Merge remote-tracking branch 'upstream/development' into mueller/dev-printout-runtime-configurable
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@ -14,6 +14,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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- HAL Devicehandlers: Periodic printout is run-time configurable now
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## Additions
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- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
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# [v4.0.0]
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## Additions
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@ -1,4 +1,13 @@
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#include "fsfw_hal/linux/i2c/I2cComIF.h"
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#include "I2cComIF.h"
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#include "fsfw/FSFW.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw_hal/linux/UnixFileGuard.h"
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#include "fsfw_hal/linux/utility.h"
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#if FSFW_HAL_I2C_WIRETAPPING == 1
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#include "fsfw/globalfunctions/arrayprinter.h"
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#endif
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#include <errno.h>
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#include <fcntl.h>
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@ -8,11 +17,6 @@
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#include <cstring>
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#include "fsfw/FSFW.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw_hal/linux/UnixFileGuard.h"
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#include "fsfw_hal/linux/utility.h"
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I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
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I2cComIF::~I2cComIF() {}
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@ -112,6 +116,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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#if FSFW_HAL_I2C_WIRETAPPING == 1
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sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
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arrayprinter::print(sendData, sendLen);
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -176,6 +185,11 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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#if FSFW_HAL_I2C_WIRETAPPING == 1
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sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
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arrayprinter::print(replyBuffer, requestLen);
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#endif
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i2cDeviceMapIter->second.replyLen = requestLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -57,4 +57,9 @@
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#define FSFW_HAL_SPI_WIRETAPPING 0
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#endif
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// Can be used for low-level debugging of the I2C bus
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#ifndef FSFW_HAL_I2C_WIRETAPPING
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#define FSFW_HAL_I2C_WIRETAPPING 0
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#endif
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#endif /* FSFW_FSFW_H_ */
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@ -117,7 +117,7 @@ uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t starti
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// {
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// if (xor_out[i] == true)
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// crc_value = crc_value + pow(2,(15 -i)); // reverse CrC result before
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//Final XOR
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// Final XOR
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// }
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//
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// crc_value = 0;// for debug mode
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@ -65,9 +65,10 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
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/**
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* @brief The function containing the actual functionality of the task.
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* @details The method sets and starts
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* the task's period, then enters a loop that is repeated indefinitely. Within the
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* loop, all performOperation methods of the added objects are called. Afterwards the task will be
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* blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
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* the task's period, then enters a loop that is repeated indefinitely. Within
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* the loop, all performOperation methods of the added objects are called. Afterwards the task
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* will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
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* executed.
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*/
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virtual void taskFunctionality(void);
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/**
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@ -13,8 +13,8 @@ class ExecutableObjectIF;
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* @brief This class represents a specialized task for periodic activities of multiple objects.
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*
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* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
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* multiple objects that implement the ExecutableObjectIF interface. The objects
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* must be added prior to starting the task.
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* multiple objects that implement the ExecutableObjectIF interface. The
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* objects must be added prior to starting the task.
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* @author baetz
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* @ingroup task_handling
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*/
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@ -169,8 +169,8 @@ class RMAP : public HasReturnvaluesIF {
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* @param buffer the data to write
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* @param length length of data
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* @return
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* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in
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* write command
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* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL
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* in write command
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* - return codes of RMAPChannelIF::sendCommand()
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*/
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static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t *buffer, size_t length);
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@ -205,8 +205,8 @@ class RMAP : public HasReturnvaluesIF {
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* @param cookie to cookie to read from
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* @param expLength the expected maximum length of the reply
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* @return
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* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL in
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* write command, or nullpointer in read command
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* - @c COMMAND_NULLPOINTER datalen was != 0 but data was == NULL
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* in write command, or nullpointer in read command
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* - return codes of RMAPChannelIF::sendCommand()
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*/
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static ReturnValue_t sendReadCommand(RMAPCookie *cookie, uint32_t expLength);
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@ -75,10 +75,10 @@ class RMAPChannelIF {
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* - @c RETURN_OK
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* - @c COMMAND_NO_DESCRIPTORS_AVAILABLE no descriptors available for sending
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* command; command was not sent
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* - @c COMMAND_BUFFER_FULL no receiver buffer available for expected len;
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* command was not sent
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* - @c COMMAND_TOO_BIG the data that was to be sent was too long for the hw
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* to handle (write command) or the expected len was bigger than maximal expected len (read
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* - @c COMMAND_BUFFER_FULL no receiver buffer available for expected
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* len; command was not sent
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* - @c COMMAND_TOO_BIG the data that was to be sent was too long for the
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* hw to handle (write command) or the expected len was bigger than maximal expected len (read
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* command) command was not sent
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* - @c COMMAND_CHANNEL_DEACTIVATED the channel has no port set
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* - @c NOT_SUPPORTED if you dont feel like
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@ -97,8 +97,8 @@ class RMAPChannelIF {
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* - @c REPLY_NO_REPLY no reply was received
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* - @c REPLY_NOT_SENT command was not sent, implies no reply
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* - @c REPLY_NOT_YET_SENT command is still waiting to be sent
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* - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer still
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* being processed)
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* - @c WRITE_REPLY_INTERFACE_BUSY Interface is busy (transmission buffer
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* still being processed)
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* - @c WRITE_REPLY_TRANSMISSION_ERROR Interface encountered errors during last
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* operation, data could not be processed. (transmission error)
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* - @c WRITE_REPLY_INVALID_DATA Invalid data (amount / value)
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