2cAddress << "to I2C device "
<< "map" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
"already in use" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
<< "already in use" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
ReturnValue_t result;
int fd;
std::string deviceFile;
if (sendData == nullptr) {
sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
<< std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -72,15 +82,19 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -94,21 +108,25 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
return result;
}
if (write(fd, sendData, sendLen) != (int)sendLen) {
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
"device with error code " << errno << ". Error description: "
<< strerror(errno) << std::endl;
"device with error code "
<< errno << ". Error description: " << strerror(errno) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
arrayprinter::print(sendData, sendLen);
#endif
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
ReturnValue_t result;
int fd;
std::string deviceFile;
@ -119,7 +137,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0;
return NULLPOINTER;
}
@ -127,8 +147,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
<< "registered in i2cDeviceMap" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -152,31 +174,42 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
<< "device failed with error code " << errno << ". Description"
<< " of error: " << strerror(errno) << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
<< requestLen << " bytes" << std::endl;
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
<< " bytes" << std::endl;
#endif
i2cDeviceMapIter->second.replyLen = 0;
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen << " bytes" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
<< " bytes" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
#if FSFW_HAL_I2C_WIRETAPPING == 1
sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
arrayprinter::print(replyBuffer, requestLen);
#endif
i2cDeviceMapIter->second.replyLen = requestLen;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t* size) {
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
if (i2cCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
address_t i2cAddress = i2cCookie->getAddress();
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
<< "found in i2cDeviceMap" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = i2cDeviceMapIter->second.replyBuffer.data();
@ -185,9 +218,8 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
address_t i2cAddress, int* fileDescriptor) {
ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
int* fileDescriptor) {
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1

18
hal/src/fsfw_hal/linux/i2c/I2cComIF.h
View File

@ -1,13 +1,14 @@
#ifndef LINUX_I2C_I2COMIF_H_
#define LINUX_I2C_I2COMIF_H_
#include "I2cCookie.h"
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map>
#include <vector>
#include "I2cCookie.h"
/**
* @brief This is the communication interface for I2C devices connected
* to a system running a Linux OS.
@ -23,16 +24,12 @@ public:
virtual ~I2cComIF();
ReturnValue_t initializeInterface(CookieIF *cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
private:
struct I2cInstance {
std::vector<uint8_t> replyBuffer;
size_t replyLen;
@ -54,8 +51,7 @@ private:
* @param fileDescriptor Pointer to device descriptor.
* @return RETURN_OK if successful, otherwise RETURN_FAILED.
*/
ReturnValue_t openDevice(std::string deviceFile,
address_t i2cAddress, int* fileDescriptor);
ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
};
#endif /* LINUX_I2C_I2COMIF_H_ */

18
hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
View File

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

6
hal/src/fsfw_hal/linux/i2c/I2cCookie.h
View File

@ -2,6 +2,7 @@
#define LINUX_I2C_I2CCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <string>
/**
@ -11,7 +12,6 @@
*/
class I2cCookie : public CookieIF {
public:
/**
* @brief Constructor for the I2C cookie.
* @param i2cAddress_ The i2c address of the target device.
@ -19,8 +19,7 @@ public:
* target device.
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
*/
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
std::string deviceFile_);
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
virtual ~I2cCookie();
@ -29,7 +28,6 @@ public:
std::string getDeviceFile() const;
private:
address_t i2cAddress = 0;
size_t maxReplyLen = 0;
std::string deviceFile;

8
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -1,13 +1,13 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include "fsfw/FSFW.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue) {
std::string consumer, gpio::Direction direction,
gpio::Levels initValue) {
if (cookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}

6
hal/src/fsfw_hal/linux/rpi/GpioRPi.h
View File

@ -2,6 +2,7 @@
#define BSP_RPI_GPIO_GPIORPI_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include "../../common/gpio/gpioDefinitions.h"
class GpioCookie;
@ -20,7 +21,8 @@ namespace gpio {
* @return
*/
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
std::string consumer, gpio::Direction direction, int initValue);
}
std::string consumer, gpio::Direction direction,
gpio::Levels initValue);
} // namespace gpio
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

78
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -1,22 +1,22 @@
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <unistd.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/ipc/MutexFactory.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <cerrno>
#include <cstring>
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
SystemObject(objectId), gpioComIF(gpioComIF) {
#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
: SystemObject(objectId), gpioComIF(gpioComIF) {
if (gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -47,11 +47,13 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
spiAddress << "to SPI device map" << std::endl;
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
<< spiAddress << "to SPI device map" << std::endl;
#else
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
sif::printError(
"SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n",
static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
@ -59,8 +61,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
/* Now we emplaced the read buffer in the map, we still need to assign that location
to the SPI driver transfer struct */
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
}
else {
} else {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
@ -123,7 +124,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
if (params.bitsPerWord != 8) {
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: "
utility::handleIoctlError(
"SpiComIF::initializeInterface: "
"Could not write bits per word!");
}
}
@ -141,11 +143,14 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if (sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
"larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
<< "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
<< std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
sif::printWarning(
"SpiComIF::sendMessage: Too much data sent, send length %lu larger "
"than maximum buffer length %lu!\n",
static_cast<unsigned long>(sendLen),
static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
@ -154,8 +159,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
result = performRegularSendOperation(spiCookie, sendData, sendLen);
}
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
} else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs);
@ -230,14 +234,12 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
#if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
}
else {
} else {
/* We write with a blocking half-duplex transfer here */
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
std::endl;
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
@ -259,9 +261,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
return result;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
@ -276,13 +276,11 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
return performHalfDuplexReception(spiCookie);
}
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
"SpiComIF::requestReceiveMessage");
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
@ -391,9 +389,7 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
return HasReturnvaluesIF::RETURN_OK;
}
GpioIF* SpiComIF::getGpioInterface() {
return gpioComIF;
}
GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
@ -405,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
// This updates the SPI clock default polarity. Only setting the mode does not update
// the line state, which can be an issue on mode switches because the clock line will
// switch the state after the chip select is pulled low
clockUpdateTransfer.len = 0;
retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
}

