Compare commits
14 Commits
v3.0.0
...
0ff81294e7
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@ -1,7 +0,0 @@
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---
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BasedOnStyle: Google
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IndentWidth: 2
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---
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Language: Cpp
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ColumnLimit: 100
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---
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2
.gitignore
vendored
2
.gitignore
vendored
@ -2,5 +2,3 @@
|
||||
.project
|
||||
.settings
|
||||
.metadata
|
||||
|
||||
/build*
|
||||
|
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217
CMakeLists.txt
217
CMakeLists.txt
@ -1,12 +1,5 @@
|
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cmake_minimum_required(VERSION 3.13)
|
||||
|
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set(FSFW_VERSION 2)
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set(FSFW_SUBVERSION 0)
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set(FSFW_REVISION 0)
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||||
|
||||
# Add the cmake folder so the FindSphinx module is found
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set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
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|
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option(FSFW_GENERATE_SECTIONS
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"Generate function and data sections. Required to remove unused code" ON
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)
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@ -14,17 +7,9 @@ if(FSFW_GENERATE_SECTIONS)
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option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
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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)
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||||
if(FSFW_BUILD_UNITTESTS)
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||||
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
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endif()
|
||||
|
||||
option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
|
||||
# Options to exclude parts of the FSFW from compilation.
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option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
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option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
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option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
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|
||||
# Optional sources
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option(FSFW_ADD_PUS "Compile with PUS sources" ON)
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@ -36,68 +21,14 @@ option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
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option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
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||||
|
||||
# Contrib sources
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option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
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option(FSFW_ADD_SPG4_PROPAGATOR "Add SPG4 propagator code" OFF)
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|
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set(LIB_FSFW_NAME fsfw)
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set(FSFW_TEST_TGT fsfw-tests)
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set(FSFW_DUMMY_TGT fsfw-dummy)
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project(${LIB_FSFW_NAME})
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add_library(${LIB_FSFW_NAME})
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|
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if(FSFW_BUILD_UNITTESTS)
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message(STATUS "Building the FSFW unittests in addition to the static library")
|
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# Check whether the user has already installed Catch2 first
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find_package(Catch2 3)
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# Not installed, so use FetchContent to download and provide Catch2
|
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if(NOT Catch2_FOUND)
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include(FetchContent)
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|
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FetchContent_Declare(
|
||||
Catch2
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GIT_REPOSITORY https://github.com/catchorg/Catch2.git
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GIT_TAG v3.0.0-preview3
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)
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||||
|
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FetchContent_MakeAvailable(Catch2)
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endif()
|
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|
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set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
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configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
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configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
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project(${FSFW_TEST_TGT} CXX C)
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add_executable(${FSFW_TEST_TGT})
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|
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if(FSFW_TESTS_GEN_COV)
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message(STATUS "Generating coverage data for the library")
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message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
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"will be compiled with coverage data as well"
|
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)
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include(FetchContent)
|
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FetchContent_Declare(
|
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cmake-modules
|
||||
GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
|
||||
)
|
||||
FetchContent_MakeAvailable(cmake-modules)
|
||||
set(CMAKE_BUILD_TYPE "Debug")
|
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list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
|
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include(CodeCoverage)
|
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endif()
|
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endif()
|
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set(FSFW_CORE_INC_PATH "inc")
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set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
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|
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# Configure Files
|
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target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
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)
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
||||
if(NOT CMAKE_CXX_STANDARD)
|
||||
set(CMAKE_CXX_STANDARD 11)
|
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set(CMAKE_CXX_STANDARD_REQUIRED True)
|
||||
@ -106,7 +37,7 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11)
|
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endif()
|
||||
|
||||
# Backwards comptability
|
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if(OS_FSFW AND NOT FSFW_OSAL)
|
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if(OS_FSFW)
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message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
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set(FSFW_OSAL OS_FSFW)
|
||||
endif()
|
||||
@ -130,125 +61,48 @@ endif()
|
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set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
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if(FSFW_OSAL MATCHES host)
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set(FSFW_OS_NAME "Host")
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set(FSFW_OSAL_HOST ON)
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set(OS_FSFW_NAME "Host")
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elseif(FSFW_OSAL MATCHES linux)
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set(FSFW_OS_NAME "Linux")
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set(FSFW_OSAL_LINUX ON)
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set(OS_FSFW_NAME "Linux")
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set(FSFW_OSAL_DEFINITION FSFW_OSAL_LINUX)
|
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elseif(FSFW_OSAL MATCHES freertos)
|
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set(FSFW_OS_NAME "FreeRTOS")
|
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set(FSFW_OSAL_FREERTOS ON)
|
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target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
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set(OS_FSFW_NAME "FreeRTOS")
|
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set(FSFW_OSAL_DEFINITION FSFW_OSAL_FREERTOS)
|
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target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
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${LIB_OS_NAME}
|
||||
)
|
||||
)
|
||||
elseif(FSFW_OSAL STREQUAL rtems)
|
||||
set(FSFW_OS_NAME "RTEMS")
|
||||
set(FSFW_OSAL_RTEMS ON)
|
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set(OS_FSFW_NAME "RTEMS")
|
||||
set(FSFW_OSAL_DEFINITION FSFW_OSAL_RTEMS)
|
||||
else()
|
||||
message(WARNING
|
||||
"Invalid operating system for FSFW specified! Setting to host.."
|
||||
)
|
||||
set(FSFW_OS_NAME "Host")
|
||||
set(OS_FSFW "host")
|
||||
message(WARNING
|
||||
"Invalid operating system for FSFW specified! Setting to host.."
