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Merged
jlucas9 merged 4 commits into from
Jun 18, 2025
Merged

[nasa/nos3#731] fprime components fidelity #13

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b68a5cc
[nasa/nos3#731] fprime css fidelity
KushalP17 Jun 9, 2025
2d020b2
[nasa/nos3#731] fix enable state fss
KushalP17 Jun 9, 2025
3fe65d8
[nasa/nos3#731] noop shows active state
KushalP17 Jun 10, 2025
fe54c06
[nasa/nos3#731] remove os_printfs
KushalP17 Jun 18, 2025
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211 changes: 181 additions & 30 deletions fsw/fprime/fss_src/Generic_fss.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,18 +7,6 @@
#include "fss_src/Generic_fss.hpp"
#include "FpConfig.hpp"

extern "C"{
#include "generic_fss_device.h"
#include "generic_fss_platform_cfg.h"
#include "libuart.h"
}

#include "nos_link.h"
/*
** Global Variables
*/
spi_info_t FssSpi;
GENERIC_FSS_Device_Data_tlm_t FSSData;

namespace Components {

Expand Down Expand Up @@ -46,6 +34,12 @@ namespace Components {
FssSpi.bus = GENERIC_FSS_CFG_BUS;
FssSpi.cs = GENERIC_FSS_CFG_CS;

HkTelemetryPkt.CommandCount = 0;
HkTelemetryPkt.CommandErrorCount = 0;
HkTelemetryPkt.DeviceCount = 0;
HkTelemetryPkt.DeviceErrorCount = 0;
HkTelemetryPkt.DeviceEnabled = GENERIC_FSS_DEVICE_DISABLED;

/* Open device specific protocols */
status = spi_init_dev(&FssSpi);
if (status == OS_SUCCESS)
Expand All @@ -58,6 +52,8 @@ namespace Components {
status = OS_ERROR;
}

status = spi_close_device(&FssSpi);

}

Generic_fss ::
Expand All @@ -75,35 +71,190 @@ namespace Components {
// Handler implementations for commands
// ----------------------------------------------------------------------

void Generic_fss :: REQUEST_DATA_cmdHandler(FwOpcodeType opCode, U32 cmdSeq)
{
void Generic_fss :: NOOP_cmdHandler(FwOpcodeType opCode, U32 cmdSeq){
HkTelemetryPkt.CommandCount++;
this->log_ACTIVITY_HI_TELEM("NOOP command success!");

this->tlmWrite_CommandCount(HkTelemetryPkt.CommandCount);
this->tlmWrite_DeviceEnabled(get_active_state(HkTelemetryPkt.DeviceEnabled));
this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void Generic_fss :: ENABLE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq){
int32_t status = OS_SUCCESS;
float Alpha;
float Beta;
uint8_t ErrorCode;
uint8_t read_data[GENERIC_FSS_DEVICE_DATA_SIZE];
uint8_t write_data[GENERIC_FSS_DEVICE_DATA_SIZE];

status = GENERIC_FSS_RequestData(&FssSpi, &FSSData);
if (status == OS_SUCCESS)

if(HkTelemetryPkt.DeviceEnabled == GENERIC_FSS_DEVICE_DISABLED)
{
HkTelemetryPkt.CommandCount++;

FssSpi.deviceString = GENERIC_FSS_CFG_STRING;
FssSpi.handle = GENERIC_FSS_CFG_HANDLE;
FssSpi.baudrate = GENERIC_FSS_CFG_BAUD;
FssSpi.spi_mode = GENERIC_FSS_CFG_SPI_MODE;
FssSpi.bits_per_word = GENERIC_FSS_CFG_BITS_PER_WORD;
FssSpi.bus = GENERIC_FSS_CFG_BUS;
FssSpi.cs = GENERIC_FSS_CFG_CS;

status = spi_init_dev(&FssSpi);
if(status == OS_SUCCESS)
{
HkTelemetryPkt.DeviceEnabled = GENERIC_FSS_DEVICE_ENABLED;
HkTelemetryPkt.DeviceCount++;

this->log_ACTIVITY_HI_TELEM("Enable command success!");
}
else
{
HkTelemetryPkt.DeviceErrorCount++;

this->log_ACTIVITY_HI_TELEM("Enable command failed to init SPI!");
}
}
else
{
HkTelemetryPkt.CommandErrorCount++;

this->log_ACTIVITY_HI_TELEM("Enable failed, already Enabled!");
}

this->tlmWrite_CommandCount(HkTelemetryPkt.CommandCount);
this->tlmWrite_CommandErrorCount(HkTelemetryPkt.CommandErrorCount);
this->tlmWrite_DeviceCount(HkTelemetryPkt.DeviceCount);
this->tlmWrite_DeviceErrorCount(HkTelemetryPkt.DeviceErrorCount);
this->tlmWrite_DeviceEnabled(get_active_state(HkTelemetryPkt.DeviceEnabled));

