Test error handling for SPI code

CMakeLists.txt

@@ -5,7 +5,7 @@ include(cmake/prelude.cmake)
 project(
  Sts1CobcSw
  VERSION 0.1.0
- DESCRIPTION "Software for the Communication and onboard computer of SpaceTeamSat1"
+ DESCRIPTION "Software for the communication and onboard computer of SpaceTeamSat1"
  HOMEPAGE_URL "https://github.com/SpaceTeam/STS1_COBC_SW"
  LANGUAGES CXX
 )
@@ -30,16 +30,15 @@ add_library(Sts1CobcSw_Dummy STATIC)
 add_library(Sts1CobcSw_Edu STATIC)
 add_library(Sts1CobcSw_FileSystem STATIC)
 add_library(Sts1CobcSw_FramSections INTERFACE)
+add_library(Sts1CobcSw_Hal STATIC)
 add_library(Sts1CobcSw_Outcome INTERFACE)
 add_library(Sts1CobcSw_ProgramId INTERFACE)
 add_library(Sts1CobcSw_Periphery STATIC)
 add_library(Sts1CobcSw_Serial INTERFACE)
 add_library(Sts1CobcSw_Utility STATIC)
 add_program(HelloDummy)
-# add_program(Heartbeat)
 
 if(CMAKE_SYSTEM_NAME STREQUAL Generic)
- add_library(Sts1CobcSw_Hal STATIC)
  add_program(CobcSoftware)
 endif()
 

Sts1CobcSw/CMakeLists.txt

@@ -1,9 +1,7 @@
-if(CMAKE_SYSTEM_NAME STREQUAL Generic)
- add_subdirectory(Hal)
-endif()
 add_subdirectory(Edu)
 add_subdirectory(FileSystem)
 add_subdirectory(FramSections)
+add_subdirectory(Hal)
 add_subdirectory(Outcome)
 add_subdirectory(Periphery)
 add_subdirectory(Serial)
@@ -15,7 +13,3 @@ target_link_libraries(Sts1CobcSw_Dummy PUBLIC etl::etl Sts1CobcSw_Utility)
 
 target_sources(Sts1CobcSw_HelloDummy PRIVATE HelloDummy.cpp)
 target_link_libraries(Sts1CobcSw_HelloDummy PRIVATE Sts1CobcSw_Dummy rodos::rodos)
-
-# target_sources(Sts1CobcSw_Heartbeat PRIVATE EduHeartbeatThread.cpp TopicsAndSubscribers.cpp)
-# target_link_libraries(Sts1CobcSw_Heartbeat PRIVATE etl::etl rodos::rodos Sts1CobcSw_Hal
-# Sts1CobcSw_Utility Sts1CobcSw_Periphery)

Sts1CobcSw/CobcSoftware/EduCommunicationErrorThread.cpp

@@ -5,7 +5,7 @@
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Utility/Debug.hpp>
-#include <Sts1CobcSw/Utility/Time.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <strong_type/difference.hpp>
 

Sts1CobcSw/CobcSoftware/EduHeartbeatThread.cpp

@@ -3,7 +3,7 @@
 #include <Sts1CobcSw/Hal/GpioPin.hpp>
 #include <Sts1CobcSw/Hal/IoNames.hpp>
 #include <Sts1CobcSw/Utility/Debug.hpp>
-#include <Sts1CobcSw/Utility/Time.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 
 #include <strong_type/affine_point.hpp>

Sts1CobcSw/CobcSoftware/EduListenerThread.cpp

@@ -7,7 +7,7 @@
 #include <Sts1CobcSw/Edu/ProgramStatusHistory.hpp>
 #include <Sts1CobcSw/Edu/Types.hpp>
 #include <Sts1CobcSw/Hal/IoNames.hpp>
-#include <Sts1CobcSw/Utility/Time.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <strong_type/difference.hpp>
 #include <strong_type/type.hpp>

Sts1CobcSw/CobcSoftware/EduPowerManagementThread.cpp

@@ -5,7 +5,7 @@
 #include <Sts1CobcSw/Hal/GpioPin.hpp>
 #include <Sts1CobcSw/Hal/IoNames.hpp>
 #include <Sts1CobcSw/Utility/Debug.hpp>
-#include <Sts1CobcSw/Utility/Time.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 
 #include <strong_type/difference.hpp>

