Merge pull request 'Release v4.0.0' (#554) from development into master
Reviewed-on: #554
This commit is contained in:
commit
a274d6598e
@ -1,4 +1,214 @@
|
||||
# Changed from ASTP 1.1.0 to 1.2.0
|
||||
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]
|
||||
|
||||
# [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
|
||||
|
||||
@ -27,7 +237,7 @@
|
||||
|
||||
- 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
|
||||
# [v1.1.0]
|
||||
|
||||
## API Changes
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(FSFW_VERSION 3)
|
||||
set(FSFW_VERSION 4)
|
||||
set(FSFW_SUBVERSION 0)
|
||||
set(FSFW_REVISION 1)
|
||||
set(FSFW_REVISION 0)
|
||||
|
||||
# Add the cmake folder so the FindSphinx module is found
|
||||
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
|
||||
@ -56,10 +56,12 @@ if(FSFW_BUILD_UNITTESTS)
|
||||
FetchContent_Declare(
|
||||
Catch2
|
||||
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
|
||||
GIT_TAG v3.0.0-preview3
|
||||
GIT_TAG v3.0.0-preview4
|
||||
)
|
||||
|
||||
FetchContent_MakeAvailable(Catch2)
|
||||
#fixes regression -preview4, to be confirmed in later releases
|
||||
set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
|
||||
endif()
|
||||
|
||||
set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
|
||||
@ -90,7 +92,7 @@ set(FSFW_CORE_INC_PATH "inc")
|
||||
|
||||
set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
|
||||
|
||||
# Configure Files
|
||||
# For configure files
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
@ -152,13 +154,8 @@ else()
|
||||
set(OS_FSFW "host")
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS)
|
||||
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()
|
||||
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
|
||||
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
|
||||
|
||||
message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
|
||||
|
||||
@ -197,13 +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()
|
||||
|
||||
|
||||
38
README.md
38
README.md
@ -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.
|
||||
@ -107,6 +107,42 @@ 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
|
||||
|
||||
@ -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
|
||||
|
||||
39
automation/Jenkinsfile
vendored
39
automation/Jenkinsfile
vendored
@ -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 ..'
|
||||
@ -30,12 +19,6 @@ pipeline {
|
||||
}
|
||||
}
|
||||
stage('Build') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake --build . -j'
|
||||
@ -43,12 +26,6 @@ pipeline {
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j'
|
||||
@ -56,12 +33,6 @@ pipeline {
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
|
||||
@ -1,3 +1,110 @@
|
||||
.. _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;
|
||||
}
|
||||
|
||||
@ -90,8 +90,21 @@ Building the documentation
|
||||
----------------------------
|
||||
|
||||
The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
|
||||
instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
|
||||
documentation build system using the following commands
|
||||
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
|
||||
|
||||
@ -110,6 +123,14 @@ 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
|
||||
|
||||
@ -118,7 +118,7 @@ The DH has mechanisms to monitor the communication with the physical device whic
|
||||
for FDIR reaction. Device Handlers can be created by implementing ``DeviceHandlerBase``.
|
||||
A standard FDIR component for the DH will be created automatically but can
|
||||
be overwritten by the user. More information on DeviceHandlers can be found in the
|
||||
related [documentation section](doc/README-devicehandlers.md#top).
|
||||
related :ref:`documentation section <dhb-prim-doc>`.
|
||||
|
||||
Modes and Health
|
||||
--------------------
|
||||
|
||||
@ -3,7 +3,13 @@ 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_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)
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
add_subdirectory(devicehandlers)
|
||||
add_subdirectory(common)
|
||||
|
||||
if(FSFW_HAL_ADD_LINUX)
|
||||
if(UNIX)
|
||||
add_subdirectory(linux)
|
||||
endif()
|
||||
|
||||
|
||||
@ -1,50 +1,48 @@
|
||||
#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) {
|
||||
if (gpioConfig == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
|
||||
sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
auto gpioMapIter = gpioMap.find(gpioId);
|
||||
if(gpioMapIter == gpioMap.end()) {
|
||||
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
|
||||
if (statusPair.second == false) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
|
||||
" to GPIO map" << std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
|
||||
#endif
|
||||
sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
auto gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
|
||||
if (statusPair.second == false) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
|
||||
#else
|
||||
sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
GpioMap GpioCookie::getGpioMap() const {
|
||||
return gpioMap;
|
||||
}
|
||||
GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
|
||||
|
||||
GpioCookie::~GpioCookie() {
|
||||
for(auto& config: gpioMap) {
|
||||
delete(config.second);
|
||||
}
|
||||
for (auto& config : gpioMap) {
|
||||
delete (config.second);
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,12 +1,12 @@
|
||||
#ifndef COMMON_GPIO_GPIOCOOKIE_H_
|
||||
#define COMMON_GPIO_GPIOCOOKIE_H_
|
||||
|
||||
#include "GpioIF.h"
|
||||
#include "gpioDefinitions.h"
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include "GpioIF.h"
|
||||
#include "gpioDefinitions.h"
|
||||
|
||||
/**
|
||||
* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
|
||||
* GPIOs to initialize and whether they should be configured as in- or
|
||||
@ -17,25 +17,24 @@
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class GpioCookie: public CookieIF {
|
||||
public:
|
||||
class GpioCookie : public CookieIF {
|
||||
public:
|
||||
GpioCookie();
|
||||
|
||||
GpioCookie();
|
||||
virtual ~GpioCookie();
|
||||
|
||||
virtual ~GpioCookie();
|
||||
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
|
||||
|
||||
ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
|
||||
/**
|
||||
* @brief Get map with registered GPIOs.
