eive/eive-obsw
eive/eive-obsw
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fixed some tiny bugs

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This commit is contained in:
Robin Müller 2022-04-15 01:39:47 +02:00
parent bbdd3c052e
commit 57cc77e197
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GPG Key ID: 71B58F8A3CDFA9AC
4 changed files with 289 additions and 284 deletions
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66
linux/boardtest/UartTestClass.cpp
View File

@ -21,17 +21,17 @@
#endif
UartTestClass::UartTestClass(object_id_t objectId, ScexUartReader* reader)
: TestTask(objectId), reader(reader) {
: TestTask(objectId), reader(reader) {
mode = TestModes::SCEX;
scexMode = ScexModes::SIMPLE;
currCmd = scex::ScexCmds::FRAM;
scexMode = ScexModes::READER_TASK;
currCmd = scex::ScexCmds::PING;
if (scexMode == ScexModes::SIMPLE) {
auto encodingBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair encodingBufPair {encodingBuf->data(), encodingBuf->size()};
DleParser::BufPair encodingBufPair{encodingBuf->data(), encodingBuf->size()};
auto decodedBuf = new std::array<uint8_t, 4096>;
DleParser::BufPair decodingBufPair {decodedBuf->data(), decodedBuf->size()};
dleParser =
new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair, decodingBufPair, &foundDlePacketHandler, this);
DleParser::BufPair decodingBufPair{decodedBuf->data(), decodedBuf->size()};
dleParser = new ScexDleParser(*(new SimpleRingBuffer(4096, true)), dleEncoder, encodingBufPair,
decodingBufPair, &foundDlePacketHandler, this);
}
}
@ -174,53 +174,55 @@ void UartTestClass::scexPeriodic() {
if (scexMode == ScexModes::SIMPLE) {
scexSimplePeriodic();
} else {
if (not cmdSent){
if (not cmdSent) {
size_t len = 0;
prepareScexCmd(scex::ScexCmds::PING, false, cmdBuf.data(), &len);
reader->sendMessage(uartCookie, cmdBuf.data(), len);
cmdSent = true;
cmdDone = false;
}
if (cmdSent and not cmdDone){
if (cmdSent and not cmdDone) {
uint8_t* decodedPacket = nullptr;
size_t len = 0;
ReturnValue_t result = reader->readReceivedMessage(uartCookie, &decodedPacket, &len);
if(len > 0){
sif::info<<"CmdByte: "<<(int)decodedPacket[0]<<endl;
if (len > 0) {
sif::info << "CmdByte: " << std::setw(2) << std::setfill('0') << std::hex
<< (int)decodedPacket[0] << std::dec << endl;
scex::ScexCmds cmd = static_cast<scex::ScexCmds>((decodedPacket[0] >> 1) & 0b11111);
sif::info << "Command: 0x" << std::setw(2) << std::setfill('0') << std::hex
<< static_cast<int>(cmd) << std::dec << std::endl;
size_t packetCounter = decodedPacket[1];
sif::info<<"PacketCounter: "<<packetCounter<<endl;
sif::info << "PacketCounter: " << packetCounter << endl;
size_t totalPacketCounter = decodedPacket[2];
sif::info<<"TotalPacketCount: "<<totalPacketCounter<<endl;
uint16_t packetLen = (decodedPacket[3]<< 8) | (decodedPacket[4]);
sif::info<<"PacketLength: "<< packetLen <<endl;
sif::info << "TotalPacketCount: " << totalPacketCounter << endl;
uint16_t packetLen = (decodedPacket[3] << 8) | (decodedPacket[4]);
sif::info << "PacketLength: " << packetLen << endl;
uint16_t expectedPacketLen = packetLen + 7;
sif::info<<"ExpectedPacketLength: "<< packetLen+7 <<endl;
if(expectedPacketLen != len){
sif::warning<<"ExpectedPacketLength " << expectedPacketLen <<" is not Length"<< len<<endl;
sif::info << "ExpectedPacketLength: " << packetLen + 7 << endl;
if (expectedPacketLen != len) {
sif::warning << "ExpectedPacketLength " << expectedPacketLen << " is not Length" << len
<< endl;
}
if(CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0){
sif::warning<<"CRC invalid"<<endl;
}else{
sif::info<<"CRC valid"<<endl;
if (CRC::crc16ccitt(decodedPacket, expectedPacketLen) != 0) {
sif::warning << "CRC invalid" << endl;
} else {
sif::info << "CRC valid" << endl;
}
if(packetCounter == totalPacketCounter){
if (packetCounter == totalPacketCounter) {
reader->finish();
sif::info<<"Reader is finished" << endl;
sif::info << "Reader is finished" << endl;
cmdDone = true;
if(cmd == scex::ScexCmds::PING){
// TODO: Bug in firmware, other command will be returned
cmdSent = false;
// if (cmd == scex::ScexCmds::PING) {
// cmdSent = false;
// }
}
}
}
}
}
}
void UartTestClass::scexSimpleInit() {
@ -249,8 +251,8 @@ void UartTestClass::scexSimpleInit() {
// 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] = 10; // In units of 0.1 seconds
tty.c_cc[VMIN] = 255; // Read up to 255 bytes
tty.c_cc[VTIME] = 0; // In units of 0.1 seconds
tty.c_cc[VMIN] = 0; // Read up to 255 bytes
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)