Sts1CobcSw/CobcSoftware/EduProgramQueueThread.cpp

@@ -8,7 +8,8 @@
 #include <Sts1CobcSw/Edu/Types.hpp>
 #include <Sts1CobcSw/ProgramId/ProgramId.hpp> // IWYU pragma: keep
 #include <Sts1CobcSw/Utility/Debug.hpp>
-#include <Sts1CobcSw/Utility/Time.hpp>
+#include <Sts1CobcSw/Utility/RealTime.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 
 #include <strong_type/affine_point.hpp>

Sts1CobcSw/CobcSoftware/FlashStartupTestThread.cpp

@@ -4,6 +4,8 @@
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Periphery/Flash.hpp>
+#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <rodos_no_using_namespace.h>
 
@@ -30,16 +32,22 @@ class FlashStartupTestThread : public RODOS::StaticThread<stackSize>
 
  void run() override
  {
- RODOS::AT(RODOS::END_OF_TIME);
+ DEBUG_PRINT("Flash start-up test ...");
+ SuspendUntil(endOfTime);
  flash::Initialize();
  auto jedecId = flash::ReadJedecId();
  if(jedecId.deviceId != flash::correctJedecId.deviceId
  || jedecId.manufacturerId != flash::correctJedecId.manufacturerId)
  {
+ DEBUG_PRINT(" failed to read correct flash JEDEC ID");
  persistentVariables.template Store<"flashIsWorking">(false);
  }
+ else
+ {
+ persistentVariables.template Store<"flashIsWorking">(true);
+ }
  ResumeSpiStartupTestAndSupervisorThread();
- RODOS::AT(RODOS::END_OF_TIME);
+ SuspendUntil(endOfTime);
  }
 } flashStartupTestThread;
 

Sts1CobcSw/CobcSoftware/FramEpsStartupTestThread.cpp

@@ -3,7 +3,9 @@
 #include <Sts1CobcSw/CobcSoftware/ThreadPriorities.hpp>
 #include <Sts1CobcSw/Periphery/Eps.hpp>
 #include <Sts1CobcSw/Periphery/Fram.hpp>
+#include <Sts1CobcSw/Utility/Debug.hpp>
 #include <Sts1CobcSw/Utility/ErrorDetectionAndCorrection.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <rodos_no_using_namespace.h>
 
@@ -32,17 +34,24 @@ class FramEpsStartupTestThread : public RODOS::StaticThread<stackSize>
 
  void run() override
  {
- RODOS::AT(RODOS::END_OF_TIME);
+ DEBUG_PRINT("FRAM/EPS start-up test ...");
+ SuspendUntil(endOfTime);
  fram::Initialize();
  auto deviceId = fram::ReadDeviceId();
  if(deviceId != fram::correctDeviceId)
  {
+ DEBUG_PRINT(" failed to read correct FRAM device ID");
  fram::framIsWorking.Store(false);
  }
+ else
+ {
+ fram::framIsWorking.Store(true);
+ }
  eps::Initialize();
  (void)eps::Read();
+ persistentVariables.template Store<"epsIsWorking">(true);
  ResumeSpiStartupTestAndSupervisorThread();
- RODOS::AT(RODOS::END_OF_TIME);
+ SuspendUntil(endOfTime);
  }
 } framEpsStartupTestThread;
 

Sts1CobcSw/CobcSoftware/RfStartupTestThread.cpp

@@ -4,6 +4,8 @@
 #include <Sts1CobcSw/FramSections/FramLayout.hpp>
 #include <Sts1CobcSw/FramSections/PersistentVariables.hpp>
 #include <Sts1CobcSw/Periphery/Rf.hpp>
+#include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 
 #include <rodos_no_using_namespace.h>
 
@@ -29,15 +31,21 @@ class RfStartupTestThread : public RODOS::StaticThread<stackSize>
 
  void run() override
  {
- RODOS::AT(RODOS::END_OF_TIME);
+ DEBUG_PRINT("RF start-up test ...");
+ SuspendUntil(endOfTime);
  rf::Initialize(rf::TxType::packet);
  auto partNumber = rf::ReadPartNumber();
  if(partNumber != rf::correctPartNumber)
  {
+ DEBUG_PRINT(" failed to read correct RF part number");
  persistentVariables.template Store<"rfIsWorking">(false);
  }
+ else
+ {
+ persistentVariables.template Store<"rfIsWorking">(true);
+ }
  ResumeSpiStartupTestAndSupervisorThread();
- RODOS::AT(RODOS::END_OF_TIME);
+ SuspendUntil(endOfTime);
  }
 } rfStartupTestThread;
 