24
hal/src/fsfw_hal/linux/spi/SpiComIF.h
View File

@ -1,16 +1,15 @@
#ifndef LINUX_SPI_SPICOMIF_H_
#define LINUX_SPI_SPICOMIF_H_
#include "fsfw/FSFW.h"
#include "spiDefinitions.h"
#include "returnvalues/classIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include <unordered_map>
#include <vector>
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include <vector>
#include <unordered_map>
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "returnvalues/classIds.h"
#include "spiDefinitions.h"
class SpiCookie;
@ -36,13 +35,10 @@ public:
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
/**
* @brief This function returns the mutex which can be used to protect the spi bus when
@ -68,7 +64,6 @@ public:
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
private:
struct SpiInstance {
SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
@ -79,6 +74,7 @@ private:
MutexIF* spiMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator;

111
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
View File

@ -1,35 +1,34 @@
#include "fsfw_hal/linux/spi/SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) {
}
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) {}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
}
spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void *args):
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
spiMode, spiSpeed, callback, args) {
}
spi::send_callback_function_t callback, void* args)
: SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, callback, args) {}
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args):
spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
sendCallback(callback), callbackArgs(args) {
}
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
: spiAddress(spiAddress),
chipSelectPin(chipSelect),
spiDevice(spiDev),
comIfMode(comIfMode),
maxSize(maxSize),
spiMode(spiMode),
spiSpeed(spiSpeed),
sendCallback(callback),
callbackArgs(args) {}
spi::SpiComIfModes SpiCookie::getComIfMode() const {
return this->comIfMode;
}
spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const {
@ -45,41 +44,25 @@ void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
}
}
gpioId_t SpiCookie::getChipSelectPin() const {
return chipSelectPin;
}
gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
size_t SpiCookie::getMaxBufferSize() const {
return maxSize;
}
size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
address_t SpiCookie::getSpiAddress() const {
return spiAddress;
}
address_t SpiCookie::getSpiAddress() const { return spiAddress; }
std::string SpiCookie::getSpiDevice() const {
return spiDevice;
}
std::string SpiCookie::getSpiDevice() const { return spiDevice; }
void SpiCookie::setThreeWireSpi(bool enable) {
uncommonParameters.threeWireSpi = enable;
}
void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
void SpiCookie::setLsbFirst(bool enable) {
uncommonParameters.lsbFirst = enable;
}
void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
void SpiCookie::setNoCs(bool enable) {
uncommonParameters.noCs = enable;
}
void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
uncommonParameters.bitsPerWord = bitsPerWord;
}
void SpiCookie::setCsHigh(bool enable) {
uncommonParameters.csHigh = enable;
}
void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
spiTransferStruct.cs_change = deselectCs;
@ -98,47 +81,29 @@ void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
}
}
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
void *args) {
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
this->comIfMode = spi::SpiComIfModes::CALLBACK;
this->sendCallback = callback;
this->callbackArgs = args;
}
void SpiCookie::setCallbackArgs(void *args) {
this->callbackArgs = args;
}
void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
return &spiTransferStruct;
}
spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
this->halfDuplex = halfDuplex;
}
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
bool SpiCookie::isFullDuplex() const {
return not this->halfDuplex;
}
bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
void SpiCookie::setTransferSize(size_t transferSize) {
spiTransferStruct.len = transferSize;
}
void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
size_t SpiCookie::getCurrentTransferSize() const {
return spiTransferStruct.len;
}
size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
this->spiSpeed = newSpeed;
}
void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
this->spiMode = newMode;
}
void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
void SpiCookie::getCallback(spi::send_callback_function_t *callback,
void **args) {
void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
*callback = this->sendCallback;
*args = this->callbackArgs;
}

15
hal/src/fsfw_hal/linux/spi/SpiCookie.h
View File

@ -1,13 +1,12 @@
#ifndef LINUX_SPI_SPICOOKIE_H_
#define LINUX_SPI_SPICOOKIE_H_
#include "spiDefinitions.h"
#include "../../common/gpio/gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h>
#include <linux/spi/spidev.h>
#include "../../common/gpio/gpioDefinitions.h"
#include "spiDefinitions.h"
/**
* @brief This cookie class is passed to the SPI communication interface
* @details
@ -30,8 +29,8 @@ public:
* @param spiDev
* @param maxSize
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@ -141,8 +140,8 @@ public:
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
spi_ioc_transfer* getTransferStructHandle();
private:
private:
/**
* Internal constructor which initializes every field
* @param spiAddress
@ -178,6 +177,4 @@ private:
UncommonParameters uncommonParameters;
};
#endif /* LINUX_SPI_SPICOOKIE_H_ */

