Merge pull request 'SCEX test code' (#135) from mueller/scex-test-code into develop

Reviewed-on: #135
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

bsp_q7s/core/InitMission.cpp

@@ -350,18 +350,17 @@ void initmission::createPusTasks(TaskFactory& factory,
 void initmission::createTestTasks(TaskFactory& factory,
                                   TaskDeadlineMissedFunction missedDeadlineFunc,
                                   std::vector<PeriodicTaskIF*>& taskVec) {
-#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || OBSW_ADD_I2C_TEST_CODE == 1 || \
+#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
-    (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-#endif
+  static_cast<void>(result);  // supress warning in case it is not used
+
   PeriodicTaskIF* testTask = factory.createPeriodicTask(
       "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
-#if OBSW_ADD_TEST_TASK == 1
+
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
   }
-#endif /* OBSW_ADD_TEST_TASK == 1 */
 
 #if OBSW_ADD_SPI_TEST_CODE == 1
   result = testTask->addComponent(objects::SPI_TEST);
@@ -375,6 +374,13 @@ void initmission::createTestTasks(TaskFactory& factory,
     initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
   }
 #endif
+#if OBSW_ADD_UART_TEST_CODE == 1
+  result = testTask->addComponent(objects::UART_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
+  }
+#endif
+
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
   result = testTask->addComponent(objects::LIBGPIOD_TEST);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -382,4 +388,6 @@ void initmission::createTestTasks(TaskFactory& factory,
   }
 #endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
   taskVec.push_back(testTask);
+
+#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
 }

bsp_q7s/core/ObjectFactory.cpp

@@ -1,6 +1,7 @@
 #include "ObjectFactory.h"
 
 #include <linux/boardtest/I2cTestClass.h>
+#include <linux/boardtest/UartTestClass.h>
 
 #include <sstream>
 
@@ -1135,4 +1136,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if OBSW_ADD_I2C_TEST_CODE == 1
   new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
 #endif
+#if OBSW_ADD_UART_TEST_CODE == 1
+  new UartTestClass(objects::UART_TEST);
+#endif
 }

linux/boardtest/UartTestClass.cpp

@@ -1,4 +1,6 @@
 #include "UartTestClass.h"
+
+#include <fsfw/tasks/TaskFactory.h>
 #if defined(RASPBERRY_PI)
 #include "rpiConfig.h"
 #elif defined(XIPHOS_Q7S)
@@ -9,18 +11,22 @@
 #include <fcntl.h>   // Contains file controls like O_RDWR
 #include <unistd.h>  // write(), read(), close()
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/globalfunctions/CRC.h"
-#include "lwgps/lwgps.h"
+#include "fsfw/globalfunctions/DleEncoder.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/serviceinterface.h"
+#include "mission/devices/devicedefinitions/SCEXDefinitions.h"
 
 #define GPS_REPLY_WIRETAPPING 0
 
-UartTestClass::UartTestClass(object_id_t objectId) : TestTask(objectId) {}
+UartTestClass::UartTestClass(object_id_t objectId) : TestTask(objectId) { mode = TestModes::SCEX; }
 
 ReturnValue_t UartTestClass::initialize() {
   if (mode == TestModes::GPS) {
     gpsInit();
+  } else if (mode == TestModes::SCEX) {
+    scexInit();
   }
-
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -29,6 +35,8 @@ ReturnValue_t UartTestClass::performOneShotAction() { return HasReturnvaluesIF::
 ReturnValue_t UartTestClass::performPeriodicAction() {
   if (mode == TestModes::GPS) {
     gpsPeriodic();
+  } else if (mode == TestModes::SCEX) {
+    scexPeriodic();
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
@@ -118,3 +126,96 @@ void UartTestClass::gpsPeriodic() {
   } while (bytesRead > 0);
 #endif
 }
+
+void UartTestClass::scexInit() {
+#if defined(RASPBERRY_PI)
+  std::string devname = "/dev/ttyUSB1";
+#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);
+
+  // 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
+
+  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);
+}
+
+void UartTestClass::scexPeriodic() {
+  auto dleEncoder = DleEncoder();
+  std::array<uint8_t, 128> tmpCmdBuf = {};
+  // Send ping command
+  tmpCmdBuf[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;
+  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;
+
+  size_t encodedLen = 0;
+  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;
+  }
+  arrayprinter::print(cmdBuf.data(), 9);
+  size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
+
+  if (bytesWritten != encodedLen) {
+    sif::warning << "Sending ping command to solar experiment failed" << std::endl;
+  }
+
+  TaskFactory::delayTask(20);
+  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 << " from the Solar Cell Experiment:" << std::endl;
+      arrayprinter::print(recBuf.data(), bytesRead);
+    }
+  } while (bytesRead > 0);
+}