Sts1CobcSw/CobcSoftware/SpiStartupTestAndSupervisorThread.cpp

@@ -10,18 +10,28 @@
 #include <Sts1CobcSw/Periphery/Fram.hpp>
 #include <Sts1CobcSw/Periphery/FramEpsSpi.hpp>
 #include <Sts1CobcSw/Periphery/Rf.hpp>
+#include <Sts1CobcSw/Utility/Debug.hpp>
 #include <Sts1CobcSw/Utility/ErrorDetectionAndCorrection.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
+#include <Sts1CobcSw/Utility/TimeTypes.hpp>
+
+#include <strong_type/affine_point.hpp>
+#include <strong_type/difference.hpp>
+#include <strong_type/ordered.hpp>
+#include <strong_type/type.hpp>
 
 #include <rodos_no_using_namespace.h>
 
+#include <compare>
+
 
 namespace sts1cobcsw
 {
 constexpr auto stackSize = 100U;
 // TODO: Measure how long the startup tests really take to determine the correct timeout
-constexpr auto startupTestTimeout = 100 * RODOS::MILLISECONDS;
+constexpr auto startupTestTimeout = 100 * ms;
 // TODO: Think about how often the supervision should run
-constexpr auto supervisionPeriod = 1 * RODOS::SECONDS;
+constexpr auto supervisionPeriod = 1 * s;
 
 
 auto ExecuteStartupTest(void (*startupTestThreadResumeFuntion)()) -> bool;
@@ -44,50 +54,73 @@ class SpiStartupTestAndSupervisorThread : public RODOS::StaticThread<stackSize>
 
  void run() override
  {
- using RODOS::AT;
- using RODOS::NOW;
+ static constexpr auto errorMessage = " failed to complete in time\n";
+ static constexpr auto successMessage = " completed in time\n";
 
- // TODO: Test if this works
  auto testWasSuccessful = ExecuteStartupTest(ResumeFramEpsStartupTestThread);
+ DEBUG_PRINT(fram::framIsWorking.Load() ? "\n" : " and");
  if(not testWasSuccessful)
  {
+ DEBUG_PRINT("%s", errorMessage);
  fram::framIsWorking.Store(false);
  persistentVariables.template Store<"epsIsWorking">(false);
  }
+ else
+ {
+ DEBUG_PRINT("%s", successMessage);
+ }
+
  testWasSuccessful = ExecuteStartupTest(ResumeFlashStartupTestThread);
+ DEBUG_PRINT(persistentVariables.template Load<"flashIsWorking">() ? "\n" : " and");
  if(not testWasSuccessful)
  {
+ DEBUG_PRINT("%s", errorMessage);
  persistentVariables.template Store<"flashIsWorking">(false);
  persistentVariables.template Increment<"nFlashErrors">();
  }
+ else
+ {
+ DEBUG_PRINT("%s", successMessage);
+ }
+
  testWasSuccessful = ExecuteStartupTest(ResumeRfStartupTestThread);
+ DEBUG_PRINT(persistentVariables.template Load<"rfIsWorking">() ? "\n" : " and");
  if(not testWasSuccessful)
  {
+ DEBUG_PRINT("%s", errorMessage);
  persistentVariables.template Store<"rfIsWorking">(false);
  persistentVariables.template Increment<"nRfErrors">();
- AT(NOW() + 2 * RODOS::SECONDS);
+ SuspendFor(2 * s);
  RODOS::hwResetAndReboot();
  }
+ else
+ {
+ DEBUG_PRINT("%s", successMessage);
+ }
 
