Merge branch 'develop' into mohr/cmake

linux/boardtest/I2cTestClass.cpp

@@ -1,5 +1,101 @@
-#include <linux/boardtest/I2cTestClass.h>
+#include "I2cTestClass.h"
 
-I2cTestClass::I2cTestClass(object_id_t objectId) : TestTask(objectId) {}
+#include <errno.h>
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
 
-ReturnValue_t I2cTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }
+#include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/serviceinterface.h"
+
+I2cTestClass::I2cTestClass(object_id_t objectId, std::string i2cdev)
+    : TestTask(objectId), i2cdev(i2cdev) {
+  mode = TestModes::BPX_BATTERY;
+}
+
+ReturnValue_t I2cTestClass::initialize() {
+  if (mode == TestModes::BPX_BATTERY) {
+    battInit();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cTestClass::performPeriodicAction() {
+  if (mode == TestModes::BPX_BATTERY) {
+    battPeriodic();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void I2cTestClass::battInit() {
+  sif::info << "I2cTestClass: BPX Initialization" << std::endl;
+  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
+    return;
+  }
+  if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
+    sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
+  }
+  cmdBuf[0] = BpxBattery::PORT_PING;
+  cmdBuf[1] = 0x42;
+  sendLen = 2;
+  ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  // Receive back port, error byte and ping reply
+  recvLen = 3;
+  result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  sif::info << "Ping reply:" << std::endl;
+  arrayprinter::print(replyBuf.data(), recvLen);
+  if (replyBuf[2] != 0x42) {
+    sif::warning << "Received ping reply not expected value 0x42" << std::endl;
+  }
+}
+
+void I2cTestClass::battPeriodic() {
+  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
+    return;
+  }
+  if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
+    sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
+  }
+  cmdBuf[0] = BpxBattery::PORT_GET_HK;
+  sendLen = 1;
+  ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  // Receive back HK set
+  recvLen = 23;
+  result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  sif::info << "HK reply:" << std::endl;
+  arrayprinter::print(replyBuf.data(), recvLen);
+}
+
+ReturnValue_t I2cTestClass::i2cWrite(int fd, uint8_t* data, size_t len) {
+  if (write(fd, data, len) != static_cast<ssize_t>(len)) {
+    sif::error << "Failed to write to I2C bus" << std::endl;
+    sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cTestClass::i2cRead(int fd, uint8_t* data, size_t len) {
+  if (read(fd, data, len) != static_cast<ssize_t>(len)) {
+    sif::error << "Failed to read from I2C bus" << std::endl;
+    sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

linux/boardtest/I2cTestClass.h

@@ -3,13 +3,38 @@
 
 #include <test/testtasks/TestTask.h>
 
+#include <array>
+#include <string>
+
+#include "mission/devices/devicedefinitions/BpxBatteryDefinitions.h"
+
 class I2cTestClass : public TestTask {
  public:
-  I2cTestClass(object_id_t objectId);
+  I2cTestClass(object_id_t objectId, std::string i2cdev);
 
+  ReturnValue_t initialize() override;
   ReturnValue_t performPeriodicAction() override;
 
  private:
+  enum TestModes { NONE, BPX_BATTERY };
+  struct I2cInfo {
+    int addr = 0;
+    int fd = 0;
+  };
+
+  TestModes mode = TestModes::NONE;
+  void battInit();
+  void battPeriodic();
+
+  I2cInfo bpxInfo = {.addr = 0x07, .fd = 0};
+  std::string i2cdev;
+  size_t sendLen = 0;
+  size_t recvLen = 0;
+  std::array<uint8_t, 64> cmdBuf = {};
+  std::array<uint8_t, 64> replyBuf = {};
+
+  ReturnValue_t i2cWrite(int fd, uint8_t* data, size_t len);
+  ReturnValue_t i2cRead(int fd, uint8_t* data, size_t len);
 };
 
 #endif /* LINUX_BOARDTEST_I2CTESTCLASS_H_ */

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)
@@ -9,14 +11,37 @@
 #include <fcntl.h>   // Contains file controls like O_RDWR
 #include <unistd.h>  // write(), read(), close()
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "lwgps/lwgps.h"
+#include "fsfw/globalfunctions/CRC.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;
+}
+
+ReturnValue_t UartTestClass::performOneShotAction() { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t UartTestClass::performPeriodicAction() {
+  if (mode == TestModes::GPS) {
+    gpsPeriodic();
+  } else if (mode == TestModes::SCEX) {
+    scexPeriodic();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void UartTestClass::gpsInit() {
 #if RPI_TEST_GPS_DEVICE == 1
   int result = lwgps_init(&gpsData);
   if (result == 0) {
@@ -62,16 +87,9 @@ ReturnValue_t UartTestClass::initialize() {
   // Flush received and unread data. Those are old NMEA strings which are not relevant anymore
   tcflush(serialPort, TCIFLUSH);
 #endif
-  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t UartTestClass::performOneShotAction() {
-#if RPI_TEST_GPS_DEVICE == 1
-#endif
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t UartTestClass::performPeriodicAction() {
+void UartTestClass::gpsPeriodic() {
 #if RPI_TEST_GPS_DEVICE == 1
   int bytesRead = 0;
   do {
@@ -107,5 +125,97 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
     }
   } while (bytesRead > 0);
 #endif
-  return HasReturnvaluesIF::RETURN_OK;
+}
+
+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

@@ -17,10 +17,23 @@ class UartTestClass : public TestTask {
   ReturnValue_t performPeriodicAction() override;
 
  private:
+  enum TestModes {
+    GPS,
+    // Solar Cell Experiment
+    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;
 };