Document the hardware monitoring structure

Makefile

@@ -38,10 +38,12 @@ LDLIBS   += -l $(NAME)
 LDFLAGS  += $(shell pkg-config --libs-only-L *.pc)
 LDLIBS   += $(shell pkg-config --libs-only-l *.pc)
 
-SOURCES  := $(shell find $(SOURCE_FOLDER) -name '*.c')
+SOURCES  != find $(SOURCE_FOLDER) -name '*.c'
 OBJECTS  := $(SOURCES:$(SOURCE_FOLDER)/%.c=$(CACHE_FOLDER)/%.o)
 MAIN_OBJ := $(CACHE_FOLDER)/parse_ublox.o
 
+SOURCE_SUBFOLDERS != find $(SOURCE_FOLDER) -type d
+
 PDF   := $(DOC_FOLDER)/latex/refman.pdf
 HTML  := $(DOC_FOLDER)/html/index.html
 MAN   := $(DOC_FOLDER)/man/man3/ublox.h.3
@@ -128,18 +130,15 @@ fclean: clean ## Remove all generated files
 
 include $(wildcard $(OBJECTS:.o=.d)) # To know on which header each .o depends
 
-$(CACHE_FOLDER): # Create the cache folder
-	mkdir $@
+$(SOURCE_SUBFOLDERS:$(SOURCE_FOLDER)%=$(CACHE_FOLDER)%): # Create the cache folder
+	mkdir -p $@
 
 $(EXECUTABLE): $(MAIN_OBJ) $(LIBRARY) # Link the executable
 	$(CC) $(CFLAGS) $< $(LDFLAGS) $(LDLIBS) -o $@
 
 $(OBJECTS): $(CACHE_FOLDER)/%.o: $(SOURCE_FOLDER)/%.c # declare the dependency between objects in cache and sources in src.
 $(MAIN_OBJ): $(CACHE_FOLDER)/%.o: %.c # declare the dependency of the object containing the main
 
-$(OBJECTS) $(MAIN_OBJ): | $(CACHE_FOLDER) libft.pc # Compile a single object
-	$(CC) $(CFLAGS) $(CPPFLAGS) -c $< -o $@
-
 $(LIBRARY): $(OBJECTS) # Group all the compiled objects into an indexed archive
 	$(AR) rcs $@ $^
 
@@ -152,3 +151,11 @@ $(MAN) $(HTML) $(LATEX)/Makefile: $(DOC_FOLDER)/Doxyfile $(SOURCES) include/*.h
 
 %.pc: # Warm about missing pkg-config file
 	@$(error Run ./setup.sh first !)
+
+# When a rule is expanded, both the target and the prerequisites
+# are immediately evaluated. Enabling a second expansion allows
+# a prerequisite to use automatic variables like $@, $*, etc
+.SECONDEXPANSION:
+
+$(OBJECTS) $(MAIN_OBJ): | $$(@D) libft.pc # Compile a single object
+	$(CC) $(CFLAGS) $(CPPFLAGS) -c $< -o $@

doc/pitfalls.md

@@ -3,8 +3,8 @@
 ## ANT-OM : ANTena Operation Management
 
 Pour la fonction : `ANT-OM` c'est à dire le module qui vérifie le bon fonctionnement de l'antenne GNSS utilisée dans l'application:
- 1) Problème de Celestica qui a un splitter qui ne permet pas de détecter l'état de l'alimentation de l'antenne
- 2) Problème où l'antenne est en bypass sur la carte (antenna_status = 3) mais journalctl nous affiche que le recepteur à un Fix3D. Le recepteur fonctionne mais ocillartord nous indique que l'antenne est en court-circuit et reste en holdover.
- 3) Le recepteur peut fonctionner alors que l'antenne_status indique que l'antenne n'est pas connecté(antenna_status : 4).
- 4) Ne pas diminuer trop la puissance du signal en en chainant les splitters, le recepteur ne detectera plus le signal.
- 5) Un signal en sortie de simulateur qui n'est pas bien synchronisé peut généré un Fix3D sur recepteur mais peut empêcher oscillatord d'entrer dans ses boucles d'asservissement.
+ 1. Problème de Celestica qui a un splitter qui ne permet pas de détecter l'état de l'alimentation de l'antenne
+ 2. Problème où l'antenne est en bypass sur la carte (antenna_status = 3) mais journalctl nous affiche que le recepteur à un Fix3D. Le recepteur fonctionne mais ocillartord nous indique que l'antenne est en court-circuit et reste en holdover.
+ 3. Le recepteur peut fonctionner alors que l'antenne_status indique que l'antenne n'est pas connecté(antenna_status : 4).
+ 4. Ne pas diminuer trop la puissance du signal en en chainant les splitters, le recepteur ne detectera plus le signal.
+ 5. Un signal en sortie de simulateur qui n'est pas bien synchronisé peut généré un Fix3D sur recepteur mais peut empêcher oscillatord d'entrer dans ses boucles d'asservissement.