|
||||
)
|
||||
set(OS_FSFW_NAME "Host")
|
||||
set(OS_FSFW "host")
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS)
|
||||
configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
|
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configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
|
||||
else()
|
||||
configure_file(src/fsfw/FSFW.h.in FSFW.h)
|
||||
configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
|
||||
endif()
|
||||
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_OSAL_DEFINITION}
|
||||
)
|
||||
|
||||
message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
|
||||
target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
|
||||
${FSFW_OSAL_DEFINITION}
|
||||
)
|
||||
|
||||
message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
|
||||
|
||||
add_subdirectory(src)
|
||||
add_subdirectory(tests)
|
||||
if(FSFW_ADD_HAL)
|
||||
add_subdirectory(hal)
|
||||
endif()
|
||||
add_subdirectory(hal)
|
||||
add_subdirectory(contrib)
|
||||
if(FSFW_BUILD_DOCS)
|
||||
add_subdirectory(docs)
|
||||
endif()
|
||||
|
||||
if(FSFW_BUILD_UNITTESTS)
|
||||
if(FSFW_TESTS_GEN_COV)
|
||||
if(CMAKE_COMPILER_IS_GNUCXX)
|
||||
include(CodeCoverage)
|
||||
|
||||
# Remove quotes.
|
||||
separate_arguments(COVERAGE_COMPILER_FLAGS
|
||||
NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
|
||||
)
|
||||
|
||||
# Add compile options manually, we don't want coverage for Catch2
|
||||
target_compile_options(${FSFW_TEST_TGT} PRIVATE
|
||||
"${COVERAGE_COMPILER_FLAGS}"
|
||||
)
|
||||
target_compile_options(${LIB_FSFW_NAME} PRIVATE
|
||||
"${COVERAGE_COMPILER_FLAGS}"
|
||||
)
|
||||
|
||||
# Exclude directories here
|
||||
if(WIN32)
|
||||
set(GCOVR_ADDITIONAL_ARGS
|
||||
"--exclude-throw-branches"
|
||||
"--exclude-unreachable-branches"
|
||||
)
|
||||
set(COVERAGE_EXCLUDES
|
||||
"/c/msys64/mingw64/*"
|
||||
)
|
||||
elseif(UNIX)
|
||||
set(COVERAGE_EXCLUDES
|
||||
"/usr/include/*" "/usr/bin/*" "Catch2/*"
|
||||
"/usr/local/include/*" "*/fsfw_tests/*"
|
||||
"*/catch2-src/*"
|
||||
)
|
||||
endif()
|
||||
|
||||
target_link_options(${FSFW_TEST_TGT} PRIVATE
|
||||
-fprofile-arcs
|
||||
-ftest-coverage
|
||||
)
|
||||
target_link_options(${LIB_FSFW_NAME} PRIVATE
|
||||
-fprofile-arcs
|
||||
-ftest-coverage
|
||||
)
|
||||
# Need to specify this as an interface, otherwise there will the compile issues
|
||||
target_link_options(${LIB_FSFW_NAME} INTERFACE
|
||||
-fprofile-arcs
|
||||
-ftest-coverage
|
||||
)
|
||||
|
||||
if(WIN32)
|
||||
setup_target_for_coverage_gcovr_html(
|
||||
NAME ${FSFW_TEST_TGT}_coverage
|
||||
EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT}
|
||||
)
|
||||
else()
|
||||
setup_target_for_coverage_lcov(
|
||||
NAME ${FSFW_TEST_TGT}_coverage
|
||||
EXECUTABLE ${FSFW_TEST_TGT}
|
||||
DEPENDENCIES ${FSFW_TEST_TGT}
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
|
||||
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)
|
||||
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 ${DEF_CONF_PATH})
|
||||
message(WARNING "Flight Software Framework configuration path not set!")
|
||||
message(WARNING "Setting default configuration!")
|
||||
add_subdirectory(defaultcfg/fsfwconfig)
|
||||
endif()
|
||||
|
||||
# FSFW might be part of a possibly complicated folder structure, so we
|
||||
@ -335,17 +189,4 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE
|
||||
|
||||
target_link_libraries(${LIB_FSFW_NAME} PRIVATE
|
||||
${FSFW_ADDITIONAL_LINK_LIBS}
|
||||
)
|
||||
|
||||
string(CONCAT POST_BUILD_COMMENT
|
||||
"######################################################################\n"
|
||||
"Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
|
||||
"Target OSAL: ${FSFW_OS_NAME}\n"
|
||||
"######################################################################\n"
|
||||
)
|
||||
|
||||
add_custom_command(
|
||||
TARGET ${LIB_FSFW_NAME}
|
||||
POST_BUILD
|
||||
COMMENT ${POST_BUILD_COMMENT}
|
||||
)
|
||||
)
|
||||
107
README.md
107
README.md
@ -1,4 +1,4 @@
|
||||
|
||||
|
||||
|
||||
# Flight Software Framework (FSFW)
|
||||
|
||||
@ -22,107 +22,28 @@ Currently, the FSFW provides the following OSALs:
|
||||
- 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.
|
||||
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.
|
||||
|
||||
## Getting started
|
||||
|
||||
The [Hosted FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted) 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.
|
||||
The [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example) provides a good starting point and a demo to see the FSFW capabilities and build it with the Make or the CMake build system. It is recommended to evaluate the FSFW by building and playing around with the demo application.
|
||||
|
||||
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.
|
||||
Generally, the FSFW is included in a project by compiling the FSFW sources and providing
|
||||
a configuration folder and adding it to the include path. 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
|
||||
|
||||
```sh
|
||||
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
|
||||
|
||||
```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
|
||||
|
||||
```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](https://github.com/catchorg/Catch2).
|
||||
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
|
||||
|
||||
```sh
|
||||
mkdir build-Unittest && cd build-Unittest
|
||||
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 `CodeCoverage`
|
||||
[CMake module](https://github.com/bilke/cmake-modules/tree/master).
