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This commit is contained in:
Irini Kosmidou
2022-04-08 19:12:21 +02:00
parent 35f2d2cb9c
commit 01d86a0c7b
7 changed files with 339 additions and 105 deletions
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183
linux/boardtest/UartTestClass.cpp
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@ -3,6 +3,8 @@
#include <errno.h> // Error integer and strerror() function
#include <fcntl.h> // Contains file controls like O_RDWR
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <linux/devices/ScexUartReader.h>
#include <unistd.h> // write(), read(), close()
#include "OBSWConfig.h"
@ -18,7 +20,11 @@
#define RPI_TEST_GPS_HANDLER 0
#endif
UartTestClass::UartTestClass(object_id_t objectId) : TestTask(objectId) { mode = TestModes::SCEX; }
UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader)
: TestTask(objectId), reader(reader) {
mode = TestModes::SCEX;
scexMode = ScexModes::READER_TASK;
}
ReturnValue_t UartTestClass::initialize() {
if (mode == TestModes::GPS) {
@ -127,100 +133,129 @@ void UartTestClass::gpsPeriodic() {
}
void UartTestClass::scexInit() {
#if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
#endif
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
if (reader == nullptr) {
sif::warning << "UartTestClass::scexInit: Reader invalid" << std::endl;
return;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag &= ~CSIZE; // Clear all the size bits
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
if (scexMode == ScexModes::SIMPLE) {
#if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
#endif
/* Get file descriptor */
serialPort = open(devname.c_str(), O_RDWR);
if (serialPort < 0) {
sif::warning << "open call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
return;
}
// Setting up UART parameters
tty.c_cflag &= ~PARENB; // Clear parity bit
tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
tty.c_cflag &= ~CSIZE; // Clear all the size bits
tty.c_cflag |= CS8; // 8 bits per byte
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// Use non-canonical mode and clear echo flag
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are
// received in one go
tty.c_cc[VTIME] = 1; // In units of 0.1 seconds
tty.c_cc[VMIN] = 255; // Read up to 255 bytes
// Non-blocking mode, read until either line is 0.1 second idle or maximum of 255 bytes are
// received in one go
tty.c_cc[VTIME] = 1; // In units of 0.1 seconds
tty.c_cc[VMIN] = 255; // Read up to 255 bytes
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)
if (cfsetispeed(&tty, B57600) != 0) {
sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
}
if (cfsetispeed(&tty, B57600) != 0) {
sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
}
#endif
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
} else {
#if defined(RASPBERRY_PI)
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
#endif
uartCookie =
new UartCookie(this->getObjectId(), devname, UartModes::NON_CANONICAL, 57600, 4096);
reader->setDebugMode(true);
ReturnValue_t result = reader->initializeInterface(uartCookie);
}
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
}
void UartTestClass::scexPeriodic() {
sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl;
int result = prepareScexPing();
if (result != 0) {
if (reader == nullptr) {
return;
};
size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning << "Sending ping command to solar experiment failed" << std::endl;
}
// Read back reply immediately
int bytesRead = 0;
do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead < 0) {
sif::warning << "UartTestClass::performPeriodicAction: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
<< std::endl;
} else if (bytesRead > 0) {
sif::info << "Received " << bytesRead
<< " bytes from the Solar Cell Experiment:" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false);
break;
if (scexMode == ScexModes::SIMPLE) {
sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl;
// reader->sendMessage(nullptr, nullptr, 0);
uint8_t tmpCmdBuf[32] = {};
size_t len = 0;
prepareScexPing(tmpCmdBuf, &len);
ReturnValue_t result =
dleEncoder.encode(tmpCmdBuf, len, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
return;
}
} while (bytesRead > 0);
if (result != 0) {
return;
};
size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning << "Sending ping command to solar experiment failed" << std::endl;
}
// Read back reply immediately
int bytesRead = 0;
do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead < 0) {
sif::warning << "UartTestClass::performPeriodicAction: read call failed with error ["
<< errno << ", " << strerror(errno) << "]" << std::endl;
break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
<< std::endl;
} else if (bytesRead > 0) {
sif::info << "Received " << bytesRead
<< " bytes from the Solar Cell Experiment:" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false);
break;
}
} while (bytesRead > 0);
} else {
size_t len = 0;
prepareScexPing(cmdBuf.data(), &len);
reader->sendMessage(uartCookie, cmdBuf.data(), len);
}
}
int UartTestClass::prepareScexPing() {
std::array<uint8_t, 128> tmpCmdBuf = {};
int UartTestClass::prepareScexPing(uint8_t* cmdBuf, size_t* len) {
// Send ping command
tmpCmdBuf[0] = scex::CMD_PING;
cmdBuf[0] = scex::CMD_PING;
// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
// telecommand so far
tmpCmdBuf[1] = 1;
tmpCmdBuf[2] = 1;
cmdBuf[1] = 1;
cmdBuf[2] = 1;
uint16_t userDataLen = 0;
tmpCmdBuf[3] = (userDataLen >> 8) & 0xff;
tmpCmdBuf[4] = userDataLen & 0xff;
uint16_t crc = CRC::crc16ccitt(tmpCmdBuf.data(), 5);
tmpCmdBuf[5] = (crc >> 8) & 0xff;
tmpCmdBuf[6] = crc & 0xff;
ReturnValue_t result =
dleEncoder.encode(tmpCmdBuf.data(), 7, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
return -1;
}
cmdBuf[3] = (userDataLen >> 8) & 0xff;
cmdBuf[4] = userDataLen & 0xff;
uint16_t crc = CRC::crc16ccitt(cmdBuf, 5);
cmdBuf[5] = (crc >> 8) & 0xff;
cmdBuf[6] = crc & 0xff;
*len = 7;
return 0;
}