README.md

@@ -697,6 +697,12 @@ candump can0
 
 ## Useful Q7S Linux Commands
 
+Display currently running image:
+
+```sh
+xsc_boot_copy
+```
+
 Rebooting currently running image:
 
 ```sh

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -3,6 +3,8 @@
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/tasks/TaskFactory.h"
 
+#include "bsp_q7s/memory/scratchApi.h"
+
 #include <iostream>
 #include <fstream>
 #include <cstdio>
@@ -12,6 +14,7 @@ Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
     //sdCardTests();
+    testScratchApi();
     return TestTask::performOneShotAction();
 }
 
@@ -50,3 +53,15 @@ void Q7STestTask::fileTests() {
     system("echo \"Hallo Welt\" > /tmp/test2.txt");
     system("echo \"Hallo Welt\"");
 }
+
+void Q7STestTask::testScratchApi() {
+    ReturnValue_t result = scratch::writeNumber("TEST", 1);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
+    }
+    int number = 0;
+    result = scratch::readNumber("TEST", number);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
+    }
+}

bsp_q7s/boardtest/Q7STestTask.h

@@ -11,6 +11,9 @@ private:
 
     void sdCardTests();
     void fileTests();
+
+    void testScratchApi();
+
 };
 
 

bsp_q7s/core/CoreController.cpp

@@ -24,17 +24,33 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
 ReturnValue_t CoreController::initialize() {
     // Find a way to store this non-volatile outside of SD cards (ProASIC?)
     sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
+    std::string printoutString;
+    if(preferredSdCard == sd::SdCard::SLOT_0) {
+        printoutString = "0";
+    }
+    else {
+        printoutString = "1";
+    }
     // Creator or update status file
     ReturnValue_t result = SdCardManager::instance()->updateSdCardStateFile();
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "CoreController::initialize: Updating SD card state file failed"
                 << std::endl;
     }
+
+    sif::info << "Switching on SD card " << printoutString << ".." << std::endl;
+
     result = SdCardManager::instance()->switchOnSdCard(preferredSdCard);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+    if(result == SdCardManager::ALREADY_ON) {
+        sif::info << "SD card " << printoutString << " is already on" << std::endl;
+    }
+    else if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "CoreController::initialize: Turning SD card on failed"
                 << std::endl;
     }
+    else {
+        sif::info << "SD card " << printoutString << " was switched on" << std::endl;
+    }
     return HasReturnvaluesIF::RETURN_OK;
 }
 

bsp_q7s/memory/CMakeLists.txt

@@ -2,4 +2,5 @@ target_sources(${TARGET_NAME} PRIVATE
     FileSystemHandler.cpp
     SdCardAccess.cpp
     SdCardManager.cpp
+    scratchApi.cpp
 )

bsp_q7s/memory/SdCardManager.cpp

@@ -66,7 +66,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
         statestring = "off";
     }
     std::ostringstream command;
-    command << "h7hw sd set " << sdstring << " " << statestring;
+    command << "q7hw sd set " << sdstring << " " << statestring;
     int result = std::system(command.str().c_str());
     if(result == 0) {
         return HasReturnvaluesIF::RETURN_OK;
@@ -89,30 +89,39 @@ ReturnValue_t SdCardManager::sdCardActive(std::pair<bool, bool>& active) {
     }
     string line;
     uint8_t idx = 0;
-    bool on = false;
 
     while (std::getline(sdStatus, line)) {
         istringstream iss(line);
         string word;
+        sd::SdCard currentSd = sd::SdCard::SLOT_0;
         while(iss >> word) {
+            if (word == "1:") {
+                currentSd = sd::SdCard::SLOT_1;
+            }
+
             if(word == "on") {
-                on = true;
+                if(currentSd == sd::SdCard::SLOT_0) {
+                    active.first = true;
+                }
+                else {
+                    active.second = true;
+                }
             }
             else if (word == "off") {
-                on = false;
+                if(currentSd == sd::SdCard::SLOT_0) {
+                    active.first = false;
+                }
+                else {
+                    active.second = false;
+                }
             }
             else {
                 continue;
             }
-            if(idx == 0) {
-                active.first = on;
-            }
-            else if(idx == 1) {
-                active.second = on;
-            }
-            else if(idx > 1) {
+
+            if(idx > 3) {
                 sif::warning << "SdCardManager::sdCardActive: Status file has more "
-                        "than 2 lines!" << std::endl;
+                        "than 4 lines!" << std::endl;
                 return STATUS_FILE_FORMAT_INVALID;
             }
         }