19
hal/src/fsfw_hal/linux/spi/spiDefinitions.h
View File

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

188
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -1,22 +1,21 @@
#include "UartComIF.h"
#include "OBSWConfig.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
#include <fcntl.h>
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
}
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h"
UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
UartComIF::~UartComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
@ -26,7 +25,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
@ -42,14 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
auto status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
deviceFile << "to UART device map" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
<< "to UART device map" << std::endl;
#endif
return RETURN_FAILED;
}
}
else {
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
" already in use" << std::endl;
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
<< " already in use" << std::endl;
#endif
return RETURN_FAILED;
}
@ -57,7 +61,6 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
}
int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options = {};
std::string deviceFile = uartCookie->getDeviceFile();
@ -70,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
int fd = open(deviceFile.c_str(), flags);
if (fd < 0) {
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
"with error code " << errno << strerror(errno) << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
<< "with error code " << errno << strerror(errno) << std::endl;
#endif
return fd;
}
/* Read in existing settings */
if (tcgetattr(fd, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Error " << errno
<< "from tcgetattr: " << strerror(errno) << std::endl;
#endif
return fd;
}
@ -99,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
errno << ": " << strerror(errno);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
#endif
return fd;
}
return fd;
@ -152,7 +161,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
options->c_cflag |= CS8;
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
#endif
break;
}
}
@ -258,14 +269,59 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
case 500000:
cfsetispeed(options, B500000);
cfsetospeed(options, B500000);
break;
case 576000:
cfsetispeed(options, B576000);
cfsetospeed(options, B576000);
break;
case 921600:
cfsetispeed(options, B921600);
cfsetospeed(options, B921600);
break;
case 1000000:
cfsetispeed(options, B1000000);
cfsetospeed(options, B1000000);
break;
case 1152000:
cfsetispeed(options, B1152000);
cfsetospeed(options, B1152000);
break;
case 1500000:
cfsetispeed(options, B1500000);
cfsetospeed(options, B1500000);
break;
case 2000000:
cfsetispeed(options, B2000000);
cfsetospeed(options, B2000000);
break;
case 2500000:
cfsetispeed(options, B2500000);
cfsetospeed(options, B2500000);
break;
case 3000000:
cfsetispeed(options, B3000000);
cfsetospeed(options, B3000000);
break;
case 3500000:
cfsetispeed(options, B3500000);
cfsetospeed(options, B3500000);
break;
case 4000000:
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
#endif
break;
}
}
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
@ -275,38 +331,44 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
}
if (sendData == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
#endif
return RETURN_FAILED;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
"not in UART map" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
<< std::endl;
#endif
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) {
sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
errno << ": Error description: " << strerror(errno) << std::endl;
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
#endif
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
std::string deviceFile;
@ -314,7 +376,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
#endif
return NULLPOINTER;
}
@ -327,18 +391,18 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
}
if (uartDeviceMapIter == uartDeviceMap.end()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
#endif
return RETURN_FAILED;
}
if (uartMode == UartModes::CANONICAL) {
return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else if (uartMode == UartModes::NON_CANONICAL) {
} else if (uartMode == UartModes::NON_CANONICAL) {
return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
}
else {
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
@ -364,14 +428,14 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
#else
sif::printWarning("UartComIF::requestReceiveMessage: "
sif::printWarning(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif
#endif
result = UART_RX_BUFFER_TOO_SMALL;
break;
}
else {
} else {
allowedReadSize = maxReplySize - currentBytesRead;
}
@ -381,18 +445,17 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
if (errno != EAGAIN) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
errno << ": " << strerror(errno) << std::endl;
sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
<< strerror(errno) << std::endl;
#else
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
errno, strerror(errno));
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
strerror(errno));
#endif
#endif
return RETURN_FAILED;
}
}
else if(bytesRead > 0) {
} else if (bytesRead > 0) {
iter->second.replyLen += bytesRead;
bufferPtr += bytesRead;
currentBytesRead += bytesRead;
@ -408,12 +471,13 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
auto bufferPtr = iter->second.replyBuffer.data();
// Size check to prevent buffer overflow
if (requestLen > uartCookie.getMaxReplyLen()) {
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
<< std::endl;
#else
sif::printWarning("UartComIF::requestReceiveMessage: "
sif::printWarning(
"UartComIF::requestReceiveMessage: "
"Next read would cause overflow!");
#endif
#endif
@ -422,11 +486,12 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead < 0) {
return RETURN_FAILED;
}
else if (bytesRead != static_cast<int>(requestLen)) {
} else if (bytesRead != static_cast<int>(requestLen)) {
if (uartCookie.isReplySizeFixed()) {
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
" of " << requestLen << " bytes" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
<< requestLen << " bytes" << std::endl;
#endif
return RETURN_FAILED;
}
}
@ -434,23 +499,25 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t* size) {
ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
" not in uart map" << std::endl;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
<< std::endl;
#endif
return RETURN_FAILED;
}
@ -468,7 +535,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
@ -486,7 +555,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
@ -504,7 +575,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
#endif
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
@ -522,8 +595,7 @@ void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
if (uartMode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
options->c_lflag &= ~ICANON;
}
else if(uartMode == UartModes::CANONICAL) {
} else if (uartMode == UartModes::CANONICAL) {
options->c_lflag |= ICANON;
}
}