|
||||
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
|
||||
|
||||
```sh
|
||||
cmake --build . -- fsfw-tests_coverage -j
|
||||
```
|
||||
|
||||
The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
|
||||
|
||||
## 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.
|
||||
a starting point. The [configuration section](doc/README-config.md#top) provides more specific information about the possible options.
|
||||
|
||||
## Index
|
||||
|
||||
[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>
|
||||
[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>
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,8 +0,0 @@
|
||||
FROM ubuntu:focal
|
||||
|
||||
RUN apt-get update
|
||||
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
|
||||
72
automation/Jenkinsfile
vendored
72
automation/Jenkinsfile
vendored
@ -1,72 +0,0 @@
|
||||
pipeline {
|
||||
agent any
|
||||
environment {
|
||||
BUILDDIR = 'build-unittests'
|
||||
}
|
||||
stages {
|
||||
stage('Create Docker') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
additionalBuildArgs '--no-cache'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
sh 'rm -rf $BUILDDIR'
|
||||
}
|
||||
}
|
||||
stage('Configure') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Build') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake --build . -j'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Unittests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'cmake --build . -- fsfw-tests_coverage -j'
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('Valgrind') {
|
||||
agent {
|
||||
dockerfile {
|
||||
dir 'automation'
|
||||
reuseNode true
|
||||
}
|
||||
}
|
||||
steps {
|
||||
dir(BUILDDIR) {
|
||||
sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -1,13 +0,0 @@
|
||||
# Look for an executable called sphinx-build
|
||||
find_program(SPHINX_EXECUTABLE
|
||||
NAMES sphinx-build
|
||||
DOC "Path to sphinx-build executable")
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
|
||||
# Handle standard arguments to find_package like REQUIRED and QUIET
|
||||
find_package_handle_standard_args(
|
||||
Sphinx
|
||||
"Failed to find sphinx-build executable"
|
||||
SPHINX_EXECUTABLE
|
||||
)
|
||||
@ -1,9 +1,11 @@
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw_contrib)
|
||||
if(FSFW_ADD_SPG4_PROPAGATOR)
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
sgp4/sgp4unit.cpp
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/sgp4
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/sgp4
|
||||
)
|
||||
endif()
|
||||
|
||||
@ -1,11 +0,0 @@
|
||||
if(FSFW_ADD_SGP4_PROPAGATOR)
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
sgp4/sgp4unit.cpp
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/sgp4
|
||||
)
|
||||
target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/sgp4
|
||||
)
|
||||
endif()
|
||||
@ -31,9 +31,7 @@ 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.
|
||||
|
||||
.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
|
||||
:alt: FSFW Logo
|
||||
|
||||
<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
|
||||
|
||||
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
|
||||
|
Before Width: | Height: | Size: 52 KiB After Width: | Height: | Size: 52 KiB |
1
docs/.gitignore
vendored
1
docs/.gitignore
vendored
@ -1 +0,0 @@
|
||||
/_build
|
||||
@ -1,66 +0,0 @@
|
||||
# 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 ${CMAKE_INSTALL_DOCDIR})
|
||||
@ -1,7 +0,0 @@
|
||||
INPUT = "@DOXYGEN_INPUT_DIR@"
|
||||
|
||||
RECURSIVE = YES
|
||||
|
||||
OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
|
||||
|
||||
GENERATE_XML = YES
|
||||
@ -1,20 +0,0 @@
|
||||
# Minimal makefile for Sphinx documentation
|
||||
#
|
||||
|
||||
# You can set these variables from the command line, and also
|
||||
# from the environment for the first two.
|
||||
SPHINXOPTS ?=
|
||||
SPHINXBUILD ?= sphinx-build
|
||||
SOURCEDIR = .
|
||||
BUILDDIR = _build
|
||||
|
||||
# Put it first so that "make" without argument is like "make help".
|
||||
help:
|
||||
@$(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)
|
||||
16
docs/api.rst
16
docs/api.rst
@ -1,16 +0,0 @@
|
||||
API
|
||||
====
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 4
|
||||
|
||||
api/objectmanager
|
||||
api/task
|
||||
api/ipc
|
||||
api/returnvalue
|
||||
api/event
|
||||
api/modes
|
||||
api/health
|
||||
api/action
|
||||
api/devicehandler
|
||||
api/controller
|
||||
@ -1,15 +0,0 @@
|
||||
Action Module API
|
||||
=================
|
||||
|
||||
``ActionHelper``
|
||||
-----------------
|
||||
|
||||
.. doxygenclass:: ActionHelper
|
||||
:members:
|
||||
|
||||
``HasActionsIF``
|
||||
-----------------
|
||||
|
||||
.. doxygenclass:: HasActionsIF
|
||||
:members:
|
||||
:protected-members:
|
||||
@ -1,16 +0,0 @@
|
||||
Controller API
|
||||
=================
|
||||
|
||||
``ControllerBase``
|
||||
-------------------------
|
||||
|
||||
.. doxygenclass:: ControllerBase
|
||||
:members:
|
||||
:protected-members:
|
||||
|
||||
``ExtendedControllerBase``
|
||||
-----------------------------
|
||||
|
||||
.. doxygenclass:: ExtendedControllerBase
|