|
||||
*/
|
||||
GpioMap getGpioMap() const;
|
||||
|
||||
/**
|
||||
* @brief Get map with registered GPIOs.
|
||||
*/
|
||||
GpioMap getGpioMap() const;
|
||||
|
||||
private:
|
||||
/**
|
||||
* Returns a copy of the internal GPIO map.
|
||||
*/
|
||||
GpioMap gpioMap;
|
||||
private:
|
||||
/**
|
||||
* Returns a copy of the internal GPIO map.
|
||||
*/
|
||||
GpioMap gpioMap;
|
||||
};
|
||||
|
||||
#endif /* COMMON_GPIO_GPIOCOOKIE_H_ */
|
||||
|
||||
@ -1,9 +1,10 @@
|
||||
#ifndef COMMON_GPIO_GPIOIF_H_
|
||||
#define COMMON_GPIO_GPIOIF_H_
|
||||
|
||||
#include "gpioDefinitions.h"
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include "gpioDefinitions.h"
|
||||
|
||||
class GpioCookie;
|
||||
|
||||
@ -13,42 +14,41 @@ class GpioCookie;
|
||||
* @author J. Meier
|
||||
*/
|
||||
class GpioIF : public HasReturnvaluesIF {
|
||||
public:
|
||||
public:
|
||||
virtual ~GpioIF(){};
|
||||
|
||||
virtual ~GpioIF() {};
|
||||
/**
|
||||
* @brief Called by the GPIO using object.
|
||||
* @param cookie Cookie specifying informations of the GPIOs required
|
||||
* by a object.
|
||||
*/
|
||||
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
|
||||
|
||||
/**
|
||||
* @brief Called by the GPIO using object.
|
||||
* @param cookie Cookie specifying informations of the GPIOs required
|
||||
* by a object.
|
||||
*/
|
||||
virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to high logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
|
||||
*/
|
||||
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to high logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
|
||||
*/
|
||||
virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to low logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
*/
|
||||
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to low logic level.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to drive.
|
||||
*/
|
||||
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
|
||||
|
||||
/**
|
||||
* @brief This function requires a child to implement the functionality to read the state of
|
||||
* an ouput or input gpio.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to read.
|
||||
* @param gpioState State of GPIO will be written to this pointer.
|
||||
*/
|
||||
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
|
||||
/**
|
||||
* @brief This function requires a child to implement the functionality to read the state of
|
||||
* an ouput or input gpio.
|
||||
*
|
||||
* @param gpioId A unique number which specifies the GPIO to read.
|
||||
* @param gpioState State of GPIO will be written to this pointer.
|
||||
*/
|
||||
virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
|
||||
};
|
||||
|
||||
#endif /* COMMON_GPIO_GPIOIF_H_ */
|
||||
|
||||
@ -1,44 +1,34 @@
|
||||
#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
|
||||
#define COMMON_GPIO_GPIODEFINITIONS_H_
|
||||
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
#include <map>
|
||||
|
||||
using gpioId_t = uint16_t;
|
||||
|
||||
namespace gpio {
|
||||
|
||||
enum Levels: uint8_t {
|
||||
LOW = 0,
|
||||
HIGH = 1,
|
||||
NONE = 99
|
||||
};
|
||||
enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
|
||||
|
||||
enum Direction: uint8_t {
|
||||
IN = 0,
|
||||
OUT = 1
|
||||
};
|
||||
enum Direction : uint8_t { IN = 0, OUT = 1 };
|
||||
|
||||
enum GpioOperation {
|
||||
READ,
|
||||
WRITE
|
||||
};
|
||||
enum GpioOperation { READ, WRITE };
|
||||
|
||||
enum class GpioTypes {
|
||||
NONE,
|
||||
GPIO_REGULAR_BY_CHIP,
|
||||
GPIO_REGULAR_BY_LABEL,
|
||||
GPIO_REGULAR_BY_LINE_NAME,
|
||||
CALLBACK
|
||||
NONE,
|
||||
GPIO_REGULAR_BY_CHIP,
|
||||
GPIO_REGULAR_BY_LABEL,
|
||||
GPIO_REGULAR_BY_LINE_NAME,
|
||||
CALLBACK
|
||||
};
|
||||
|
||||
static constexpr gpioId_t NO_GPIO = -1;
|
||||
|
||||
using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
|
||||
void* args);
|
||||
using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
|
||||
void* args);
|
||||
|
||||
}
|
||||
} // namespace gpio
|
||||
|
||||
/**
|
||||
* @brief Struct containing information about the GPIO to use. This is
|
||||
@ -55,78 +45,71 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
|
||||
* pointer.
