issue with makefile
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/*
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* P60DockTestTask.cpp
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*
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* Created on: 18.11.2020
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* Author: Jakob Meier
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*/
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include "P60DockTestTask.h"
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#include <csp/drivers/can_socketcan.h>
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P60DockTestTask::P60DockTestTask(object_id_t objectId_):
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SystemObject(objectId_){
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if(initializeCSPStack() != HasReturnvaluesIF::RETURN_OK){
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sif::error << "P60DockTestTask creation failed" << std::endl;
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}
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}
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ReturnValue_t P60DockTestTask::performOperation(uint8_t operationCode) {
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if(pingP60dock() != HasReturnvaluesIF::RETURN_OK){
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if(getParameters() != HasReturnvaluesIF::RETURN_OK){
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t P60DockTestTask::pingP60dock(void){
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uint32_t timeout = 1000;
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unsigned int pingSize = 100; // 100 bytes
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uint32_t replyTime = csp_ping(p60dockAddress, timeout, pingSize, CSP_O_NONE);
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sif::info << "Ping address: " << p60dockAddress << ", reply after "
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<< replyTime << " ms" << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t P60DockTestTask::getParameters(void) {
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uint32_t timeout = 1000;
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node_hk.rows = (gs_param_table_row_t*)p60dock_hk;
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node_hk.id = P60DOCK_HK;
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node_hk.row_count = p60dock_hk_count;
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node_hk.memory_size = P60DOCK_HK_SIZE;
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node_hk.memory = hkMem;
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/* Retriev all houskeeping data from the P60 dock and store it in hkMem
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* array */
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int result = gs_rparam_get_full_table(&node_hk, p60dockAddress, node_hk.id,
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GS_RPARAM_MAGIC_CHECKSUM, timeout);
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if (result != 0) {
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sif::info << "Error retrieving P60 Dock housekeeping" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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} else {
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uint8_t tableOffsetTemperature = 0x44;
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int16_t temperature;
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size_t parameterSize = sizeof(temperature);
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uint32_t flags = 0;
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result = gs_param_get_data((gs_param_table_instance_t*) &node_hk,
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tableOffsetTemperature, &temperature, parameterSize, flags);
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sif::info << "P60 Dock Temperature: " << temperature << std::endl;
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uint16_t vbat_v;
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parameterSize = sizeof(vbat_v);
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uint8_t vbat_v_offset = 0x74;
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result = gs_param_get_data((gs_param_table_instance_t*) &node_hk,
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vbat_v_offset, &vbat_v, parameterSize, flags);
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sif::info << "VBAT_V: " << vbat_v << std::endl;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t P60DockTestTask::initializeCSPStack(void){
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/* Init CSP and CSP buffer system */
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if (csp_init(cspClientAddress) != CSP_ERR_NONE
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|| csp_buffer_init(10, 300) != CSP_ERR_NONE) {
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sif::error << "Failed to init CSP\r\n" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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csp_iface_t *csp_if_ptr = &csp_if;
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csp_if_ptr = csp_can_socketcan_init("can0", bitrate, promisc);
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/* Set default route and start router */
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int result = csp_rtable_set(CSP_DEFAULT_ROUTE, 0, csp_if_ptr, CSP_NODE_MAC);
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if(result != CSP_ERR_NONE){
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sif::error << "Failed to add can interface to router table"
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<< std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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result = csp_route_start_task(500, 0);
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if(result != CSP_ERR_NONE){
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sif::error << "Failed to start route task" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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P60DockTestTask::~P60DockTestTask() {
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// TODO Auto-generated destructor stub
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}
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@ -1,55 +0,0 @@
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/*
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* P60DockTestTask.h
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*
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* Created on: 18.11.2020
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* Author: Jakob Meier
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*/
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#ifndef TEST_TESTTASKS_P60DOCKTESTTASK_H_
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#define TEST_TESTTASKS_P60DOCKTESTTASK_H_
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/objectmanager/SystemObject.h>
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#include <p60dock.h>
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#include <gs/param/internal/types.h>
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#include <csp/csp.h>
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#include <csp/interfaces/csp_if_can.h>
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class P60DockTestTask: public SystemObject,
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public ExecutableObjectIF,
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public HasReturnvaluesIF {
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public:
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P60DockTestTask(object_id_t objectId_);
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virtual ~P60DockTestTask();
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
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private:
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/* Interface struct for csp protocol stack */
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csp_iface_t csp_if;
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/* CSP address of P60 dock */
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uint8_t p60dockAddress = 4;
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/* Client CSP address */
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uint8_t cspClientAddress = 1;
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/* CAN interface used by CSP */
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const char* canIf = "can0";
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int bitrate = 1000; // bitrate of can
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int promisc = 0; // set to 0 to enable filter mode
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/* P60 Dock houskeeping parameters will be stored in this buffer */
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uint8_t hkMem[P60DOCK_HK_SIZE];
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gs_param_table_instance_t node_hk;
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/* Port of CSP ping requests on P60 dock */
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uint8_t CSP_PING = 1;
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/* Sends ping request and receives ping reply */
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ReturnValue_t pingP60dock(void);
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ReturnValue_t initializeCSPStack(void);
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/* Temperature and raw battery voltage are read from the P60 dock by this
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* function */
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ReturnValue_t getParameters(void);
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};
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#endif /* TEST_TESTTASKS_P60DOCKTESTTASK_H_ */
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