this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void Generic_fss :: DISABLE_cmdHandler(FwOpcodeType opCode, U32 cmdSeq){
int32_t status = OS_SUCCESS;

if(HkTelemetryPkt.DeviceEnabled == GENERIC_FSS_DEVICE_ENABLED)
{
HkTelemetryPkt.CommandCount++;

status = spi_close_device(&FssSpi);
if(status == OS_SUCCESS)
{
HkTelemetryPkt.DeviceEnabled = GENERIC_FSS_DEVICE_DISABLED;
HkTelemetryPkt.DeviceCount++;
this->log_ACTIVITY_HI_TELEM("Disable command success!");
}
else
{
HkTelemetryPkt.DeviceErrorCount++;
this->log_ACTIVITY_HI_TELEM("Disable command failed to close SPI!");
}
}
else
{
HkTelemetryPkt.CommandErrorCount++;
this->log_ACTIVITY_HI_TELEM("Disable failed, already Disabled!");
}

this->tlmWrite_CommandCount(HkTelemetryPkt.CommandCount);
this->tlmWrite_CommandErrorCount(HkTelemetryPkt.CommandErrorCount);
this->tlmWrite_DeviceCount(HkTelemetryPkt.DeviceCount);
this->tlmWrite_DeviceErrorCount(HkTelemetryPkt.DeviceErrorCount);
this->tlmWrite_DeviceEnabled(get_active_state(HkTelemetryPkt.DeviceEnabled));

this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void Generic_fss :: REQUEST_HOUSEKEEPING_cmdHandler(FwOpcodeType opCode, U32 cmdSeq){

if(HkTelemetryPkt.DeviceEnabled == GENERIC_FSS_DEVICE_ENABLED)
{
this->log_ACTIVITY_HI_TELEM("RequestData command success\n");

HkTelemetryPkt.CommandCount++;

this->tlmWrite_ALPHA(FSSData.Alpha);
this->tlmWrite_BETA(FSSData.Beta);
this->tlmWrite_ERRORCODE(FSSData.ErrorCode);
this->tlmWrite_CommandCount(HkTelemetryPkt.CommandCount);
this->tlmWrite_CommandErrorCount(HkTelemetryPkt.CommandErrorCount);
this->tlmWrite_DeviceCount(HkTelemetryPkt.DeviceCount);
this->tlmWrite_DeviceErrorCount(HkTelemetryPkt.DeviceErrorCount);
this->tlmWrite_DeviceEnabled(get_active_state(HkTelemetryPkt.DeviceEnabled));

this->log_ACTIVITY_HI_TELEM("Requested Housekeeping!");
}
else
{
this->log_ACTIVITY_HI_TELEM("HK Failed, Device Disabled!");
}



this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void Generic_fss :: RESET_COUNTERS_cmdHandler(FwOpcodeType opCode, U32 cmdSeq){
HkTelemetryPkt.CommandCount = 0;
HkTelemetryPkt.CommandErrorCount = 0;
HkTelemetryPkt.DeviceCount = 0;
HkTelemetryPkt.DeviceErrorCount = 0;

this->log_ACTIVITY_HI_TELEM("Reset Counters command successful!");
this->tlmWrite_CommandCount(HkTelemetryPkt.CommandCount);
this->tlmWrite_CommandErrorCount(HkTelemetryPkt.CommandErrorCount);
this->tlmWrite_DeviceCount(HkTelemetryPkt.DeviceCount);
this->tlmWrite_DeviceErrorCount(HkTelemetryPkt.DeviceErrorCount);

this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void Generic_fss :: REQUEST_DATA_cmdHandler(FwOpcodeType opCode, U32 cmdSeq)
{
int32_t status = OS_SUCCESS;


if(HkTelemetryPkt.DeviceEnabled == GENERIC_FSS_DEVICE_ENABLED)
{
HkTelemetryPkt.CommandCount++;
status = GENERIC_FSS_RequestData(&FssSpi, &FSSData);
if (status == OS_SUCCESS)
{
HkTelemetryPkt.DeviceCount++;
this->log_ACTIVITY_HI_TELEM("RequestData command success\n");
}
else
{
HkTelemetryPkt.DeviceErrorCount++;
this->log_ACTIVITY_HI_TELEM("RequestData command failed\n");
}
}
else
{
HkTelemetryPkt.CommandErrorCount++;
this->log_ACTIVITY_HI_TELEM("RequestData command failed, Device Disabled\n");