27
linux/devices/ScexUartReader.cpp
View File

@ -5,6 +5,7 @@
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/uart/UartCookie.h>
#include <linux/devices/ScexDleParser.h>
#include <unistd.h> // write(), read(), close()
@ -34,16 +35,17 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
semaphore->acquire();
sif::info << "task was started" << std::endl;
int bytesRead = 0;
while(true) {
while (true) {
bytesRead = read(serialPort, reinterpret_cast<void *>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
MutexGuard mg(lock);
States currentState = state;
if (currentState == States::FINISH) {
if (state == States::FINISH) {
sif::debug << "finish detected" << std::endl;
state = States::IDLE;
break;
}
TaskFactory::delayTask(1000);
} else if (bytesRead < 0) {
sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
@ -63,7 +65,7 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
}
};
// task block comes here
std::cout << "done" << std::endl;
sif::info << "task was stopped" << std::endl;
}
return RETURN_OK;
}
@ -94,8 +96,8 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
tty.c_lflag &= ~(ICANON | ECHO);
// Non-blocking mode, use polling
tty.c_cc[VTIME] = 10; // Read for up to 1 seconds
tty.c_cc[VMIN] = 255; // Read as much as there is available
tty.c_cc[VTIME] = 0;
tty.c_cc[VMIN] = 0;
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)
@ -109,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
<< std::endl;
}
// Flush received and unread data
tcflush(serialPort, TCIFLUSH);
tcflush(serialPort, TCIOFLUSH);
return RETURN_OK;
}
@ -172,12 +174,12 @@ void ScexUartReader::handleFoundDlePacket(uint8_t *packet, size_t len) {
sif::info << "Detected DLE encoded packet with decoded size " << len << std::endl;
MutexGuard mg(lock);
ReturnValue_t result = ipcQueue.insert(len);
if(result != RETURN_OK){
sif::warning<< "IPCQueue error" << std::endl;
if (result != RETURN_OK) {
sif::warning << "IPCQueue error" << std::endl;
}
result = ipcRingBuf.writeData(packet, len);
if(result != RETURN_OK){
sif::warning<< "IPCRingBuf error" << std::endl;
if (result != RETURN_OK) {
sif::warning << "IPCRingBuf error" << std::endl;
}
sif::info << "DLE handler done" << std::endl;
}
@ -189,7 +191,8 @@ ReturnValue_t ScexUartReader::readReceivedMessage(CookieIF *cookie, uint8_t **bu
*size = 0;
return RETURN_OK;
}
*size = ipcQueue.pop();
sif::info << "returning data" << std::endl;
ipcQueue.retrieve(size);
*buffer = ipcBuffer.data();
ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
if (result != RETURN_OK) {

2
mission/devices/IMTQHandler.cpp
View File

@ -118,7 +118,7 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
case (IMTQ::START_ACTUATION_DIPOLE): {
/* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
if(commandData == nullptr) {
if (commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[1] = commandData[1];

2
tmtc

@ -1 +1 @@
Subproject commit ecb973c37fe43954d0be1f19b0735b3546d2ef1b
Subproject commit 8a30f669f075c284494d7c1c6618e42e2aec8f15