||||
:members:
|
||||
:protected-members:
|
||||
@ -1,16 +0,0 @@
|
||||
Device Handler Base API
|
||||
=========================
|
||||
|
||||
``DeviceHandlerBase``
|
||||
-----------------------
|
||||
|
||||
.. doxygenclass:: DeviceHandlerBase
|
||||
:members:
|
||||
:protected-members:
|
||||
|
||||
``DeviceHandlerIF``
|
||||
-----------------------
|
||||
|
||||
.. doxygenclass:: DeviceHandlerIF
|
||||
:members:
|
||||
:protected-members:
|
||||
@ -1,6 +0,0 @@
|
||||
.. _eventapi:
|
||||
|
||||
Event API
|
||||
============
|
||||
|
||||
.. doxygenfile:: Event.h
|
||||
@ -1,9 +0,0 @@
|
||||
Health API
|
||||
===========
|
||||
|
||||
``HasHealthIF``
|
||||
------------------
|
||||
|
||||
.. doxygenclass:: HasHealthIF
|
||||
:members:
|
||||
:protected-members:
|
||||
@ -1,9 +0,0 @@
|
||||
IPC Module API
|
||||
=================
|
||||
|
||||
``MessageQueueIF``
|
||||
-------------------
|
||||
|
||||
.. doxygenclass:: MessageQueueIF
|
||||
:members:
|
||||
:protected-members:
|
||||
@ -1,10 +0,0 @@
|
||||
Modes API
|
||||
=========
|
||||
|
||||
|
||||
``HasModesIF``
|
||||
---------------
|
||||
|
||||
.. doxygenclass:: HasModesIF
|
||||
:members:
|
||||
:protected-members:
|
||||
@ -1,30 +0,0 @@
|
||||
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:
|
||||
@ -1,10 +0,0 @@
|
||||
.. _retvalapi:
|
||||
|
||||
Returnvalue API
|
||||
==================
|
||||
|
||||
.. doxygenfile:: HasReturnvaluesIF.h
|
||||
|
||||
.. _fwclassids:
|
||||
|
||||
.. doxygenfile:: FwClassIds.h
|
||||
@ -1,8 +0,0 @@
|
||||
Task API
|
||||
=========
|
||||
|
||||
``ExecutableObjectIF``
|
||||
-----------------------
|
||||
|
||||
.. doxygenclass:: ExecutableObjectIF
|
||||
:members:
|
||||
56
docs/conf.py
56
docs/conf.py
@ -1,56 +0,0 @@
|
||||
# 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 = []
|
||||
@ -1,41 +0,0 @@
|
||||
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;
|
||||
}
|
||||
@ -1,2 +0,0 @@
|
||||
Controllers
|
||||
=============
|
||||
@ -1,70 +0,0 @@
|
||||
.. _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
|
||||
|
||||
@ -1,3 +0,0 @@
|
||||
Device Handlers
|
||||
==================
|
||||
|
||||
@ -1,115 +0,0 @@
|
||||
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/>`_. 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.
|
||||
|
||||
.. _`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
|
||||
@ -1,149 +0,0 @@
|
||||
.. _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 [documentation section](doc/README-devicehandlers.md#top).
|
||||
|
||||
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.
|
||||
@ -1,69 +0,0 @@
|
||||
.. 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`
|
||||
@ -1,181 +0,0 @@
|
||||
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
|
||||
|
||||
|
||||
@ -1,35 +0,0 @@
|
||||
@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
|
||||
@ -1,63 +0,0 @@
|
||||
.. _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>`_
|
||||
@ -1,2 +0,0 @@
|
||||
PUS Services
|
||||
==============
|
||||
@ -6,4 +6,4 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
)
|
||||
|
||||
add_subdirectory(fsfw_hal)
|
||||
add_subdirectory(fsfw)
|
||||
|
||||
1
hal/src/fsfw/CMakeLists.txt
Normal file
1
hal/src/fsfw/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
add_subdirectory(hal)
|
||||
@ -1,4 +1,4 @@
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw/hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
GpioCookie::GpioCookie() {
|
||||
110
hal/src/fsfw/hal/common/gpio/gpioDefinitions.h
Normal file
110
hal/src/fsfw/hal/common/gpio/gpioDefinitions.h
Normal file
@ -0,0 +1,110 @@
|
||||
#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
|
||||
#define COMMON_GPIO_GPIODEFINITIONS_H_
|
||||
|
||||
#include <string>
|
||||
#include <unordered_map>
|
||||
#include <map>
|
||||
|
||||
using gpioId_t = uint16_t;
|
||||
|
||||
namespace gpio {
|
||||
|
||||
enum Levels {
|
||||
LOW = 0,
|
||||
HIGH = 1
|
||||
};
|
||||
|
||||
enum Direction {
|
||||
IN = 0,
|
||||
OUT = 1
|
||||
};
|
||||
|
||||
enum GpioOperation {
|
||||
READ,
|
||||
WRITE
|
||||
};
|
||||
|
||||
enum GpioTypes {
|
||||
NONE,
|
||||
GPIO_REGULAR,
|
||||
CALLBACK
|
||||
};
|
||||
|
||||
static constexpr gpioId_t NO_GPIO = -1;
|
||||
|
||||
using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Struct containing information about the GPIO to use. This is
|
||||
* required by the libgpiod to access and drive a GPIO.
|
||||
* @param chipname String of the chipname specifying the group which contains the GPIO to
|
||||
* access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
|
||||
* the linux command line.
|
||||
* @param lineNum The offset of the GPIO within the GPIO group.
|
||||
* @param consumer Name of the consumer. Simply a description of the GPIO configuration.
|
||||
* @param direction Specifies whether the GPIO should be used as in- or output.
|
||||
* @param initValue Defines the initial state of the GPIO when configured as output.
|
||||
* Only required for output GPIOs.
|
||||
* @param lineHandle The handle returned by gpiod_chip_get_line will be later written to this
|
||||
* pointer.