|
||||
*/
|
||||
class GpioBase {
|
||||
public:
|
||||
public:
|
||||
GpioBase() = default;
|
||||
|
||||
GpioBase() = default;
|
||||
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue)
|
||||
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
|
||||
|
||||
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue):
|
||||
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
|
||||
virtual ~GpioBase(){};
|
||||
|
||||
virtual~ GpioBase() {};
|
||||
|
||||
// Can be used to cast GpioBase to a concrete child implementation
|
||||
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
|
||||
std::string consumer;
|
||||
gpio::Direction direction = gpio::Direction::IN;
|
||||
gpio::Levels initValue = gpio::Levels::NONE;
|
||||
// Can be used to cast GpioBase to a concrete child implementation
|
||||
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
|
||||
std::string consumer;
|
||||
gpio::Direction direction = gpio::Direction::IN;
|
||||
gpio::Levels initValue = gpio::Levels::NONE;
|
||||
};
|
||||
|
||||
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) {
|
||||
}
|
||||
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) {}
|
||||
|
||||
// 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) {
|
||||
}
|
||||
// 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) {}
|
||||
|
||||
int lineNum = 0;
|
||||
struct gpiod_line* lineHandle = nullptr;
|
||||
int lineNum = 0;
|
||||
struct gpiod_line* lineHandle = nullptr;
|
||||
};
|
||||
|
||||
class GpiodRegularByChip: public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByChip() :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
|
||||
std::string(), gpio::Direction::IN, gpio::LOW, 0) {
|
||||
}
|
||||
class GpiodRegularByChip : public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByChip()
|
||||
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
|
||||
gpio::LOW, 0) {}
|
||||
|
||||
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, gpio::Levels initValue_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
|
||||
consumer_, direction_, initValue_, lineNum_),
|
||||
chipname(chipname_){
|
||||
}
|
||||
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_) {}
|
||||
|
||||
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
|
||||
gpio::Direction::IN, gpio::LOW, lineNum_),
|
||||
chipname(chipname_) {
|
||||
}
|
||||
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
|
||||
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
|
||||
gpio::LOW, lineNum_),
|
||||
chipname(chipname_) {}
|
||||
|
||||
std::string chipname;
|
||||
std::string chipname;
|
||||
};
|
||||
|
||||
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_) {
|
||||
}
|
||||
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_) {}
|
||||
|
||||
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
|
||||
gpio::Direction::IN, gpio::LOW, lineNum_),
|
||||
label(label_) {
|
||||
}
|
||||
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
|
||||
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
|
||||
gpio::LOW, lineNum_),
|
||||
label(label_) {}
|
||||
|
||||
std::string label;
|
||||
std::string label;
|
||||
};
|
||||
|
||||
/**
|
||||
@ -134,34 +117,34 @@ public:
|
||||
* line name. This line name can be set in the device tree and must be unique. Otherwise
|
||||
* the driver will open the first line with the given name.
