Merge pull request 'this fixes SCEX ping for RPi' (#147) from mueller/uart-test-task-update into develop

Reviewed-on: #147
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

linux/boardtest/UartTestClass.cpp

@@ -1,16 +1,11 @@
 #include "UartTestClass.h"
 
-#include <fsfw/tasks/TaskFactory.h>
-#if defined(RASPBERRY_PI)
-#include "rpiConfig.h"
-#elif defined(XIPHOS_Q7S)
-#include "q7sConfig.h"
-#endif
-
 #include <errno.h>  // Error integer and strerror() function
 #include <fcntl.h>  // Contains file controls like O_RDWR
+#include <fsfw/tasks/TaskFactory.h>
 #include <unistd.h>  // write(), read(), close()
 
+#include "OBSWConfig.h"
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/DleEncoder.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -42,7 +37,7 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
 }
 
 void UartTestClass::gpsInit() {
-#if RPI_TEST_GPS_DEVICE == 1
+#if RPI_TEST_GPS_HANDLER == 1
   int result = lwgps_init(&gpsData);
   if (result == 0) {
     sif::warning << "lwgps_init error: " << result << std::endl;
@@ -90,7 +85,7 @@ void UartTestClass::gpsInit() {
 }
 
 void UartTestClass::gpsPeriodic() {
-#if RPI_TEST_GPS_DEVICE == 1
+#if RPI_TEST_GPS_HANDLER == 1
   int bytesRead = 0;
   do {
     bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
@@ -129,7 +124,7 @@ void UartTestClass::gpsPeriodic() {
 
 void UartTestClass::scexInit() {
 #if defined(RASPBERRY_PI)
-  std::string devname = "/dev/ttyUSB1";
+  std::string devname = "/dev/serial0";
 #else
   std::string devname = "/dev/ul-scex";
 #endif
@@ -156,6 +151,13 @@ void UartTestClass::scexInit() {
   tty.c_cc[VTIME] = 1;   // In units of 0.1 seconds
   tty.c_cc[VMIN] = 255;  // Read up to 255 bytes
 
+  // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
+#if !defined(XIPHOS_Q7S)
+  if (cfsetispeed(&tty, B57600) != 0) {
+    sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
+  }
+#endif
+
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
                  << std::endl;
@@ -165,37 +167,12 @@ void UartTestClass::scexInit() {
 }
 
 void UartTestClass::scexPeriodic() {
-  auto dleEncoder = DleEncoder();
+  sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl;
-  std::array<uint8_t, 128> tmpCmdBuf = {};
+  int result = prepareScexPing();
-  // Send ping command
+  if (result != 0) {
-  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;
   }
@@ -210,12 +187,35 @@ void UartTestClass::scexPeriodic() {
                    << ", " << strerror(errno) << "]" << std::endl;
       break;
     } else if (bytesRead >= static_cast<int>(recBuf.size())) {
-      sif::debug << "UartTestClass::performPeriodicAction: "
+      sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
-                    "recv buffer might not be large enough"
                  << std::endl;
     } else if (bytesRead > 0) {
-      sif::info << "Received " << bytesRead << " from the Solar Cell Experiment:" << std::endl;
+      sif::info << "Received " << bytesRead
-      arrayprinter::print(recBuf.data(), bytesRead);
+                << " bytes from the Solar Cell Experiment:" << std::endl;
+      arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false);
     }
   } while (bytesRead > 0);
 }
+
+int UartTestClass::prepareScexPing() {
+  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;
+  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 -1;
+  }
+  return 0;
+}

linux/boardtest/UartTestClass.h

@@ -1,6 +1,7 @@
 #ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
 #define LINUX_BOARDTEST_UARTTESTCLASS_H_
 
+#include <fsfw/globalfunctions/DleEncoder.h>
 #include <termios.h>  // Contains POSIX terminal control definitions
 
 #include <array>
@@ -28,7 +29,10 @@ class UartTestClass : public TestTask {
 
   void scexInit();
   void scexPeriodic();
+  int prepareScexPing();
   TestModes mode = TestModes::GPS;
+  DleEncoder dleEncoder = DleEncoder();
+  size_t encodedLen = 0;
   lwgps_t gpsData = {};
   struct termios tty = {};
   int serialPort = 0;