|
||||
*/
|
||||
class GpioBase {
|
||||
public:
|
||||
|
||||
GpioBase() = default;
|
||||
|
||||
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
int initValue):
|
||||
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
|
||||
|
||||
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;
|
||||
int initValue = 0;
|
||||
};
|
||||
|
||||
class GpiodRegular: public GpioBase {
|
||||
public:
|
||||
GpiodRegular() :
|
||||
GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
|
||||
}
|
||||
;
|
||||
|
||||
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, int initValue_) :
|
||||
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
|
||||
chipname(chipname_), lineNum(lineNum_) {
|
||||
}
|
||||
|
||||
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
|
||||
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
|
||||
chipname(chipname_), lineNum(lineNum_) {
|
||||
}
|
||||
std::string chipname;
|
||||
int lineNum = 0;
|
||||
struct gpiod_line* lineHandle = nullptr;
|
||||
};
|
||||
|
||||
class GpioCallback: public GpioBase {
|
||||
public:
|
||||
GpioCallback(std::string consumer, gpio::Direction direction_, int 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;
|
||||
};
|
||||
|
||||
|
||||
using GpioMap = std::map<gpioId_t, GpioBase*>;
|
||||
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
|
||||
using GpioMapIter = GpioMap::iterator;
|
||||
using GpioUnorderedMapIter = GpioUnorderedMap::iterator;
|
||||
|
||||
#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */
|
||||
@ -1,3 +1,3 @@
|
||||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
TestAssembly.cpp
|
||||
)
|
||||
GyroL3GD20Handler.cpp
|
||||
)
|
||||
@ -1,15 +1,13 @@
|
||||
#include "GyroL3GD20Handler.h"
|
||||
#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
#include <cmath>
|
||||
|
||||
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie, uint32_t transitionDelayMs):
|
||||
CookieIF *comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
transitionDelayMs(transitionDelayMs), dataset(this) {
|
||||
dataset(this) {
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
debugDivider = new PeriodicOperationDivider(5);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -49,7 +47,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
@ -68,11 +66,10 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
|
||||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
/* Might be a configuration error. */
|
||||
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!" << std::endl;
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||
std::endl;
|
||||
#else
|
||||
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
@ -147,7 +144,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
|
||||
|
||||
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
|
||||
/* For SPI, the ID will always be the one of the last sent command. */
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
@ -169,7 +166,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration
|
||||
/* Attempt reconfiguration. */
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
@ -202,12 +199,13 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
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;
|
||||
sif::info << "X: " << angVelocX << std::endl;
|
||||
sif::info << "Y: " << angVelocY << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << std::endl;
|
||||
sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
|
||||
std::endl;
|
||||
sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
|
||||
sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
|
||||
#else
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
|
||||
sif::printInfo("X: %f\n", angVelocX);
|
||||
sif::printInfo("Y: %f\n", angVelocY);
|
||||
sif::printInfo("Z: %f\n", angVelocZ);
|
||||
@ -217,32 +215,11 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
|
||||
PoolReadGuard readSet(&dataset);
|
||||
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(std::abs(angVelocX) < this->absLimitX) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocX.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocX.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocY) < this->absLimitY) {
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocY.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocY.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocZ) < this->absLimitZ) {
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.angVelocZ.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocZ.setValid(false);
|
||||
}
|
||||
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.temperature = temperature;
|
||||
dataset.temperature.setValid(true);
|
||||
dataset.setValidity(true, true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -254,19 +231,23 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
|
||||
|
||||
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return this->transitionDelayMs;
|
||||
return 10000;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
|
||||
void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
|
||||
this->goNormalModeImmediately = true;
|
||||
}
|
||||
|
||||
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}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
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}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -279,9 +260,3 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
|
||||
void GyroHandlerL3GD20H::modeChanged() {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
|
||||
this->absLimitX = limitX;
|
||||
this->absLimitY = limitY;
|
||||
this->absLimitZ = limitZ;
|
||||
}
|
||||
@ -1,12 +1,16 @@
|
||||
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
|
||||
#define FSFW_HAL_L3GD20_GYRO_DEBUG 1
|
||||
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
@ -19,22 +23,10 @@
|
||||
class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, uint32_t transitionDelayMs);
|
||||
CookieIF* comCookie);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
|
||||
/**
|
||||
* 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
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
||||
|
||||
/**
|
||||
* @brief Configure device handler to go to normal mode immediately
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
void setGoNormalModeAtStartup();
|
||||
protected:
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
@ -49,23 +41,18 @@ protected:
|
||||
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,
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
uint32_t transitionDelayMs = 0;
|
||||
GyroPrimaryDataset dataset;
|
||||
|
||||
float absLimitX = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitY = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitZ = L3GD20H::RANGE_DPS_00;
|
||||
|
||||
enum class InternalState {
|
||||
NONE,
|
||||
CONFIGURE,
|
||||
@ -1,9 +1,4 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
#include "fsfw/hal/linux/UnixFileGuard.h"
|
||||
|
||||
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
||||
std::string diagnosticPrefix):
|
||||
@ -15,11 +10,12 @@ 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 <<
|
||||
"." << std::endl;
|
||||
sif::warning << "Error description: " << strerror(errno) << std::endl;
|
||||
#else
|
||||
sif::printWarning("%s: Opening device failed with error code %d: %s\n",
|
||||
diagnosticPrefix, errno, strerror(errno));
|
||||
sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
|
||||
sif::printWarning("Error description: %s\n", strerror(errno));
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
openStatus = OPEN_FILE_FAILED;
|
||||
305
hal/src/fsfw/hal/linux/gpio/LinuxLibgpioIF.cpp
Normal file
305
hal/src/fsfw/hal/linux/gpio/LinuxLibgpioIF.cpp
Normal file
@ -0,0 +1,305 @@
|
||||