linux/boardtest/UartTestClass.h

@@ -20,16 +20,20 @@ class UartTestClass : public TestTask {
   enum TestModes {
     GPS,
     // Solar Cell Experiment
-    SCE
+    SCEX
   };
 
   void gpsInit();
   void gpsPeriodic();
+
+  void scexInit();
+  void scexPeriodic();
   TestModes mode = TestModes::GPS;
   lwgps_t gpsData = {};
   struct termios tty = {};
   int serialPort = 0;
-  std::array<uint8_t, 512> recBuf;
+  std::array<uint8_t, 64> cmdBuf = {};
+  std::array<uint8_t, 4096> recBuf = {};
   uint8_t recvCnt = 0;
 };
 

linux/fsfwconfig/OBSWConfig.h.in

@@ -68,12 +68,14 @@ debugging. */
 
 #define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
 // If this is enabled, all other SPI code should be disabled
 #define OBSW_ADD_SPI_TEST_CODE                      0
 // If this is enabled, all other I2C code should be disabled
 #define OBSW_ADD_I2C_TEST_CODE                      0
-#define OBSW_ADD_TEST_PST                           0
+#define OBSW_ADD_UART_TEST_CODE                     0
-#define OBSW_ADD_TEST_TASK                          0
+
 #define OBSW_TEST_LIBGPIOD                          0
 #define OBSW_TEST_RADIATION_SENSOR_HANDLER          0
 #define OBSW_TEST_SUS_HANDLER                       0

mission/devices/devicedefinitions/SCEXDefinitions.h

@@ -0,0 +1,13 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SCEXDEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_SCEXDEFINITIONS_H_
+
+#include <cstdint>
+
+// Definitions for the Solar Cell Experiment
+namespace scex {
+
+static constexpr uint8_t CMD_PING = 0x4e;
+
+}
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SCEXDEFINITIONS_H_ */

scripts/q7s-cp.py

@@ -49,6 +49,13 @@ def handle_args():
         action="store_true",
         help="Copy from Q7S to host instead. Always copies to current directory.",
     )
+    parser.add_argument(
+        "-f",
+        "--flatsat",
+        default=False,
+        action="store_true",
+        help="Copy to flatsat instead"
+    )
     # Positional argument(s)
     parser.add_argument(
         "source", help="Source files to copy or target files to copy back to host"
@@ -61,17 +68,28 @@ def build_cmd(args):
     cmd = "scp "
     if args.recursive:
         cmd += "-r "
+    address = ""
+    port_args = ""
     target = args.target
-    if args.invert and target == "":
+    if args.flatsat:
-        target = "."
+        address = "eive@flatsat.eive.absatvirt.lw"
-    elif target == "":
-        target = f"/tmp"
-    if args.invert:
-        cmd += f"-P {args.port} root@localhost:{args.source} {target}"
     else:
-        cmd += f"-P {args.port} {args.source} root@localhost:{target}"
+        address = "root@localhost"
-    if args.target:
+        port_args=f"-P {args.port}"
-        cmd += args.target
+    if args.invert:
+        if target == "":
+            target = "."
+        else:
+            target = args.target
+    else:
+        if target == "":
+            target = f"/tmp"
+        else:
+            target = args.target
+    if args.invert:
+        cmd += f"{port_args} {address}:{args.source} {target}"
+    else:
+        cmd += f"{port_args} {args.source} {address}:{target}"
     return cmd
 
 

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit 2d10c6b85ea4cab4f4baf1918c51d54eee4202c2
+Subproject commit 5d5e46b09bbd5208176c68d94c798493e705a2ee

tmtc

@@ -1 +1 @@
-Subproject commit 84c2730836e6821ff089d7567018fe4ffded62db
+Subproject commit 6a78311239bdf78040e43ef217035fcaa2ab9f3b