@@ -122,6 +131,7 @@ ReturnValue_t SdCardManager::sdCardActive(std::pair<bool, bool>& active) {
 }
 
 sd::SdCard SdCardManager::getPreferredSdCard() const {
+    //int result = std::system("xsc_scratch read PREFSD > /tmp/pref_sd.txt");
     return preferredSdCard;
 }
 

bsp_q7s/memory/scratchApi.cpp

@@ -0,0 +1,12 @@
+#include "scratchApi.h"
+
+ReturnValue_t scratch::writeString(std::string name, std::string string) {
+    std::ostringstream oss;
+    oss << "xsc_scratch write " << name << " \"" << string << "\"";
+    int result = std::system(oss.str().c_str());
+    if(result != 0) {
+        utility::handleSystemError(result, "scratch::String");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/memory/scratchApi.h

@@ -0,0 +1,70 @@
+#ifndef BSP_Q7S_MEMORY_SCRATCHAPI_H_
+#define BSP_Q7S_MEMORY_SCRATCHAPI_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "linux/utility/utility.h"
+
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <type_traits>
+#include <cstdlib>
+
+/**
+ * @brief   API for the scratch buffer
+ */
+namespace scratch {
+
+namespace {
+static uint8_t counter = 0;
+}
+
+template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
+inline ReturnValue_t writeNumber(std::string name, T num) noexcept {
+    std::ostringstream oss;
+    oss << "xsc_scratch write " << name << " " << num;
+    int result = std::system(oss.str().c_str());
+    if(result != 0) {
+        utility::handleSystemError(result, "scratch::writeNumber");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+template<typename T, class = typename std::enable_if<std::is_integral<T>::value>::type>
+inline ReturnValue_t readNumber(std::string name, T& num) noexcept {
+    using namespace std;
+    string filename = "/tmp/sro" + std::to_string(counter++);
+    ostringstream oss;
+    oss << "xsc_scratch read " << name << " > " << filename;
+
+    int result = std::system(oss.str().c_str());
+    if(result != 0) {
+        utility::handleSystemError(result, "scratch::writeNumber");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    ifstream file(filename);
+    string line;
+    if (not std::getline(file, line)) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    size_t pos = line.find("=");
+    std::string valueAsString = line.substr(pos + 1);
+    try {
+        num = std::stoi(valueAsString);
+    }
+    catch(std::invalid_argument& e) {
+        sif::warning << "scratch::readNumber: stoi call failed with " << e.what() << std::endl;
+    }
+
+    std::remove(filename.c_str());
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t writeString(std::string name, std::string string);
+
+}
+
+#endif /* BSP_Q7S_MEMORY_SCRATCHAPI_H_ */

common/config/OBSWVersion.h

@@ -4,7 +4,7 @@
 const char* const SW_NAME = "eive";
 
 #define SW_VERSION 1
-#define SW_SUBVERSION 2
+#define SW_SUBVERSION 3
 #define SW_SUBSUBVERSION 0
 
 #endif /* COMMON_CONFIG_OBSWVERSION_H_ */

linux/csp/CspComIF.cpp

@@ -24,6 +24,8 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie)  {
 
 	/* Perform CAN and CSP initialization only once */
 	if(cspDeviceMap.empty()){
+	    sif::info << "Performing " << canInterface << " initialization.." << std::endl;
+
 		/* Define the memory to allocate for the CSP stack */
 		int buf_count = 10;
 		int buf_size = 300;
@@ -57,6 +59,7 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie)  {
 			sif::error << "Failed to start csp route task" << std::endl;
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
+		sif::info << canInterface << " initialized successfully" << std::endl;
 	}
 
 	uint8_t cspAddress = cspCookie->getCspAddress();

linux/utility/CMakeLists.txt

@@ -1,4 +1,5 @@
 target_sources(${TARGET_NAME} PUBLIC
+    utility.cpp
 )
 
 

linux/utility/utility.cpp

@@ -0,0 +1,11 @@
+#include "OBSWConfig.h"
+#include "FSFWConfig.h"
+#include "utility.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+void utility::handleSystemError(int retcode, std::string function) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::warning << function << ": System call failed with code " << retcode;
+#endif
+}

linux/utility/utility.h

@@ -0,0 +1,13 @@
+#ifndef LINUX_UTILITY_UTILITY_H_
+#define LINUX_UTILITY_UTILITY_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include <string>
+
+namespace utility {
+
+void handleSystemError(int retcode, std::string function);
+
+}
+
+#endif /* LINUX_UTILITY_UTILITY_H_ */

thirdparty/libcsp/src/drivers/can/can_socketcan.c

@@ -142,7 +142,7 @@ csp_iface_t * csp_can_socketcan_init(const char * ifc, int bitrate, int promisc)
 	struct sockaddr_can addr;
 	pthread_t rx_thread;
 
-	printf("-I-: Initiating CAN interface %s\n", ifc);
+	//printf("-I-: Initiating CAN interface %s\n", ifc);
 
 #ifdef CSP_HAVE_LIBSOCKETCAN
 	/* Set interface up */