16
hal/src/fsfw_hal/linux/uart/UartComIF.h
View File

@ -1,13 +1,14 @@
#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_
#include "UartCookie.h"
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map>
#include <vector>
#include "UartCookie.h"
/**
* @brief This is the communication interface to access serial ports on linux based operating
* systems.
@ -33,13 +34,10 @@ public:
virtual ~UartComIF();
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
/**
* @brief This function discards all data received but not read in the UART buffer.
@ -57,7 +55,6 @@ public:
ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
private:
using UartDeviceFile_t = std::string;
struct UartElements {
@ -119,7 +116,6 @@ private:
size_t requestLen);
ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
size_t requestLen);
};
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

88
hal/src/fsfw_hal/linux/uart/UartCookie.cpp
View File

@ -1,38 +1,28 @@
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "UartCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/serviceinterface.h>
UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen):
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
baudrate(baudrate), maxReplyLen(maxReplyLen) {
}
uint32_t baudrate, size_t maxReplyLen)
: handlerId(handlerId),
deviceFile(deviceFile),
uartMode(uartMode),
baudrate(baudrate),
maxReplyLen(maxReplyLen) {}
UartCookie::~UartCookie() {}
uint32_t UartCookie::getBaudrate() const {
return baudrate;
}
uint32_t UartCookie::getBaudrate() const { return baudrate; }
size_t UartCookie::getMaxReplyLen() const {
return maxReplyLen;
}
size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
std::string UartCookie::getDeviceFile() const {
return deviceFile;
}
std::string UartCookie::getDeviceFile() const { return deviceFile; }
void UartCookie::setParityOdd() {
parity = Parity::ODD;
}
void UartCookie::setParityOdd() { parity = Parity::ODD; }
void UartCookie::setParityEven() {
parity = Parity::EVEN;
}
void UartCookie::setParityEven() { parity = Parity::EVEN; }
Parity UartCookie::getParity() const {
return parity;
}
Parity UartCookie::getParity() const { return parity; }
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
switch (bitsPerWord_) {
@ -42,56 +32,34 @@ void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
case 8:
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
#endif
return;
}
bitsPerWord = bitsPerWord_;
}
uint8_t UartCookie::getBitsPerWord() const {
return bitsPerWord;
}
uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
StopBits UartCookie::getStopBits() const {
return stopBits;
}
StopBits UartCookie::getStopBits() const { return stopBits; }
void UartCookie::setTwoStopBits() {
stopBits = StopBits::TWO_STOP_BITS;
}
void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void UartCookie::setOneStopBit() {
stopBits = StopBits::ONE_STOP_BIT;
}
void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
UartModes UartCookie::getUartMode() const {
return uartMode;
}
UartModes UartCookie::getUartMode() const { return uartMode; }
void UartCookie::setReadCycles(uint8_t readCycles) {
this->readCycles = readCycles;
}
void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
void UartCookie::setToFlushInput(bool enable) {
this->flushInput = enable;
}
void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
uint8_t UartCookie::getReadCycles() const {
return readCycles;
}
uint8_t UartCookie::getReadCycles() const { return readCycles; }
bool UartCookie::getInputShouldBeFlushed() {
return this->flushInput;
}
bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
object_id_t UartCookie::getHandlerId() const {
return this->handlerId;
}
object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
void UartCookie::setNoFixedSizeReply() {
replySizeFixed = false;
}
void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
bool UartCookie::isReplySizeFixed() {
return replySizeFixed;
}
bool UartCookie::isReplySizeFixed() { return replySizeFixed; }

22
hal/src/fsfw_hal/linux/uart/UartCookie.h
View File

@ -6,21 +6,11 @@
#include <string>
enum class Parity {
NONE,
EVEN,
ODD
};
enum class Parity { NONE, EVEN, ODD };
enum class StopBits {
ONE_STOP_BIT,
TWO_STOP_BITS
};
enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
enum class UartModes {
CANONICAL,
NON_CANONICAL
};
enum class UartModes { CANONICAL, NON_CANONICAL };
/**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
@ -31,7 +21,6 @@ enum class UartModes {
*/
class UartCookie : public CookieIF {
public:
/**
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
@ -47,8 +36,8 @@ public:
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*/
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
uint32_t baudrate, size_t maxReplyLen);
UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
size_t maxReplyLen);
virtual ~UartCookie();
@ -104,7 +93,6 @@ public:
bool isReplySizeFixed();
private:
const object_id_t handlerId;
std::string deviceFile;
const UartModes uartMode;