|
||||
*/
|
||||
class GpiodRegularByLineName: public GpiodRegularBase {
|
||||
public:
|
||||
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_) {
|
||||
}
|
||||
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_) {}
|
||||
|
||||
GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
|
||||
gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
|
||||
}
|
||||
GpiodRegularByLineName(std::string lineName_, std::string consumer_)
|
||||
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
|
||||
gpio::LOW),
|
||||
lineName(lineName_) {}
|
||||
|
||||
std::string lineName;
|
||||
std::string lineName;
|
||||
};
|
||||
|
||||
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) {}
|
||||
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 = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
gpio::gpio_cb_t callback = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
};
|
||||
|
||||
|
||||
using GpioMap = std::map<gpioId_t, GpioBase*>;
|
||||
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
|
||||
using GpioMapIter = GpioMap::iterator;
|
||||
|
||||
@ -5,12 +5,7 @@
|
||||
|
||||
namespace spi {
|
||||
|
||||
enum SpiModes: uint8_t {
|
||||
MODE_0,
|
||||
MODE_1,
|
||||
MODE_2,
|
||||
MODE_3
|
||||
};
|
||||
enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -1,287 +1,274 @@
|
||||
#include "GyroL3GD20Handler.h"
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
#include <cmath>
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie, uint32_t transitionDelayMs):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
transitionDelayMs(transitionDelayMs), dataset(this) {
|
||||
CookieIF *comCookie, uint32_t transitionDelayMs)
|
||||
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
transitionDelayMs(transitionDelayMs),
|
||||
dataset(this) {
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
}
|
||||
|
||||
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
|
||||
|
||||
void GyroHandlerL3GD20H::doStartUp() {
|
||||
if(internalState == InternalState::NONE) {
|
||||
internalState = InternalState::CONFIGURE;
|
||||
}
|
||||
if (internalState == InternalState::NONE) {
|
||||
internalState = InternalState::CONFIGURE;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::CONFIGURE) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::CHECK_REGS;
|
||||
commandExecuted = false;
|
||||
}
|
||||
if (internalState == InternalState::CONFIGURE) {
|
||||
if (commandExecuted) {
|
||||
internalState = InternalState::CHECK_REGS;
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(internalState == InternalState::CHECK_REGS) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
if(goNormalModeImmediately) {
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
commandExecuted = false;
|
||||
}
|
||||
if (internalState == InternalState::CHECK_REGS) {
|
||||
if (commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
if (goNormalModeImmediately) {
|
||||
setMode(MODE_NORMAL);
|
||||
} else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
switch (internalState) {
|
||||
case (InternalState::NONE):
|
||||
case (InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
}
|
||||
case(InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command [5];
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
case (InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command[5];
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
}
|
||||
case(InternalState::CHECK_REGS): {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
case (InternalState::CHECK_REGS): {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
/* Might be a configuration error. */
|
||||
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!" << std::endl;
|
||||
/* Might be a configuration error. */
|
||||
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
sif::printDebug(
|
||||
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(L3GD20H::READ_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
break;
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch (deviceCommand) {
|
||||
case (L3GD20H::READ_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
if(commandData == nullptr or commandDataLen != 5) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
case (L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
if (commandData == nullptr or commandDataLen != 5) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
ctrlReg1Value = commandData[0];
|
||||
ctrlReg2Value = commandData[1];
|
||||
ctrlReg3Value = commandData[2];
|
||||
ctrlReg4Value = commandData[3];
|
||||
ctrlReg5Value = commandData[4];
|
||||
ctrlReg1Value = commandData[0];
|
||||
ctrlReg2Value = commandData[1];
|
||||
ctrlReg3Value = commandData[2];
|
||||
ctrlReg4Value = commandData[3];
|
||||
ctrlReg5Value = commandData[4];
|
||||
|
||||
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
|
||||
if(not fsH and not fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
}
|
||||
else if(not fsH and fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_01;
|
||||
}
|
||||
else {
|
||||
sensitivity = L3GD20H::SENSITIVITY_11;
|
||||
}
|
||||
if (not fsH and not fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
} else if (not fsH and fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_01;
|
||||
} else {
|
||||
sensitivity = L3GD20H::SENSITIVITY_11;
|
||||
}
|
||||
|
||||
commandBuffer[1] = ctrlReg1Value;
|
||||
commandBuffer[2] = ctrlReg2Value;
|
||||
commandBuffer[3] = ctrlReg3Value;
|
||||
commandBuffer[4] = ctrlReg4Value;
|
||||
commandBuffer[5] = ctrlReg5Value;
|
||||
commandBuffer[1] = ctrlReg1Value;
|
||||
commandBuffer[2] = ctrlReg2Value;
|
||||
commandBuffer[3] = ctrlReg3Value;
|
||||
commandBuffer[4] = ctrlReg4Value;
|
||||
commandBuffer[5] = ctrlReg5Value;
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
|
||||
L3GD20H::READ_MASK;
|
||||
case (L3GD20H::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
|
||||
std::memset(commandBuffer + 1, 0, 5);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
std::memset(commandBuffer + 1, 0, 5);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// For SPI, the ID will always be the one of the last sent command
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// For SPI, the ID will always be the one of the last sent command
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(id) {
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch (id) {
|
||||
case (L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandExecuted = true;
|
||||
break;
|
||||
}
|
||||
case (L3GD20H::READ_CTRL_REGS): {
|
||||
if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
packet[5] == ctrlReg5Value) {
|
||||
commandExecuted = true;
|
||||
break;
|
||||
} else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
packet[5] == ctrlReg5Value) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_REGS): {
|
||||
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
packet[5] != ctrlReg5Value) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||