Alpha = FSSData.Alpha;
Beta = FSSData.Beta;
ErrorCode = FSSData.ErrorCode;
}

this->tlmWrite_ALPHA(Alpha);
this->tlmWrite_BETA(Beta);
this->tlmWrite_ERRORCODE(ErrorCode);
this->tlmWrite_ALPHA(FSSData.Alpha);
this->tlmWrite_BETA(FSSData.Beta);
this->tlmWrite_ERRORCODE(FSSData.ErrorCode);
this->tlmWrite_CommandCount(HkTelemetryPkt.CommandCount);
this->tlmWrite_CommandErrorCount(HkTelemetryPkt.CommandErrorCount);
this->tlmWrite_DeviceCount(HkTelemetryPkt.DeviceCount);
this->tlmWrite_DeviceErrorCount(HkTelemetryPkt.DeviceErrorCount);

this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

inline Generic_fss_ActiveState Generic_fss :: get_active_state(uint8_t DeviceEnabled)
{
Generic_fss_ActiveState state;

if(DeviceEnabled == GENERIC_FSS_DEVICE_ENABLED)
{
state.e = Generic_fss_ActiveState::ENABLED;
}
else
{
state.e = Generic_fss_ActiveState::DISABLED;
}

return state;
}

}
37 changes: 36 additions & 1 deletion fsw/fprime/fss_src/Generic_fss.fpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,15 +6,50 @@ module Components {
#### Uncomment the following examples to start customizing your component ####
##############################################################################

@ Component Enable State
enum ActiveState {
DISABLED @< DISABLED
ENABLED @< ENABLED
}

@ NOOP Cmd
async command NOOP()

@ Reset Counters Cmd
async command RESET_COUNTERS()

@ Enable Cmd
async command ENABLE()

@ Disable Cmd
async command DISABLE()

@ Request Housekeeping
async command REQUEST_HOUSEKEEPING()

@ Command to request data
async command REQUEST_DATA(
)

@ Telemetry event
event TELEM(
log_info: string size 30
log_info: string size 40
) severity activity high format "Generic_fss: {}"

@ Command Count
telemetry CommandCount: U32

@ Command Error Count
telemetry CommandErrorCount: U32

@ Device Count
telemetry DeviceCount: U32

@ Device Error Count
telemetry DeviceErrorCount: U32

telemetry DeviceEnabled: ActiveState

@ Angle alpha
telemetry ALPHA: U32

Expand Down
53 changes: 53 additions & 0 deletions fsw/fprime/fss_src/Generic_fss.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,28 @@
#define Components_Generic_fss_HPP

#include "fss_src/Generic_fssComponentAc.hpp"
#include "fss_src/Generic_fss_ActiveStateEnumAc.hpp"

extern "C"{
#include "generic_fss_device.h"
#include "generic_fss_platform_cfg.h"
#include "libuart.h"
}

#include "nos_link.h"

typedef struct
{
uint8_t DeviceCount;
uint8_t DeviceErrorCount;
uint8_t CommandErrorCount;
uint8_t CommandCount;
uint8_t DeviceEnabled;
} FSS_Hk_tlm_t;
#define FSS_HK_TLM_LNGTH sizeof(FSS_Hk_tlm_t)

#define GENERIC_FSS_DEVICE_DISABLED 0
#define GENERIC_FSS_DEVICE_ENABLED 1

namespace Components {

Expand All @@ -17,6 +39,10 @@ namespace Components {

public:

spi_info_t FssSpi;
GENERIC_FSS_Device_Data_tlm_t FSSData;
FSS_Hk_tlm_t HkTelemetryPkt;

// ----------------------------------------------------------------------
// Component construction and destruction
// ----------------------------------------------------------------------
Expand All @@ -35,11 +61,38 @@ namespace Components {
// Handler implementations for commands
// ----------------------------------------------------------------------

void NOOP_cmdHandler(
FwOpcodeType opCode,
U32 cmdSeq
) override;

void RESET_COUNTERS_cmdHandler(
FwOpcodeType opCode,
U32 cmdSeq
) override;

void ENABLE_cmdHandler(
FwOpcodeType opCode,
U32 cmdSeq
) override;

void DISABLE_cmdHandler(
FwOpcodeType opCode,
U32 cmdSeq
) override;

void REQUEST_HOUSEKEEPING_cmdHandler(
FwOpcodeType opCode,
U32 cmdSeq
) override;

void REQUEST_DATA_cmdHandler(
FwOpcodeType opCode, //!< The opcode
U32 cmdSeq //!< The command sequence number
) override;

inline Generic_fss_ActiveState get_active_state(uint8_t DeviceEnabled);

};

}
Expand Down