3
hal/src/fsfw_hal/linux/uio/CMakeLists.txt Normal file
View File

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

86
hal/src/fsfw_hal/linux/uio/UioMapper.cpp Normal file
View File

@ -0,0 +1,86 @@
#include "UioMapper.h"
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include "fsfw/serviceinterface.h"
const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
const char UioMapper::MAP_SUBSTR[] = "/maps/map";
const char UioMapper::SIZE_FILE_PATH[] = "/size";
UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
UioMapper::~UioMapper() {}
ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int fd = open(uioFile.c_str(), O_RDWR);
if (fd < 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t size = 0;
result = getMapSize(&size);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*address = static_cast<uint32_t*>(
mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
if (*address == MAP_FAILED) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
<< uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t UioMapper::getMapSize(size_t* size) {
std::stringstream namestream;
namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
<< SIZE_FILE_PATH;
FILE* fp;
fp = fopen(namestream.str().c_str(), "r");
if (fp == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
char hexstring[SIZE_HEX_STRING] = "";
int items = fscanf(fp, "%s", hexstring);
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno
<< " to read size "
"string from file "
<< namestream.str() << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t sizeTmp = 0;
items = sscanf(hexstring, "%x", &sizeTmp);
if (size != nullptr) {
*size = sizeTmp;
}
if (items != 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
<< "size of map" << mapNum << " to integer" << std::endl;
#endif
fclose(fp);
return HasReturnvaluesIF::RETURN_FAILED;
}
fclose(fp);
return HasReturnvaluesIF::RETURN_OK;
}

58
hal/src/fsfw_hal/linux/uio/UioMapper.h Normal file
View File

@ -0,0 +1,58 @@
#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
#include <sys/mman.h>
#include <string>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Class to help opening uio device files and mapping the physical addresses into the user
* address space.
*
* @author J. Meier
*/
class UioMapper {
public:
enum class Permissions : int {
READ_ONLY = PROT_READ,
WRITE_ONLY = PROT_WRITE,
READ_WRITE = PROT_READ | PROT_WRITE
};
/**
* @brief Constructor
*
* @param uioFile The device file of the uiO to open
* @param uioMap Number of memory map. Most UIO drivers have only one map which has than 0.
*/
UioMapper(std::string uioFile, int mapNum = 0);
virtual ~UioMapper();
/**
* @brief Maps the physical address into user address space and returns the mapped address
*
* @address The mapped user space address
* @permissions Specifies the read/write permissions of the address region
*/
ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
private:
static const char UIO_PATH_PREFIX[];
static const char MAP_SUBSTR[];
static const char SIZE_FILE_PATH[];
static constexpr int SIZE_HEX_STRING = 10;
std::string uioFile;
int mapNum = 0;
/**
* @brief Reads the map size from the associated sysfs size file
*
* @param size The read map size
*/
ReturnValue_t getMapSize(size_t* size);
};
#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

11
hal/src/fsfw_hal/linux/utility.cpp
View File

@ -1,18 +1,18 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/utility.h"
#include <cerrno>
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
void utility::handleIoctlError(const char* const customPrintout) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
if (customPrintout != nullptr) {
sif::warning << customPrintout << std::endl;
}
sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
std::endl;
sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
#else
if (customPrintout != nullptr) {
sif::printWarning("%s\n", customPrintout);
@ -20,7 +20,4 @@ void utility::handleIoctlError(const char* const customPrintout) {
sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
}

7
hal/src/fsfw_hal/stm32h7/definitions.h
View File

@ -2,6 +2,7 @@
#define FSFW_HAL_STM32H7_DEFINITIONS_H_
#include <utility>
#include "stm32h7xx.h"
namespace stm32h7 {
@ -13,13 +14,13 @@ namespace stm32h7 {
struct GpioCfg {
GpioCfg() : port(nullptr), pin(0), altFnc(0){};
GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0):
port(port), pin(pin), altFnc(altFnc) {};
GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
: port(port), pin(pin), altFnc(altFnc){};
GPIO_TypeDef* port;
uint16_t pin;
uint8_t altFnc;
};
}
} // namespace stm32h7
#endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

72
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
View File

@ -1,29 +1,26 @@
#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_rcc.h"
#include <cstring>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include "stm32h7xx_hal_rcc.h"
#include "stm32h7xx_hal_spi.h"
alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
__attribute__((section(".dma_buffer")));
TransferStates transferState = TransferStates::IDLE;
spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
spiHandle(spiHandle) {
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
: spiHandle(spiHandle) {
txDmaHandle = new DMA_HandleTypeDef();
rxDmaHandle = new DMA_HandleTypeDef();
spi::setSpiHandle(spiHandle);
@ -34,16 +31,15 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
spi::setDmaHandles(txDmaHandle, rxDmaHandle);
stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiDmaMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
} else if (transferMode == spi::TransferModes::INTERRUPT) {
mspCfg = new spi::MspIrqConfigStruct();
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::POLLING) {
} else if (transferMode == spi::TransferModes::POLLING) {
mspCfg = new spi::MspPollingConfigStruct();
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
stm32h7::h743zi::standardPollingCfg(*typedCfg);
@ -155,8 +151,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
case (TransferStates::SUCCESS): {
uint8_t whoAmIVal = rxBuffer[1];
if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
sif::printDebug(
"GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n",
whoAmIVal);
}
transferState = TransferStates::IDLE;
break;
@ -203,7 +201,6 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
}
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0, 5);
result = performDmaTransfer(6);
@ -222,8 +219,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
} else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
transferState = TransferStates::IDLE;
@ -293,8 +289,10 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
uint8_t whoAmIVal = rxBuffer[1];
if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::performOperation: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
sif::printDebug(
"GyroL3GD20H::performOperation: "
"Read WHO AM I value %d not equal to expected value!\n",
whoAmIVal);
}
break;
}
@ -348,8 +346,7 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
} else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
break;
@ -408,8 +405,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
uint8_t whoAmIVal = rxBuffer[1];
if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
sif::printDebug(
"GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n",
whoAmIVal);
}
break;
}
@ -457,8 +456,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
} else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
break;
@ -516,7 +514,8 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
txBuf[0] = reg | STM_READ_MASK;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
if(result) {};
if (result) {
};
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
return rxBuf[1];
}
@ -535,7 +534,6 @@ void GyroL3GD20H::handleSensorReadout() {
sif::printInfo("Gyro Z: %f\n", gyroZ);
}
void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
transferState = TransferStates::SUCCESS;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);