include/ublox.h

@@ -10,7 +10,6 @@
 #include "file_input_stream.h"
 #include "serial.h"
 
-#include <ft_prepro/enum.h>
 #include <ft_string.h>
 
 #include <sys/types.h> // size_t

include/ublox_enums.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <ft_prepro/enum.h>
+
 /**
  * @file ublox_enums.h
  */
@@ -37,6 +39,13 @@ DECLARE_ENUM_WITH_VALUES(ublox_monitoring_message,
 	(COMMS /**< Communication port information */, 0x36)
 );
 
+/**
+ * Possible messages in the RXM class
+ */
+DECLARE_ENUM_WITH_VALUES(ublox_receiver_message,
+	(SFRBX /**< Broadcast navigation data subframe */, 0x13)
+);
+
 /**
  * Possible values of @ref ublox_navigation_data::constellation
  */
@@ -63,7 +72,7 @@ enum ublox_jamming_state
 };
 
 [[ maybe_unused ]]
-static const char* ublox_jamming_state_strings[] = {"unkown", "OK", "warning", "critical"};
+static const char* ublox_jamming_state_strings[] = {"unknown", "OK", "warning", "critical"};
 
 enum ublox_antenna_status
 {
@@ -77,3 +86,14 @@ enum ublox_antenna_status
 
 [[ maybe_unused ]]
 static const char* ublox_antenna_status_strings[]= {"initializing", "unknown", "OK", "short", "open"};
+
+enum ublox_antenna_power
+{
+	UBLOX_ANTENNA_OFF,
+	UBLOX_ANTENNA_ON,
+	UBLOX_ANTENNA_POWER_UNKNOWN,
+	ublox_antenna_power_count
+};
+
+[[ maybe_unused ]]
+static const char* ublox_antenna_power_strings[]= {"OFF", "ON", "unknown"};

include/ublox_messages.h

@@ -20,18 +20,16 @@
  */
 struct ublox_navigation_data
 {
-	struct ublox_header header;
-	uint8_t             constellation;     /**< GNSS identifier */
-	uint8_t             satellite;         /**< Satellite identifier */
-	uint8_t             signal;            /**< Signal identifier */
-	uint8_t             glonass_frequency; /**< Only used for GLONASS */
-	/** The number of data words contained in this message. */
-	uint8_t             word_count;
-	/** The tracking channel number the message was received on. */
-	uint8_t             channel;
-	/** Message version (=2 for this version). */
-	uint8_t             version;
-	uint8_t             _reserved;
+	struct ublox_header header;/**< Inherit from ublox message base struct */
+
+	uint8_t constellation;     /**< GNSS identifier */
+	uint8_t satellite;         /**< Satellite identifier */
+	uint8_t signal;            /**< Signal identifier */
+	uint8_t glonass_frequency; /**< Only used for GLONASS */
+	uint8_t word_count;        /**< The number of data words contained in this message. */
+	uint8_t channel;           /**< The tracking channel number the message was received on. */
+	uint8_t version;           /**< Message version (=2 for this version). */
+	uint8_t _reserved;
 };
 
 /**
@@ -42,10 +40,11 @@ struct ublox_navigation_data
  */
 struct ublox_monitoring_rf
 {
-	struct ublox_header header;
-	uint8_t             version;     /**< Message version (=0 in this case) */
-	uint8_t             block_count; /**< Number of RF blocks included */
-	uint16_t            _reserved;
+	struct ublox_header header; /**< Inherit from ublox message base struct */
+
+	uint8_t  version;     /**< Message version (=0 in this case) */
+	uint8_t  block_count; /**< Number of RF blocks included */
+	uint16_t _reserved;
 };
 
 struct ublox_monitoring_rf_block
@@ -58,7 +57,7 @@ struct ublox_monitoring_rf_block
 	uint32_t _reserved1;
 	uint16_t noise_per_ms;    /**< Noise level as measured by the GPS core */
 	uint16_t agc_count;       /**< Automatic Gain Control */
-	uint8_t  jam_suppression; /**< Continuous Wave interference suppression level */
+	uint8_t  jam_level;       /**< Continuous Wave interference suppression level */
 	int8_t   offset_i;        /**< Imbalance of the I-part of the complex signal */
 	uint8_t  magnitude_i;     /**< Magnitude of the I-Part of the complex signal */
 	int8_t   offset_q;        /**< Imbalance of the Q-part of the complex signal */
@@ -68,27 +67,33 @@ struct ublox_monitoring_rf_block
 
