Merge pull request 'meier/startracker' (#30) from meier/startracker into develop

Reviewed-on: #30

config/hook_implementations.py

@@ -310,13 +310,26 @@ def get_eive_service_op_code_dict(service_op_code_dict: ServiceOpCodeDictT):
         "24": ("Star Tracker: Validation", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "25": ("Star Tracker: Algo", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "26": ("Star Tracker: Take image", {OpCodeDictKeys.TIMEOUT: 2.0}),
-        "27": ("Star Tracker: Stop image loader", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "27": ("Star Tracker: Stop str helper", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "28": ("Star Tracker: Reset error signal", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "29": ("Star Tracker: Set name of download image", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "30": ("Star Tracker: Request histogram", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "31": ("Star Tracker: Request contrast", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "32": ("Star Tracker: Set json filename", {OpCodeDictKeys.TIMEOUT: 2.0}),
         "33": ("Star Tracker: Write", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "34": ("Star Tracker: Read", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "35": ("Star Tracker: Set Read filename", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "36": ("Star Tracker: Get checksum", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "37": ("Star Tracker: Set time", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "38": ("Star Tracker: Download centroid", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "39": ("Star Tracker: Upload centroid (not implemented by arcsec?)", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "40": ("Star Tracker: Download matched star", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "41": ("Star Tracker: Download DB Image", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "42": ("Star Tracker: Download Blob Pixel", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "43": ("Star Tracker: Download FPGA Image", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "44": ("Star Tracker: Change download FPGA image name", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "45": ("Star Tracker: Upload FPGA image", {OpCodeDictKeys.TIMEOUT: 2.0}),
+        "46": ("Star Tracker: FPGA action", {OpCodeDictKeys.TIMEOUT: 2.0}),
     }
     service_star_tracker_tuple = ("Star tracker", op_code_dict_srv_star_tracker)
 

config/object_ids.py

@@ -78,7 +78,10 @@ def get_object_ids() -> Dict[bytes, list]:
          GPS_HANDLER_1_ID: "GPS 1",
          RAD_SENSOR_ID: "Radiation Sensor",
          PLOC_SUPV_ID: "PLOC Supervisor",
+         PLOC_MPSOC_ID: "PLOC MPSoC",
          CORE_CONTROLLER_ID: "Core Controller",
-         CORE_CONTROLLER_ID: "CCSDS Handler",
+         CCSDS_HANDLER_ID: "CCSDS Handler",
+         PDEC_HANDLER_ID: "PDEC Handler",
+         STAR_TRACKER_ID: "Star Tracker Handler",
     })
     return object_id_dict

pus_tc/star_tracker.py

@@ -20,10 +20,13 @@ class StarTrackerActionIds:
     REQ_VERSION = 2
     REQ_INTERFACE = 3
     REQ_TIME = 4
-    REQ_POWER = 11
     SWITCH_TO_BOOTLOADER_PROGRAM = 7
+    REQ_POWER = 11
+    TAKE_IMAGE = 15
     DOWNLOAD_IMAGE = 9
     UPLOAD_IMAGE = 10
+    DOWNLOAD_CENTROID = 16
+    UPLOAD_CENTROID = 17
     SUBSCRIBE_TO_TM = 18
     REQ_SOLUTION = 24
     REQ_TEMPERATURE = 25
@@ -40,13 +43,21 @@ class StarTrackerActionIds:
     VALIDATION = 48
     ALGO = 49
     CHECKSUM = 50
-    RAED = 51
+    READ = 51
     WRITE = 52
-    TAKE_IMAGE = 15
+    DOWNLOAD_MATCHED_STAR = 53
-    STOP_IMAGE_LOADER = 55
+    STOP_STR_HELPER = 55
     RESET_ERROR = 56
     CHANGE_DOWNLOAD_IMAGE = 57
     SET_JSON_FILE_NAME = 58
+    SET_READ_FILENAME = 59
+    SET_TIME = 60
+    DOWNLOAD_DBIMAGE = 61
+    DOWNLOAD_BLOBPIXEL = 62
+    DOWNLOAD_FPGA_IMAGE = 63
+    CHANGE_FPGA_DOWNLOAD_FILE = 64
+    UPLOAD_FPGA_IMAGE = 65
+    FPGA_ACTION = 66
 
