bpx handler now working

linux/boardtest/I2cTestClass.cpp

@@ -1,5 +1,100 @@
-#include <linux/boardtest/I2cTestClass.h>
+#include "I2cTestClass.h"
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include "fsfw/serviceinterface.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
 
-I2cTestClass::I2cTestClass(object_id_t objectId) : TestTask(objectId) {}
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <linux/i2c-dev.h>
 
-ReturnValue_t I2cTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }
+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 +3,40 @@
 
 #include <test/testtasks/TestTask.h>
 
+#include "mission/devices/devicedefinitions/BpxBatteryDefinitions.h"
+#include <string>
+#include <array>
+
 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

@@ -17,6 +17,25 @@
 UartTestClass::UartTestClass(object_id_t objectId) : TestTask(objectId) {}
 
 ReturnValue_t UartTestClass::initialize() {
+  if (mode == TestModes::GPS) {
+    gpsInit();
+  }
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UartTestClass::performOneShotAction() {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UartTestClass::performPeriodicAction() {
+  if(mode == TestModes::GPS) {
+    gpsPeriodic();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void UartTestClass::gpsInit() {
 #if RPI_TEST_GPS_DEVICE == 1
   int result = lwgps_init(&gpsData);
   if (result == 0) {
@@ -62,16 +81,9 @@ 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 +119,4 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
     }
   } while (bytesRead > 0);
 #endif
-  return HasReturnvaluesIF::RETURN_OK;
 }

linux/boardtest/UartTestClass.h

@@ -17,6 +17,15 @@ class UartTestClass : public TestTask {
   ReturnValue_t performPeriodicAction() override;
 
  private:
+  enum TestModes {
+    GPS,
+    // Solar Cell Experiment
+    SCE
+  };
+
+  void gpsInit();
+  void gpsPeriodic();
+  TestModes mode = TestModes::GPS;
   lwgps_t gpsData = {};
   struct termios tty = {};
   int serialPort = 0;