 struct ublox_monitoring_hardware
 {
-	struct ublox_header header;
-	uint32_t            pin_sel;
-	uint32_t            pin_bank;
-	uint32_t            pin_dir;
-	uint32_t            pin_val;
-	uint16_t            noise_per_ms;
-	uint16_t            agc_count;
-	uint8_t             antenna_status;
-	uint8_t             antenna_power;
-	uint8_t             rtc_calib     :1;
-	uint8_t             safe_boot     :1;
-	uint8_t             jamming_state :2;
-	uint8_t             xtal_absent   :1;
-	uint8_t             _reserved0;
-	uint32_t            used_mask;
-	uint8_t             vp[17];
-	uint8_t             jam_indicator;
-	uint8_t             _reserved1[2];
-	uint32_t            pin_irq;
-	uint32_t            pull_high;
-	uint32_t            pull_low;
+	struct ublox_header header; /**< Inherit from ublox message base struct */
+
+	uint32_t pins_selected;  /**< Mask of pins set as peripheral/PIO */
+	uint32_t pins_bank;      /**< Mask of pins set as bank A/B */
+	uint32_t pins_direction; /**< Mask of pins set as input/output */
+	uint32_t pins_value;     /**< Mask of pins value low/high */
+	uint16_t noise_per_ms;   /**< Noise level as measured by the GPS core */
+	uint16_t agc_count;      /**< Automatic Gain Control */
+	/** Status of the antenna supervisor state machine */
+	uint8_t  antenna_status;
+	uint8_t  antenna_power;        /**< Current power status of the antenna */
+	uint8_t  is_rtc_calibrated :1; /**< is the Real-Time Clock calibrated ? */
+	uint8_t  in_safe_boot_mode :1;
+	/** Output from Jamming/Interference Monitor */
+	uint8_t  jamming_state     :2;
+	/** Has the real-time clock's crystal been determined to be absent ? */
+	uint8_t  is_crystal_absent :1;
+	uint8_t  _reserved0;
+	/** Mask of pins that are used by the virtual pin manager */
+	uint32_t used_mask;
+	/** Array of pin mappings for each of the 17 physical pins */
+	uint8_t  virtual_pins[17];
+	uint8_t  jam_level; /**< Continuous Wave interference suppression level */
+	uint8_t  _reserved1[2];
+	uint32_t pins_interrupt; /**< Mask of pins value using the PIO Irq */
+	uint32_t pins_pull_high; /**< Mask of pins value using the PIO pull high resistor */
+	uint32_t pins_pull_low;  /**< Mask of pins value using the PIO pull low resistor */
 };
 
 t_string ublox_navigation_data_tostring(const struct ublox_navigation_data* message);
@@ -101,7 +106,7 @@ t_string ublox_monitoring_rf_tostring(const struct ublox_monitoring_rf* message)
  - `1`: L2 or L5 band (depending on product configuration)
 
 @var ublox_monitoring_rf_block::jamming_state
-@see ublox_mon_rf_jamming_state
+@see ublox_jamming_state
 This flag is deprecated in protocol versions that support `UBX-SEC-SIG` (version 0x02);
 instead `jammingState` in `UBX-SEC-SIG` should be monitored.
 
@@ -110,6 +115,12 @@ The AGC monitor counts the number of times the signal level crosses a certain th
 by the signals SIGHI and SIGLO
 */
 
+/**
+@var ublox_monitoring_hardware::agc_count
+The AGC monitor counts the number of times the signal level crosses a certain threshold, indicated
+by the signals SIGHI and SIGLO
+*/
+
 /**
 @var ublox_navigation_data::glonass_frequency
 This is the frequency slot + 7 (range from 0 to 13)

include/ublox_reader.h

@@ -1,5 +1,9 @@
 #pragma once
 
+/**
+ * @file ublox_reader.h
+ */
+
 #include "file_input_stream.h"
 #include "ublox.h"
 