- TIME_LOOP(0, supervisionPeriod)
+ TIME_LOOP(0, value_of(supervisionPeriod))
  {
  auto timeoutHappened = false;
- if(NOW() > framEpsSpi.TransferEnd())
+ if(CurrentRodosTime() > framEpsSpi.TransferEnd())
  {
+ DEBUG_PRINT("FRAM/EPS SPI timeout occurred\n");
  timeoutHappened = true;
  }
- if(NOW() > flash::spi.TransferEnd())
+ if(CurrentRodosTime() > flash::spi.TransferEnd())
  {
+ DEBUG_PRINT("Flash SPI timeout occurred\n");
  timeoutHappened = true;
  persistentVariables.template Increment<"nFlashErrors">();
  }
- if(NOW() > rf::spi.TransferEnd())
+ if(CurrentRodosTime() > rf::spi.TransferEnd())
  {
+ DEBUG_PRINT("RF SPI timeout occurred\n");
  timeoutHappened = true;
  persistentVariables.template Increment<"nRfErrors">();
  }
  if(timeoutHappened)
  {
+ DEBUG_PRINT("Hardware reset and reboot");
  RODOS::hwResetAndReboot();
  }
  }
@@ -103,9 +136,9 @@ auto ResumeSpiStartupTestAndSupervisorThread() -> void
 
 auto ExecuteStartupTest(void (*startupTestThreadResumeFuntion)()) -> bool
 {
- auto testEnd = RODOS::NOW() + startupTestTimeout;
+ auto testEnd = CurrentRodosTime() + startupTestTimeout;
  startupTestThreadResumeFuntion();
- RODOS::AT(testEnd);
- return RODOS::NOW() <= testEnd;
+ SuspendUntil(testEnd);
+ return CurrentRodosTime() <= testEnd;
 }
 }

Sts1CobcSw/CobcSoftware/StartupTestStubs.cpp

@@ -0,0 +1,26 @@
+#include <Sts1CobcSw/CobcSoftware/SpiStartupTestAndSupervisorThread.hpp>
+
+
+namespace sts1cobcsw
+{
+auto ResumeFlashStartupTestThread() -> void
+{
+ persistentVariables.template Store<"flashIsWorking">(true);
+ ResumeSpiStartupTestAndSupervisorThread();
+}
+
+
+auto ResumeFramEpsStartupTestThread() -> void
+{
+ fram::framIsWorking.Store(true);
+ persistentVariables.template Store<"epsIsWorking">(true);
+ ResumeSpiStartupTestAndSupervisorThread();
+}
+
+
+auto ResumeRfStartupTestThread() -> void
+{
+ persistentVariables.template Store<"rfIsWorking">(true);
+ ResumeSpiStartupTestAndSupervisorThread();
+}
+}

Sts1CobcSw/Edu/Edu.cpp

@@ -10,8 +10,8 @@
 #include <Sts1CobcSw/Serial/Serial.hpp>
 #include <Sts1CobcSw/Utility/Crc32Software.hpp>
 #include <Sts1CobcSw/Utility/Debug.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
 #include <Sts1CobcSw/Utility/Span.hpp>
-#include <Sts1CobcSw/Utility/Time.hpp>
 
 #include <strong_type/difference.hpp>
 

Sts1CobcSw/Edu/Types.hpp

@@ -4,7 +4,6 @@
 #include <Sts1CobcSw/ProgramId/ProgramId.hpp>
 #include <Sts1CobcSw/Serial/Byte.hpp>
 #include <Sts1CobcSw/Serial/Serial.hpp>
-#include <Sts1CobcSw/Utility/Time.hpp>
 #include <Sts1CobcSw/Utility/TimeTypes.hpp>
 
 #include <cstddef>

Sts1CobcSw/FileSystem/FileSystem.cpp

@@ -1,6 +1,9 @@
 #include <Sts1CobcSw/FileSystem/FileSystem.hpp>
 #include <Sts1CobcSw/Periphery/Flash.hpp>
 #include <Sts1CobcSw/Serial/Byte.hpp>
+#include <Sts1CobcSw/Utility/RodosTime.hpp>
+
+#include <strong_type/difference.hpp>
 
 #include <rodos_no_using_namespace.h>
 
@@ -64,9 +67,9 @@ lfs_config const lfsConfig{.context = nullptr,
 
 // TODO: Test with real HW
 // max. 3.5 ms acc. W25Q01JV datasheet
-constexpr auto pageProgramTimeout = 5 * RODOS::MILLISECONDS;
+constexpr auto pageProgramTimeout = 5 * ms;
 // max. 400 ms acc. W25Q01JV datasheet (lfs_config.block_size = flash::sectorSize)
-constexpr auto blockEraseTimeout = 500 * RODOS::MILLISECONDS;
+constexpr auto blockEraseTimeout = 500 * ms;
 
 
 // --- Public function definitions ---