#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw/hal/common/gpio/gpioDefinitions.h"
|
||||
#include "fsfw/hal/common/gpio/GpioCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
#include <utility>
|
||||
#include <unistd.h>
|
||||
#include <gpiod.h>
|
||||
|
||||
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
|
||||
}
|
||||
|
||||
LinuxLibgpioIF::~LinuxLibgpioIF() {
|
||||
for(auto& config: gpioMap) {
|
||||
delete(config.second);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
|
||||
ReturnValue_t result;
|
||||
if(gpioCookie == nullptr) {
|
||||
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
GpioMap mapToAdd = gpioCookie->getGpioMap();
|
||||
|
||||
/* Check whether this ID already exists in the map and remove duplicates */
|
||||
result = checkForConflicts(mapToAdd);
|
||||
if (result != RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
|
||||
result = configureGpios(mapToAdd);
|
||||
if (result != RETURN_OK) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
/* Register new GPIOs in gpioMap */
|
||||
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
|
||||
for(auto& gpioConfig: mapToAdd) {
|
||||
switch(gpioConfig.second->gpioType) {
|
||||
case(gpio::GpioTypes::NONE): {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
case(gpio::GpioTypes::GPIO_REGULAR): {
|
||||
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
configureRegularGpio(gpioConfig.first, regularGpio);
|
||||
break;
|
||||
}
|
||||
case(gpio::GpioTypes::CALLBACK): {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if(gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
|
||||
gpioCallback->initValue, gpioCallback->callbackArgs);
|
||||
}
|
||||
}
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
|
||||
std::string chipname;
|
||||
unsigned int lineNum;
|
||||
struct gpiod_chip *chip;
|
||||
gpio::Direction direction;
|
||||
std::string consumer;
|
||||
struct gpiod_line *lineHandle;
|
||||
int result = 0;
|
||||
|
||||
chipname = regularGpio->chipname;
|
||||
chip = gpiod_chip_open_by_name(chipname.c_str());
|
||||
if (!chip) {
|
||||
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
|
||||
<< chipname << ". Gpio ID: " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
lineNum = regularGpio->lineNum;
|
||||
lineHandle = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!lineHandle) {
|
||||
sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
|
||||
sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
|
||||
", chipname: " << chipname << std::endl;
|
||||
sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
|
||||
gpiod_chip_close(chip);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
direction = regularGpio->direction;
|
||||
consumer = regularGpio->consumer;
|
||||
/* Configure direction and add a description to the GPIO */
|
||||
switch (direction) {
|
||||
case(gpio::OUT): {
|
||||
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
|
||||
regularGpio->initValue);
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
|
||||
" from GPIO instance with ID: " << gpioId << std::endl;
|
||||
gpiod_line_release(lineHandle);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(gpio::IN): {
|
||||
result = gpiod_line_request_input(lineHandle, consumer.c_str());
|
||||
if (result < 0) {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
|
||||
<< lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
|
||||
gpiod_line_release(lineHandle);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
|
||||
<< std::endl;
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
|
||||
}
|
||||
/**
|
||||
* Write line handle to GPIO configuration instance so it can later be used to set or
|
||||
* read states of GPIOs.
|
||||
*/
|
||||
regularGpio->lineHandle = lineHandle;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
|
||||
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
|
||||
}
|
||||
else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if(gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
|
||||
1, gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
|
||||
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
|
||||
}
|
||||
else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if(gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
|
||||
0, gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
|
||||
GpiodRegular* regularGpio, unsigned int logicLevel) {
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
|
||||
if (result < 0) {
|
||||
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
|
||||
" to logic level " << logicLevel << std::endl;
|
||||
return DRIVE_GPIO_FAILURE;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()){
|
||||
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
|
||||
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
|
||||
}
|
||||
else {
|
||||
|
||||
}
|
||||
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
|
||||
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
for(auto& gpioConfig: mapToAdd) {
|
||||
switch(gpioConfig.second->gpioType) {
|
||||
case(gpio::GpioTypes::GPIO_REGULAR): {
|
||||
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
/* Check for conflicts and remove duplicates if necessary */
|
||||
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(gpio::GpioTypes::CALLBACK): {
|
||||
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if(callbackGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
/* Check for conflicts and remove duplicates if necessary */
|
||||
result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
|
||||
GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
|
||||
/* Cross check with private map */
|
||||
gpioMapIter = gpioMap.find(gpioIdToCheck);
|
||||
if(gpioMapIter != gpioMap.end()) {
|
||||
if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
|
||||
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
|
||||
if(ownRegularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
/* Remove element from map to add because a entry for this GPIO
|
||||
already exists */
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
|
||||
<< " detected. Duplicate will be removed from map to add." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
|
||||
GpioCallback *callbackGpio, GpioMap& mapToAdd) {
|
||||
/* Cross check with private map */
|
||||
gpioMapIter = gpioMap.find(gpioIdToCheck);
|
||||
if(gpioMapIter != gpioMap.end()) {
|
||||
if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
|
||||
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
/* Remove element from map to add because a entry for this GPIO
|
||||
already exists */
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
|
||||
<< " detected. Duplicate will be removed from map to add." << std::endl;
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
@ -1,19 +1,18 @@
|
||||
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
|
||||
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
|
||||
|
||||
#include "fsfw/returnvalues/FwClassIds.h"
|
||||
#include "fsfw_hal/common/gpio/GpioIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "../../common/gpio/GpioIF.h"
|
||||
#include <returnvalues/classIds.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
|
||||
class GpioCookie;
|
||||
class GpiodRegularIF;
|
||||
|
||||
/**
|
||||
* @brief This class implements the GpioIF for a linux based system.
|
||||
* @details
|
||||
* This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
|
||||
* @note
|
||||
* The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
|
||||
* @brief This class implements the GpioIF for a linux based system. The
|
||||
* implementation is based on the libgpiod lib which requires linux 4.8
|
||||
* or higher.
|
||||
* @note The Petalinux SDK from Xilinx supports libgpiod since Petalinux
|
||||
* 2019.1.