21
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
View File

@ -1,22 +1,16 @@
#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#include <array>
#include <cstdint>
#include "../spi/mspInit.h"
#include "../spi/spiDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#include <cstdint>
#include <array>
enum class TransferStates {
IDLE,
WAIT,
SUCCESS,
FAILURE
};
enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
class GyroL3GD20H {
public:
@ -27,7 +21,6 @@ public:
ReturnValue_t performOperation();
private:
const uint8_t WHO_AM_I_REG = 0b00001111;
const uint8_t STM_READ_MASK = 0b10000000;
const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
@ -57,11 +50,9 @@ private:
static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
void prepareConfigRegs(uint8_t* configRegs);
void handleSensorReadout();
DMA_HandleTypeDef* txDmaHandle = {};
DMA_HandleTypeDef* rxDmaHandle = {};
spi::MspCfgBase* mspCfg = {};

71
hal/src/fsfw_hal/stm32h7/dma.cpp
View File

@ -1,7 +1,7 @@
#include <fsfw_hal/stm32h7/dma.h>
#include <cstdint>
#include <cstddef>
#include <cstdint>
user_handler_t DMA_1_USER_HANDLERS[8];
user_args_t DMA_1_USER_ARGS[8];
@ -14,8 +14,7 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
if (dma_idx == DMA_1) {
DMA_1_USER_HANDLERS[stream_idx] = user_handler;
DMA_1_USER_ARGS[stream_idx] = user_args;
}
else if(dma_idx == DMA_2) {
} else if (dma_idx == DMA_2) {
DMA_2_USER_HANDLERS[stream_idx] = user_handler;
DMA_2_USER_ARGS[stream_idx] = user_args;
}
@ -31,54 +30,22 @@ defined in the startup_stm32h743xx.s files! */
DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
return; \
} \
Default_Handler() \
Default_Handler()
extern"C" void DMA1_Stream0_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 0);
}
extern"C" void DMA1_Stream1_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 1);
}
extern"C" void DMA1_Stream2_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 2);
}
extern"C" void DMA1_Stream3_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 3);
}
extern"C" void DMA1_Stream4_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 4);
}
extern"C" void DMA1_Stream5_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 5);
}
extern"C" void DMA1_Stream6_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 6);
}
extern"C" void DMA1_Stream7_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 7);
}
extern "C" void DMA1_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 0); }
extern "C" void DMA1_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 1); }
extern "C" void DMA1_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 2); }
extern "C" void DMA1_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 3); }
extern "C" void DMA1_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 4); }
extern "C" void DMA1_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 5); }
extern "C" void DMA1_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 6); }
extern "C" void DMA1_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 7); }
extern"C" void DMA2_Stream0_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 0);
}
extern"C" void DMA2_Stream1_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 1);
}
extern"C" void DMA2_Stream2_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 2);
}
extern"C" void DMA2_Stream3_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 3);
}
extern"C" void DMA2_Stream4_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 4);
}
extern"C" void DMA2_Stream5_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 5);
}
extern"C" void DMA2_Stream6_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 6);
}
extern"C" void DMA2_Stream7_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 7);
}
extern "C" void DMA2_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 0); }
extern "C" void DMA2_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 1); }
extern "C" void DMA2_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 2); }
extern "C" void DMA2_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 3); }
extern "C" void DMA2_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 4); }
extern "C" void DMA2_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 5); }
extern "C" void DMA2_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 6); }
extern "C" void DMA2_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 7); }

19
hal/src/fsfw_hal/stm32h7/dma.h
View File

@ -5,20 +5,15 @@
extern "C" {
#endif
#include "interrupts.h"
#include <cstdint>
#include "interrupts.h"
namespace dma {
enum DMAType {
TX = 0,
RX = 1
};
enum DMAType { TX = 0, RX = 1 };
enum DMAIndexes: uint8_t {
DMA_1 = 1,
DMA_2 = 2
};
enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
enum DMAStreams {
STREAM_0 = 0,
@ -37,10 +32,10 @@ enum DMAStreams {
* @param user_handler
* @param user_args
*/
void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
user_handler_t user_handler, user_args_t user_args);
void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
user_args_t user_args);
}
} // namespace dma
#ifdef __cplusplus
}

6
hal/src/fsfw_hal/stm32h7/interrupts.h
View File

@ -15,11 +15,7 @@ extern void Default_Handler();
typedef void (*user_handler_t)(void*);
typedef void* user_args_t;
enum IrqPriorities: uint8_t {
HIGHEST = 0,
HIGHEST_FREERTOS = 6,
LOWEST = 15
};
enum IrqPriorities : uint8_t { HIGHEST = 0, HIGHEST_FREERTOS = 6, LOWEST = 15 };
#ifdef __cplusplus
}