 
 class ImagePathDefs:
@@ -55,6 +66,26 @@ class ImagePathDefs:
     downloadPath = "/mnt/sd0/startracker"
     jsonFile = "/mnt/sd0/startracker/test.json"
     flashFile = "/mnt/sd0/startracker/flash.bin"
+    flashReadPath = "/mnt/sd0/startracker"
+    uploadCentroidJson = "/mnt/sd0/startracker/upload-centroid.json"
+    downloadFpgaImagePath = "/mnt/sd0/startracker"
+    downloadFpgaImageName = "testname"
+    uploadFpgaImageName = "/mnt/sd0/startracker/fpga-image.bin"
+
+
+class Region:
+    # Definition according to datasheet (which turned out to be partially faulty)
+    BOOTLOADER = 0
+    STAR_TRACKER_FIRMWARE = 1
+    FREE_1 = 2
+    FREE_2 = 3
+
+
+class PartitionSize:
+    BOOTLOADER = 128000
+    STAR_TRACKER_FIRMWARE = 896000
+    FREE_1 = 128000
+    FREE_2 = 896000
 
 
 def pack_star_tracker_commands(object_id: bytearray, tc_queue: TcQueueT, op_code: str) -> TcQueueT:
@@ -213,8 +244,8 @@ def pack_star_tracker_commands(object_id: bytearray, tc_queue: TcQueueT, op_code
         command = PusTelecommand(service=8, subservice=128, ssc=52, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "27":
-        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Stop image loader"))
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Stop str helper"))
-        command = object_id + struct.pack('!I', StarTrackerActionIds.STOP_IMAGE_LOADER)
+        command = object_id + struct.pack('!I', StarTrackerActionIds.STOP_STR_HELPER)
         command = PusTelecommand(service=8, subservice=128, ssc=54, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
     if op_code == "28":
@@ -250,11 +281,112 @@ def pack_star_tracker_commands(object_id: bytearray, tc_queue: TcQueueT, op_code
         command = pack_write_command(object_id)
         command = PusTelecommand(service=8, subservice=128, ssc=58, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "34":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Read"))
+        command = pack_read_command(object_id)
+        command = PusTelecommand(service=8, subservice=128, ssc=59, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "35":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set read filename"))
+        filename = input("Specify filename: ")
+        command = object_id + StarTrackerActionIds.SET_READ_FILENAME + bytearray(filename, 'utf-8')
+        command = PusTelecommand(service=8, subservice=128, ssc=60, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "36":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Get checksum"))
+        command = pack_checksum_command(object_id)
+        command = PusTelecommand(service=8, subservice=128, ssc=61, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "37":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Set time"))
+        unix_time = 1640783543
+        command = object_id + struct.pack('!I', StarTrackerActionIds.SET_TIME) + struct.pack('!Q', unix_time)
+        command = PusTelecommand(service=8, subservice=128, ssc=61, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "38":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download Centroid"))
+        id = 0
+        command = object_id + struct.pack('!I', StarTrackerActionIds.DOWNLOAD_CENTROID) + struct.pack('!B', id)
+        command = PusTelecommand(service=8, subservice=128, ssc=62, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "39":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload Centroid"))
+        command = object_id + struct.pack('!I', StarTrackerActionIds.UPLOAD_CENTROID) + \
+                  bytearray(ImagePathDefs.uploadCentroidJson, 'utf-8')
+        command = PusTelecommand(service=8, subservice=128, ssc=63, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "40":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download matched star"))
+        id = 0
+        command = object_id + struct.pack('!I', StarTrackerActionIds.DOWNLOAD_MATCHED_STAR) + \
+            struct.pack('!B', id)
+        command = PusTelecommand(service=8, subservice=128, ssc=64, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "41":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download DB Image"))
+        id = 0
+        command = object_id + struct.pack('!I', StarTrackerActionIds.DOWNLOAD_DBIMAGE) + \
+            struct.pack('!B', id)
+        command = PusTelecommand(service=8, subservice=128, ssc=65, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "42":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download Blob Pixel"))
+        id = 0
+        type = 1 # 0 - normal, 1 - fast
+        command = object_id + struct.pack('!I', StarTrackerActionIds.DOWNLOAD_BLOBPIXEL) + \
+            struct.pack('!B', id) + struct.pack('!B', type)
+        command = PusTelecommand(service=8, subservice=128, ssc=65, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "43":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Download FPGA Image"))
+        position = 0
+        length = 4100
+        command = object_id + struct.pack('!I', StarTrackerActionIds.DOWNLOAD_FPGA_IMAGE) + \
+                  struct.pack('!I', position) + struct.pack('!I', length) + bytearray(
+            ImagePathDefs.downloadFpgaImagePath, 'utf-8')
+        command = PusTelecommand(service=8, subservice=128, ssc=66, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "44":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Chnage donwload FPGA image file name"))
+        command = object_id + struct.pack('!I', StarTrackerActionIds.CHANGE_FPGA_DOWNLOAD_FILE) + \
+                  bytearray(ImagePathDefs.downloadFpgaImageName, 'utf-8')
+        command = PusTelecommand(service=8, subservice=128, ssc=67, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "45":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: Upload FPGA image"))
+        command = object_id + struct.pack('!I', StarTrackerActionIds.UPLOAD_FPGA_IMAGE) + \
+                  bytearray(ImagePathDefs.uploadFpgaImageName, 'utf-8')
+        command = PusTelecommand(service=8, subservice=128, ssc=68, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+    if op_code == "46":
+        tc_queue.appendleft((QueueCommands.PRINT, "Star tracker: FPGA action"))
+        id = 3
+        command = object_id + struct.pack('!I', StarTrackerActionIds.FPGA_ACTION) + struct.pack('!B', id)
+        command = PusTelecommand(service=8, subservice=128, ssc=69, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
 