|
||||
*/
|
||||
class LinuxLibgpioIF : public GpioIF, public SystemObject {
|
||||
public:
|
||||
@ -28,8 +27,6 @@ public:
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
|
||||
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
|
||||
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
|
||||
|
||||
LinuxLibgpioIF(object_id_t objectId);
|
||||
virtual ~LinuxLibgpioIF();
|
||||
@ -40,13 +37,7 @@ 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;
|
||||
static const int LINE_FOUND = 1;
|
||||
|
||||
// Holds the information and configuration of all used GPIOs
|
||||
/* Holds the information and configuration of all used GPIOs */
|
||||
GpioUnorderedMap gpioMap;
|
||||
GpioUnorderedMapIter gpioMapIter;
|
||||
|
||||
@ -56,15 +47,9 @@ 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, GpiodRegular* regularGpio, unsigned int 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 configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
|
||||
GpiodRegularBase& regularGpio, std::string failOutput);
|
||||
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
|
||||
|
||||
/**
|
||||
* @brief This function checks if GPIOs are already registered and whether
|
||||
@ -77,15 +62,16 @@ private:
|
||||
*/
|
||||
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
|
||||
|
||||
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
|
||||
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
|
||||
GpioMap& mapToAdd);
|
||||
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
|
||||
GpioMap& mapToAdd);
|
||||
|
||||
/**
|
||||
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
|
||||
*/
|
||||
ReturnValue_t configureGpios(GpioMap& mapToAdd);
|
||||
|
||||
void parseFindeLineResult(int result, std::string& lineName);
|
||||
};
|
||||
|
||||
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */
|
||||
@ -1,6 +1,6 @@
|
||||
#include "fsfw_hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
#include "fsfw/hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw/hal/linux/utility.h"
|
||||
#include "fsfw/hal/linux/UnixFileGuard.h"
|
||||
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
#include "fsfw_hal/linux/i2c/I2cCookie.h"
|
||||
#include "fsfw/hal/linux/i2c/I2cCookie.h"
|
||||
|
||||
I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
|
||||
std::string deviceFile_) :
|
||||
@ -1,7 +1,7 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
#include "fsfw_hal/linux/rpi/GpioRPi.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw/hal/linux/rpi/GpioRPi.h"
|
||||
#include "fsfw/hal/common/gpio/GpioCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
auto config = new GpiodRegularByChip();
|
||||
GpiodRegular* config = new GpiodRegular();
|
||||
/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
|
||||
will not need this */
|
||||
config->chipname = "gpiochip0";
|
||||
@ -1,8 +1,8 @@
|
||||
#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/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>
|
||||
@ -15,6 +15,11 @@
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
|
||||
/* Can be used for low-level debugging of the SPI bus */
|
||||
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
|
||||
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
|
||||
#endif
|
||||
|
||||
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
|
||||
SystemObject(objectId), gpioComIF(gpioComIF) {
|
||||
if(gpioComIF == nullptr) {
|
||||
@ -85,7 +90,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
|
||||
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::initializeInterface");
|
||||
"SpiComIF::initializeInterface: ");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
@ -141,8 +146,8 @@ 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),
|
||||
@ -179,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
|
||||
/* Prepare transfer */
|
||||
int fileDescriptor = 0;
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
@ -188,7 +193,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
spiCookie->assignWriteBuffer(sendData);
|
||||
spiCookie->setTransferSize(sendLen);
|
||||
spiCookie->assignTransferSize(sendLen);
|
||||
|
||||
bool fullDuplex = spiCookie->isFullDuplex();
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
@ -197,26 +202,12 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
|
||||
#else
|
||||
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
|
||||
#endif
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
ReturnValue_t result = gpioComIF->pullLow(gpioId);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
|
||||
#else
|
||||
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
|
||||
#endif
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
gpioComIF->pullLow(gpioId);
|
||||
}
|
||||
|
||||
/* Execute transfer */
|
||||
@ -227,7 +218,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
|
||||
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
||||
result = FULL_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
#if FSFW_HAL_SPI_WIRETAPPING == 1
|
||||
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
|
||||
performSpiWiretapping(spiCookie);
|
||||
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
|
||||
}
|
||||
@ -282,7 +273,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::requestReceiveMessage");
|
||||
"SpiComIF::requestReceiveMessage: ");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
@ -344,7 +335,6 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
|
||||
|
||||
*buffer = rxBuf;
|
||||
*size = spiCookie->getCurrentTransferSize();
|
||||
spiCookie->setTransferSize(0);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -398,11 +388,11 @@ GpioIF* SpiComIF::getGpioInterface() {
|
||||
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
|
||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
|
||||
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
|
||||
}
|
||||
|
||||
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
|
||||
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
|
||||
}
|
||||
}
|
||||
@ -1,10 +1,9 @@
|
||||
#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 "fsfw/hal/common/gpio/GpioIF.h"
|
||||
|
||||
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
@ -1,4 +1,4 @@
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#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):
|
||||
@ -121,7 +121,7 @@ bool SpiCookie::isFullDuplex() const {
|
||||
return not this->halfDuplex;
|
||||
}
|
||||
|
||||
void SpiCookie::setTransferSize(size_t transferSize) {
|
||||
void SpiCookie::assignTransferSize(size_t transferSize) {
|
||||
spiTransferStruct.len = transferSize;
|
||||
}
|
||||
|
||||
@ -103,10 +103,10 @@ public:
|
||||
void assignReadBuffer(uint8_t* rx);
|
||||
void assignWriteBuffer(const uint8_t* tx);
|
||||
/**
|
||||
* Set size for the next transfer. Set to 0 for no transfer
|
||||
* Assign size for the next transfer.