100
hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
View File

@ -1,11 +1,11 @@
#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
#include "fsfw/tasks/SemaphoreFactory.h"
#include "fsfw_hal/stm32h7/gpio/gpio.h"
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/gpio/gpio.h"
// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
@ -13,8 +13,8 @@
#if defined FSFW_OSAL_RTEMS
#include "fsfw/osal/rtems/BinarySemaphore.h"
#elif defined FSFW_OSAL_FREERTOS
#include "fsfw/osal/freertos/TaskManagement.h"
#include "fsfw/osal/freertos/BinarySemaphore.h"
#include "fsfw/osal/freertos/TaskManagement.h"
#endif
#include "stm32h7xx_hal_gpio.h"
@ -35,9 +35,7 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
spi::setDmaHandles(txHandle, rxHandle);
}
ReturnValue_t SpiComIF::initialize() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
@ -61,8 +59,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
}
}
// This semaphore ensures thread-safety for a given bus
spiSemaphore = dynamic_cast<BinarySemaphore*>(
SemaphoreFactory::instance()->createBinarySemaphore());
spiSemaphore =
dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
address_t spiAddress = spiCookie->getDeviceAddress();
auto iter = spiDeviceMap.find(spiAddress);
@ -72,11 +70,13 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
spiAddress << "to SPI device map" << std::endl;
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
<< spiAddress << "to SPI device map" << std::endl;
#else
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
sif::printError(
"SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n",
static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
@ -92,13 +92,11 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
#ifdef SPI1
spiHandle.Instance = SPI1;
#endif
}
else if(spiIdx == spi::SpiBus::SPI_2) {
} else if (spiIdx == spi::SpiBus::SPI_2) {
#ifdef SPI2
spiHandle.Instance = SPI2;
#endif
}
else {
} else {
printCfgError("SPI Bus Index");
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -112,16 +110,14 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiPollingMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
} else if (transferMode == spi::TransferModes::INTERRUPT) {
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("IRQ MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::DMA) {
} else if (transferMode == spi::TransferModes::DMA) {
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("DMA MSP");
@ -201,9 +197,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
@ -253,7 +247,8 @@ void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
}
ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
auto gpioPort = spiCookie.getChipSelectGpioPort();
auto gpioPin = spiCookie.getChipSelectGpioPin();
auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
@ -265,8 +260,8 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
}
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
recvPtr, sendLen, defaultPollingTimeout);
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
sendLen, defaultPollingTimeout);
if (gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
}
@ -279,8 +274,8 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
case (HAL_TIMEOUT): {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" <<
spiCookie->getDeviceAddress() << std::endl;
sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
<< spiCookie->getDeviceAddress() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
spiCookie.getDeviceAddress());
@ -293,8 +288,8 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
default: {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" <<
spiCookie->getDeviceAddress() << std::endl;
sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
<< spiCookie->getDeviceAddress() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
spiCookie.getDeviceAddress());
@ -308,17 +303,20 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
}
ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
}
ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
}
ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
@ -330,15 +328,13 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
if (cacheMaintenanceOnTxBuffer) {
/* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */
SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F),
sendLen + 32);
SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
}
status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
currentRecvPtr, sendLen);
}
else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
currentRecvPtr, sendLen);
} else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
sendLen);
}
switch (status) {
case (HAL_OK): {
@ -355,12 +351,10 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
char modeString[10];
if (transferMode == spi::TransferModes::DMA) {
std::snprintf(modeString, sizeof(modeString), "Dma");
}
else {
} else {
std::snprintf(modeString, sizeof(modeString), "Interrupt");
}
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
status);
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
switch (status) {
case (HAL_BUSY): {
return spi::HAL_BUSY_RETVAL;
@ -377,9 +371,9 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
}
}
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
currentRecvPtr = recvPtr;
currentRecvBuffSize = sendLen;
@ -387,8 +381,10 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore "
"could not be acquired after %d ms\n", timeoutMs);
sif::printWarning(
"SpiComIF::handleInterruptSendOperation: Semaphore "
"could not be acquired after %d ms\n",
timeoutMs);
return result;
}
// Cache the current SPI handle in any case
@ -441,12 +437,11 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
GPIO_PIN_SET);
}
#if defined FSFW_OSAL_FREERTOS
// Release the task semaphore
BaseType_t taskWoken = pdFALSE;
ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
&taskWoken);
ReturnValue_t result =
BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
#elif defined FSFW_OSAL_RTEMS
ReturnValue_t result = comIF->spiSemaphore->release();
#endif
@ -458,8 +453,7 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
// Perform cache maintenance operation for DMA transfers
if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
// Invalidate cache prior to access by CPU
SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
comIF->currentRecvBuffSize);
SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
}
#if defined FSFW_OSAL_FREERTOS
/* Request a context switch if the SPI ComIF task was woken up and has a higher priority