 
 def pack_write_command(object_id: bytearray) -> bytearray:
-    region = 1
+    region = Region.FREE_1
     address = 0
     command = object_id + struct.pack('!I', StarTrackerActionIds.WRITE) + struct.pack('!B', region) + \
               struct.pack('!I', address) + bytearray(ImagePathDefs.flashFile, 'utf-8')
     return command
+
+
+def pack_read_command(object_id: bytearray) -> bytearray:
+    region = Region.STAR_TRACKER_FIRMWARE
+    address = 0
+    size = PartitionSize.STAR_TRACKER_FIRMWARE
+    command = object_id + struct.pack('!I', StarTrackerActionIds.READ) + struct.pack('!B', region) + \
+              struct.pack('!I', address) + struct.pack('!I', size) + bytearray(ImagePathDefs.flashReadPath, 'utf-8')
+    return command
+
+
+def pack_checksum_command(object_id: bytearray) -> bytearray:
+    region = Region.STAR_TRACKER_FIRMWARE
+    address = 0
+    size = PartitionSize.STAR_TRACKER_FIRMWARE
+    command = object_id + struct.pack('!I', StarTrackerActionIds.CHECKSUM) + struct.pack('!B', region) + \
+              struct.pack('!I', address) + struct.pack('!I', size)
+    return command

pus_tm/service_8_hook.py

@@ -4,6 +4,10 @@ from config.object_ids import *
 from pus_tc.imtq import ImtqActionIds
 from pus_tc.ploc_mpsoc import PlocReplyIds
 from pus_tc.ploc_supervisor import SupvActionIds
+from pus_tc.star_tracker import StarTrackerActionIds
+from tmtccmd.utility.logger import get_console_logger
+
+LOGGER = get_console_logger()
 
 
 def user_analyze_service_8_data(
@@ -35,6 +39,8 @@ def user_analyze_service_8_data(
         return handle_ploc_replies(action_id, custom_data)
     elif object_id == PLOC_SUPV_ID:
         return handle_supervisor_replies(action_id, custom_data)
+    elif object_id == STAR_TRACKER_ID:
+        return handle_startracker_replies(action_id, custom_data)
     else:
         header_list = []
         content_list = []
@@ -68,3 +74,17 @@ def handle_supervisor_replies(action_id: int, custom_data: bytearray) -> Tuple[l
         header_list = ['MRAM Dump']
         content_list = [custom_data[:len(custom_data)]]
     return header_list, content_list
+
+
+def handle_startracker_replies(action_id: int, custom_data: bytearray) -> Tuple[list, list]:
+    header_list = []
+    content_list = []
+    if action_id == StarTrackerActionIds.CHECKSUM:
+        if len(custom_data) != 5:
+            LOGGER.warning("Star tracker reply has invalid length {0}".format(len(custom_data)))
+            return header_list, content_list
+        header_list = ['Checksum', 'Checksum valid']
+        print(custom_data[4])
+        checksum_valid_flag = custom_data[4] >> 8
+        content_list = ['0x' + custom_data[:4].hex(), checksum_valid_flag]
+    return header_list, content_list

tmtccmd

@@ -1 +1 @@
-Subproject commit 71213f68e2947afda9551539a97c540e14d1e7b6
+Subproject commit 5fdeec29ee878a3daa4bee5e3f36a39be3b70b31