@@ -14,10 +18,14 @@ typedef struct ublox_reader ublox_reader_t;
 
 struct ublox_reader
 {
-	ifstream_t* input;
-	t_array callbacks;
+	ifstream_t* input; /**< Buffured input stream */
+	t_array callbacks; /**<  */
 };
 
 struct ublox_reader ublox_reader_init(ifstream_t* input);
-void                ublox_subscribe(ublox_reader_t* reader, ublox_callback_t callback);
-bool                ublox_reader_loop(ublox_reader_t* reader);
+void                ublox_reader_close(ublox_reader_t* self);
+
+void ublox_subscribe(ublox_reader_t* reader, ublox_callback_t callback);
+bool ublox_reader_loop(ublox_reader_t* reader);
+
+#define Reader ublox_reader_t __attribute__((cleanup(ublox_reader_close)))

parse_ublox.c

@@ -20,24 +20,24 @@ void ublox_printer(ublox_message_t* message)
 	{
 		RAII(t_string)
 			str = ublox_navigation_data_tostring((struct ublox_navigation_data*)message);
-		log_info("{%s}", cstring(&str));
+		printf("{%s}\n---\n", cstring(&str));
 	}
 	else if (message->class == MON && message->type == HW)
 	{
 		RAII(t_string)
 			str = ublox_monitoring_hardware_tostring((struct ublox_monitoring_hardware*)message);
-		log_info("{%s}", cstring(&str));
+		printf("{%s}\n---\n", cstring(&str));
 	}
 	else if (message->class == MON && message->type == RF)
 	{
 		RAII(t_string)
 			str = ublox_monitoring_rf_tostring((struct ublox_monitoring_rf*)message);
-		log_info("{%s}", cstring(&str));
+		printf("{%s}\n---\n", cstring(&str));
 	}
 	else
 	{
 		RAII(t_string) str = ublox_header_tostring(message);
-		log_info("{%s}", cstring(&str));
+		printf("{%s}\n---\n", cstring(&str));
 	}
 }
 
@@ -46,20 +46,32 @@ void ublox_printer(ublox_message_t* message)
  *
  * @param passive: When passive, do not change the port config, only display it
  * and try to read.
+ * @param is_file: Do not try to access the terminal options
  */
-void parse_ublox(const char* port_name, bool passive)
+void parse_ublox(const char* file_name, bool passive, bool is_file)
 {
-	Serial           port = serial_open(port_name);
+	serial_port_t port;
 
-	if (port.file.descriptor < 0
-	    || (!passive && ublox_port_config(&port, 115200) == false))
+	if (is_file)
+		port.file = file_open(file_name, O_RDONLY);
+	else
+	{
+		port = serial_open(file_name);
+
+		if (!passive && ublox_port_config(&port, 115200) == false)
+			return ;
+		serial_print_config(&port);
+
+	}
+
+	if (port.file.descriptor < 0)
 		return ;
-	serial_print_config(&port);
 
-	ublox_reader_t reader = ublox_reader_init(&port.file);
+	Reader        reader = ublox_reader_init(&port.file);
+
 	ublox_subscribe(&reader, ublox_printer);
 	ublox_reader_loop(&reader);
-} /* <- port will be closed at this point */
+}
 
 const char* argp_program_version     = "ublox_parser " PP_STR(VERSION);
 const char* argp_program_bug_address = "<antoine.gagniere@orolia2s.com>";
@@ -68,12 +80,14 @@ static char args_doc[] = "[PATH]";
 
 static struct argp_option options[] = {
     {"passive", 'p', 0, OPTION_ARG_OPTIONAL, "Do not change the port configuration, only display it.", 1},
+    {"file", 'f', 0, OPTION_ARG_OPTIONAL, "Input is not a serial port but a file", 1},
     {0}
 };
 
 struct arguments
 {
 	bool is_passive;
+	bool is_file;
 };
 
 static error_t parse_opt(int key, char* arg, struct argp_state* state)
@@ -82,9 +96,10 @@ static error_t parse_opt(int key, char* arg, struct argp_state* state)
 	switch (key)
 	{
 	case 'p': arguments->is_passive = true; break;
+	case 'f': arguments->is_file = true; break;
 	case ARGP_KEY_ARG:
 		if (arg)
-			parse_ublox(arg, arguments->is_passive);
+			parse_ublox(arg, arguments->is_passive, arguments->is_file);
 		return 0;
 	default: return ARGP_ERR_UNKNOWN;
 	}
@@ -95,8 +110,9 @@ static struct argp argp = {options, parse_opt, args_doc, doc, 0, 0, 0};
 
 int                main(int arg_count, char** arg_values)
 {
-	struct arguments arguments = {.is_passive = false};
+	struct arguments arguments = {.is_passive = false, .is_file = false};
 
+	printf("---\n");
 	argp_parse(&argp, arg_count, arg_values, 0, 0, &arguments);
 	return 0;
 }

src/file_close.c → src/file/close.c

@@ -13,7 +13,7 @@
  * In case of error when calling close, there is absolutely nothing interesting
  * that can be done beyond reporting it, so it is not propagated.
  */
-void serial_close(ifstream_t* file)
+void file_close(ifstream_t* file)
 {
 	log_trace("%s(%i)", __FUNCTION__, file->descriptor);
 	if (file->buffer.data)