41
hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h
View File

@ -1,16 +1,15 @@
#ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
#define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
#include "fsfw/tasks/SemaphoreIF.h"
#include <map>
#include <vector>
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/SemaphoreIF.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h743xx.h"
#include <vector>
#include <map>
#include "stm32h7xx_hal_spi.h"
class SpiCookie;
class BinarySemaphore;
@ -28,9 +27,7 @@ class BinarySemaphore;
* implementation limits the transfer mode for a given SPI bus.
* @author R. Mueller
*/
class SpiComIF:
public SystemObject,
public DeviceCommunicationIF {
class SpiComIF : public SystemObject, public DeviceCommunicationIF {
public:
/**
* Create a SPI communication interface for the given SPI peripheral (spiInstance)
@ -63,16 +60,14 @@ public:
// DeviceCommunicationIF overrides
virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
virtual ReturnValue_t sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) override;
virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) override;
protected:
struct SpiInstance {
SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
@ -103,13 +98,17 @@ protected:
SpiDeviceMap spiDeviceMap;
ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
@ -124,6 +123,4 @@ protected:
void printCfgError(const char* const type);
};
#endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

58
hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
View File

@ -1,12 +1,16 @@
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
size_t maxRecvSize, stm32h7::GpioCfg csGpio):
deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
transferMode(transferMode), csGpio(csGpio),
mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
size_t maxRecvSize, stm32h7::GpioCfg csGpio)
: deviceAddress(deviceAddress),
spiIdx(spiIdx),
spiSpeed(spiSpeed),
spiMode(spiMode),
transferMode(transferMode),
csGpio(csGpio),
mspCfg(mspCfg),
maxRecvSize(maxRecvSize) {
spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
@ -23,41 +27,23 @@ SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferM
spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
}
uint16_t SpiCookie::getChipSelectGpioPin() const {
return csGpio.pin;
}
uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
return csGpio.port;
}
GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
address_t SpiCookie::getDeviceAddress() const {
return deviceAddress;
}
address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
spi::SpiBus SpiCookie::getSpiIdx() const {
return spiIdx;
}
spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
spi::SpiModes SpiCookie::getSpiMode() const {
return spiMode;
}
spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
uint32_t SpiCookie::getSpiSpeed() const {
return spiSpeed;
}
uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
size_t SpiCookie::getMaxRecvSize() const {
return maxRecvSize;
}
size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
SPI_HandleTypeDef& SpiCookie::getSpiHandle() {
return spiHandle;
}
SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
spi::MspCfgBase* SpiCookie::getMspCfg() {
return mspCfg;
}
spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
void SpiCookie::deleteMspCfg() {
if (mspCfg != nullptr) {
@ -65,14 +51,10 @@ void SpiCookie::deleteMspCfg() {
}
}
spi::TransferModes SpiCookie::getTransferMode() const {
return transferMode;
}
spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
void SpiCookie::setTransferState(spi::TransferStates transferState) {
this->transferState = transferState;
}
spi::TransferStates SpiCookie::getTransferState() const {
return this->transferState;
}
spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }

22
hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h
View File

@ -1,16 +1,14 @@
#ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
#define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
#include "spiDefinitions.h"
#include "mspInit.h"
#include "../definitions.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "stm32h743xx.h"
#include <utility>
#include "../definitions.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "mspInit.h"
#include "spiDefinitions.h"
#include "stm32h743xx.h"
/**
* @brief SPI cookie implementation for the STM32H7 device family
* @details
@ -20,8 +18,8 @@
*/
class SpiCookie : public CookieIF {
friend class SpiComIF;
public:
public:
/**
* Allows construction of a SPI cookie for a connected SPI device
* @param deviceAddress
@ -39,8 +37,8 @@ public:
* @param csGpio Optional CS GPIO definition.
*/
SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
uint16_t getChipSelectGpioPin() const;
GPIO_TypeDef* getChipSelectGpioPort();
@ -75,6 +73,4 @@ private:
spi::TransferStates getTransferState() const;
};
#endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

33
hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
View File

@ -1,15 +1,15 @@
#include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_def.h"
#include <cstdio>
#include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_def.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_spi.h"
spi::msp_func_t mspInitFunc = nullptr;
spi::MspCfgBase* mspInitArgs = nullptr;
@ -73,8 +73,7 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
/* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
// Assign the interrupt handler
dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream,
&spi::dmaTxIrqHandler, hdma_tx);
dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, &spi::dmaTxIrqHandler, hdma_tx);
HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
}
@ -98,8 +97,7 @@ void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
spi::getDmaHandles(&hdma_tx, &hdma_rx);
if (hdma_tx == NULL || hdma_rx == NULL) {
printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
}
else {
} else {
// Disable the DMA
/* De-Initialize the DMA associated to transmission process */
HAL_DMA_DeInit(hdma_tx);
@ -110,7 +108,6 @@ void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
// Disable the NVIC for DMA
HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
}
void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
@ -188,8 +185,8 @@ void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) {
}
}
void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
msp_func_t initFunc, msp_func_t deinitFunc) {
void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
@ -225,8 +222,7 @@ void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t init
extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
if (mspInitFunc != NULL) {
mspInitFunc(hspi, mspInitArgs);
}
else {
} else {
printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}
@ -242,8 +238,7 @@ extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
if (mspDeinitFunc != NULL) {
mspDeinitFunc(hspi, mspDeinitArgs);
}
else {
} else {
printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}

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