|
||||
* @param transferSize
|
||||
*/
|
||||
void setTransferSize(size_t transferSize);
|
||||
void assignTransferSize(size_t transferSize);
|
||||
size_t getCurrentTransferSize() const;
|
||||
|
||||
struct UncommonParameters {
|
||||
@ -158,6 +158,8 @@ private:
|
||||
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void* args);
|
||||
|
||||
size_t currentTransferSize = 0;
|
||||
|
||||
address_t spiAddress;
|
||||
gpioId_t chipSelectPin;
|
||||
std::string spiDevice;
|
||||
@ -1,7 +1,6 @@
|
||||
#include "UartComIF.h"
|
||||
#include "fsfw/hal/linux/uart/UartComIF.h"
|
||||
#include "OBSWConfig.h"
|
||||
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
#include <cstring>
|
||||
@ -61,13 +60,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
|
||||
struct termios options = {};
|
||||
|
||||
std::string deviceFile = uartCookie->getDeviceFile();
|
||||
int flags = O_RDWR;
|
||||
if(uartCookie->getUartMode() == UartModes::CANONICAL) {
|
||||
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
|
||||
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
|
||||
flags |= O_NONBLOCK;
|
||||
}
|
||||
int fd = open(deviceFile.c_str(), flags);
|
||||
int fd = open(deviceFile.c_str(), O_RDWR);
|
||||
|
||||
if (fd < 0) {
|
||||
sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
|
||||
@ -266,22 +259,23 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
|
||||
|
||||
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
|
||||
const uint8_t *sendData, size_t sendLen) {
|
||||
|
||||
int fd = 0;
|
||||
std::string deviceFile;
|
||||
UartDeviceMapIter uartDeviceMapIter;
|
||||
|
||||
if(sendData == nullptr) {
|
||||
sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(sendLen == 0) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
if(sendData == nullptr) {
|
||||
sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
|
||||
if(uartCookie == nullptr) {
|
||||
sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
|
||||
sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
@ -353,13 +347,12 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
|
||||
size_t maxReplySize = uartCookie.getMaxReplyLen();
|
||||
int fd = iter->second.fileDescriptor;
|
||||
auto bufferPtr = iter->second.replyBuffer.data();
|
||||
iter->second.replyLen = 0;
|
||||
do {
|
||||
size_t allowedReadSize = 0;
|
||||
if(currentBytesRead >= maxReplySize) {
|
||||
// Overflow risk. Emit warning, trigger event and break. If this happens,
|
||||
// the reception buffer is not large enough or data is not polled often enough.
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
|
||||
<< std::endl;
|
||||
@ -377,20 +370,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
|
||||
|
||||
bytesRead = read(fd, bufferPtr, allowedReadSize);
|
||||
if (bytesRead < 0) {
|
||||
// EAGAIN: No data available in non-blocking mode
|
||||
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;
|
||||
#else
|
||||
sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
|
||||
errno, strerror(errno));
|
||||
#endif
|
||||
#endif
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
else if(bytesRead > 0) {
|
||||
iter->second.replyLen += bytesRead;
|
||||
@ -473,12 +453,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
|
||||
}
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if(uartDeviceMapIter != uartDeviceMap.end()) {
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCIFLUSH);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_FAILED;
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCIFLUSH);
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
|
||||
@ -491,12 +468,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
|
||||
}
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if(uartDeviceMapIter != uartDeviceMap.end()) {
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCOFLUSH);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_FAILED;
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCOFLUSH);
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
|
||||
@ -509,12 +483,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
|
||||
}
|
||||
deviceFile = uartCookie->getDeviceFile();
|
||||
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
|
||||
if(uartDeviceMapIter != uartDeviceMap.end()) {
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCIOFLUSH);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_FAILED;
|
||||
int fd = uartDeviceMapIter->second.fileDescriptor;
|
||||
tcflush(fd, TCIOFLUSH);
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
|
||||
@ -1,11 +1,11 @@
|
||||
#include "fsfw_hal/linux/uart/UartCookie.h"
|
||||
#include "fsfw/hal/linux/uart/UartCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface/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) {
|
||||
handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate),
|
||||
maxReplyLen(maxReplyLen) {
|
||||
}
|
||||
|
||||
UartCookie::~UartCookie() {}
|
||||
@ -1,6 +1,6 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
#include "fsfw/hal/linux/utility.h"
|
||||
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
@ -1,10 +1,10 @@
|
||||
#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
|
||||
#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/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/stm32h743ziSpi.h"
|
||||
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
@ -33,20 +33,20 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
|
||||
mspCfg = new spi::MspDmaConfigStruct();
|
||||
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
|
||||
spi::setDmaHandles(txDmaHandle, rxDmaHandle);
|
||||
stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
|
||||
spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
|
||||
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
|
||||
spi::setSpiDmaMspFunctions(typedCfg);
|
||||
}
|
||||
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::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
|
||||
spi::setSpiIrqMspFunctions(typedCfg);
|
||||
}
|
||||
else if(transferMode == spi::TransferModes::POLLING) {
|
||||
mspCfg = new spi::MspPollingConfigStruct();
|
||||
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
|
||||
stm32h7::h743zi::standardPollingCfg(*typedCfg);
|
||||
spi::h743zi::standardPollingCfg(*typedCfg);
|
||||
spi::setSpiPollingMspFunctions(typedCfg);
|
||||
}
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
#include <fsfw_hal/stm32h7/dma.h>
|
||||
#include <fsfw/hal/stm32h7/dma.h>
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
@ -1,4 +1,4 @@
|
||||
#include "fsfw_hal/stm32h7/gpio/gpio.h"
|
||||
#include "fsfw/hal/stm32h7/gpio/gpio.h"
|
||||
|
||||
#include "stm32h7xx_hal_rcc.h"
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user