Merge pull request 'this fixes SCEX ping for RPi' (#147) from mueller/uart-test-task-update into develop
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Reviewed-on: #147 Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
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commit
c83020d2c1
@ -1,16 +1,11 @@
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#include "UartTestClass.h"
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#include <errno.h> // Error integer and strerror() function
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#include <fcntl.h> // Contains file controls like O_RDWR
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#include <fsfw/tasks/TaskFactory.h>
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#if defined(RASPBERRY_PI)
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#include "rpiConfig.h"
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#elif defined(XIPHOS_Q7S)
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#include "q7sConfig.h"
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#endif
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#include <errno.h> // Error integer and strerror() function
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#include <fcntl.h> // Contains file controls like O_RDWR
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#include <unistd.h> // write(), read(), close()
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#include "OBSWConfig.h"
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#include "fsfw/globalfunctions/CRC.h"
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#include "fsfw/globalfunctions/DleEncoder.h"
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#include "fsfw/globalfunctions/arrayprinter.h"
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@ -42,7 +37,7 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
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}
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void UartTestClass::gpsInit() {
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#if RPI_TEST_GPS_DEVICE == 1
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#if RPI_TEST_GPS_HANDLER == 1
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int result = lwgps_init(&gpsData);
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if (result == 0) {
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sif::warning << "lwgps_init error: " << result << std::endl;
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@ -90,7 +85,7 @@ void UartTestClass::gpsInit() {
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}
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void UartTestClass::gpsPeriodic() {
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#if RPI_TEST_GPS_DEVICE == 1
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#if RPI_TEST_GPS_HANDLER == 1
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int bytesRead = 0;
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do {
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bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
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@ -129,7 +124,7 @@ void UartTestClass::gpsPeriodic() {
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void UartTestClass::scexInit() {
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#if defined(RASPBERRY_PI)
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std::string devname = "/dev/ttyUSB1";
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std::string devname = "/dev/serial0";
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#else
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std::string devname = "/dev/ul-scex";
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#endif
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@ -156,6 +151,13 @@ void UartTestClass::scexInit() {
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tty.c_cc[VTIME] = 1; // In units of 0.1 seconds
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tty.c_cc[VMIN] = 255; // Read up to 255 bytes
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// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
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#if !defined(XIPHOS_Q7S)
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if (cfsetispeed(&tty, B57600) != 0) {
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sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
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}
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#endif
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if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
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sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
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<< std::endl;
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@ -165,37 +167,12 @@ void UartTestClass::scexInit() {
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}
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void UartTestClass::scexPeriodic() {
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auto dleEncoder = DleEncoder();
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std::array<uint8_t, 128> tmpCmdBuf = {};
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// Send ping command
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tmpCmdBuf[0] = scex::CMD_PING;
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// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
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// telecommand so far
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tmpCmdBuf[1] = 1;
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tmpCmdBuf[2] = 1;
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uint16_t userDataLen = 0;
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tmpCmdBuf[3] = (userDataLen >> 8) & 0xff;
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tmpCmdBuf[4] = userDataLen & 0xff;
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uint16_t crc = CRC::crc16ccitt(tmpCmdBuf.data(), 5);
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tmpCmdBuf[5] = (crc >> 8) & 0xff;
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tmpCmdBuf[6] = crc & 0xff;
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size_t encodedLen = 0;
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ReturnValue_t result =
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dleEncoder.encode(tmpCmdBuf.data(), 7, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
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sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl;
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int result = prepareScexPing();
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if (result != 0) {
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return;
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}
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arrayprinter::print(cmdBuf.data(), 9);
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};
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size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
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if (bytesWritten != encodedLen) {
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sif::warning << "Sending ping command to solar experiment failed" << std::endl;
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}
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TaskFactory::delayTask(20);
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bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
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if (bytesWritten != encodedLen) {
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sif::warning << "Sending ping command to solar experiment failed" << std::endl;
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}
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@ -210,12 +187,35 @@ void UartTestClass::scexPeriodic() {
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<< ", " << strerror(errno) << "]" << std::endl;
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break;
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} else if (bytesRead >= static_cast<int>(recBuf.size())) {
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sif::debug << "UartTestClass::performPeriodicAction: "
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"recv buffer might not be large enough"
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sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
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<< std::endl;
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} else if (bytesRead > 0) {
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sif::info << "Received " << bytesRead << " from the Solar Cell Experiment:" << std::endl;
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arrayprinter::print(recBuf.data(), bytesRead);
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sif::info << "Received " << bytesRead
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<< " bytes from the Solar Cell Experiment:" << std::endl;
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arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false);
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}
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} while (bytesRead > 0);
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}
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int UartTestClass::prepareScexPing() {
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std::array<uint8_t, 128> tmpCmdBuf = {};
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// Send ping command
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tmpCmdBuf[0] = scex::CMD_PING;
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// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
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// telecommand so far
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tmpCmdBuf[1] = 1;
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tmpCmdBuf[2] = 1;
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uint16_t userDataLen = 0;
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tmpCmdBuf[3] = (userDataLen >> 8) & 0xff;
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tmpCmdBuf[4] = userDataLen & 0xff;
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uint16_t crc = CRC::crc16ccitt(tmpCmdBuf.data(), 5);
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tmpCmdBuf[5] = (crc >> 8) & 0xff;
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tmpCmdBuf[6] = crc & 0xff;
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ReturnValue_t result =
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dleEncoder.encode(tmpCmdBuf.data(), 7, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
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return -1;
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}
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return 0;
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}
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@ -1,6 +1,7 @@
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#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
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#define LINUX_BOARDTEST_UARTTESTCLASS_H_
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#include <fsfw/globalfunctions/DleEncoder.h>
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#include <termios.h> // Contains POSIX terminal control definitions
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#include <array>
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@ -28,7 +29,10 @@ class UartTestClass : public TestTask {
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void scexInit();
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void scexPeriodic();
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int prepareScexPing();
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TestModes mode = TestModes::GPS;
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DleEncoder dleEncoder = DleEncoder();
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size_t encodedLen = 0;
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lwgps_t gpsData = {};
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struct termios tty = {};
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int serialPort = 0;
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