Integrate EPS subsystem and commands via UART #40

DeflateAwning · 2024-06-11T06:36:05Z

Fixes #12

firmware/Core/Inc/eps_drivers/eps_debug_tools.h

JohnathanBurchill · 2024-06-13T01:22:11Z

firmware/Core/Inc/eps_drivers/eps_internal_drivers.h

+
+// #pragma region Function_Prototypes
+
+uint8_t eps_send_cmd_get_response(const uint8_t cmd_buf[], uint8_t cmd_buf_len,


Namespace EPS

firmware/Core/Src/telecommands/eps_telecommands.c

firmware/Core/Src/telecommands/telecommand_definitions.c

firmware/Core/Src/uart_handler/uart_handler.c

JohnathanBurchill

Suggest to check nested namespaces in functions / variables, like EPS_debug -> EPS_DEBUG (?) or UART_eps -> UART_EPS (?).

Suggest eps_telecommands.c -> telecommands_eps.c to unify file naming.

Compiles and flashes using my mac. I get this error when running eps_watchdog() telecommand:

UTC=2024-06-13T01:37:45.741502: Received telecommand (len=19): 'CTS1+eps_watchdog()'
======= Telecommand ======
Received telecommand 'eps_watchdog'
OBC->EPS (no tags): 0x1a 0x07 0x06 0x00
OBC->EPS (with tags): 0x3c 0x63 0x6d 0x64 0x3e 0x1a 0x07 0x06 0x00 0x3c 0x2f 0x63 0x6d 0x64 0x3e
OBC -> EPS TIMEOUT ERROR: HAL_GetTick() - UART_eps_last_write_time_ms > EPS_RX_TIMEOUT_MS
EPS->OBC (with tags):
OBC -> EPS ERROUTC=2024-06-13T01:37:45.798406: R: UART_eps_buffer_write_idx == 0
======== Response ========
EPS watchdog trigger failed (err 3)
==========================

JohnathanBurchill · 2024-06-13T02:40:12Z

I figure that error is telling me that I don't have an EPS system attached to the dev kit :)

JohnathanBurchill · 2024-06-13T12:38:35Z

Error message is clearer:

UTC=2024-06-13T12:35:51.012792: Received telecommand (len=19): 'CTS1+eps_watchdog()'
UTC=2024-06-13T12:35:51.068617: ======= Telecommand ======
Received telecommand 'eps_watchdog'
OBC->EPS DATA (no tags): 0x1a 0x07 0x06 0x00
OBC->EPS DATA (with tags): 0x3c 0x63 0x6d 0x64 0x3e 0x1a 0x07 0x06 0x00 0x3c 0x2f 0x63 0x6d 0x64 0x3e
UTC=2024-06-13T12:35:51.125143: EPS->OBC ERROR: timeout before first byte received
======== Response ========
EPS watchdog trigger failed (err 3)
==========================

DeflateAwning · 2024-09-07T22:38:04Z

@robotoshi, do you think you could plan to help with testing this one?

robotoshi · 2024-09-08T00:22:55Z

Yeah I'll take a look

DeflateAwning · 2024-09-19T10:00:48Z

@JohnathanBurchill, if you have any capacity to give this a quick glance, would love any feedback/sanity check you're able to provide this week before we merge it. No worries if you're tight on time though!

DeflateAwning · 2024-09-20T03:11:55Z

Going to merge this now as other projects (e.g., #19) are depending on the UART setup in this PR. Super open to any feedback anyone has if they get a chance to review :)

* IOC Update: Enable UART RX Interrupts, switch UART4 (Camera) to DMA * Antenna deployment drivers (#184) * All functions specified in the user manual for the antenna deployment system have been added * Telecommands for calling these functions have been implemented * Integrate EPS subsystem and commands via UART (#40) * Setup EPS UART interrupt handler * Copy semi-working EPS driver from EPS dev repo * Add watchdog EPS telecommand * Add eps_get_system_status_json command * Shorten "running_average" to "run_avg" * Remove `raw` functions * Implement non-result, non-argument EPS telecomands * Create tested `EPS_channel_from_str` function * Clean up argument naming conventions * Simplify eps_switch_to_mode command * Create `EPS_set_channel_enabled` function * Register telecommands for testing * Migrate EPS docs notes from other repo * Change MPI UART handler to use UART_mpi_port_handle * Rename `EPS_result_` to `EPS_struct_` * Create remaining to-json functions (housekeeping) * Create housekeeping tcmds, docstrings, register in command table * Bug Fix: swapped Apply Before Flight codes * Bug Fix: latest received byte time race condition with UART ISR * Increase output buffer size to 2048 bytes * Fix uint16 to int16 data types * Fix max transmission length * Update eps switch to mode docs * Update 5V MPI channel name, channel enabled message * ADCS Firmware (#151) * Migrate ADCSFirmware to VSCode * add more functions Changed .ioc file for easier testing * more functions * minor bugfix * more functions, again * more functions, again again * minor bugfix * add code for debugging hardware * comment changes for todo * minor change * prepare for unit tests * finish first unit test * minor bugfix * create first test telecommand * begin updating functions for unit testing * packer functions for extant TLMs * add more unit tests * more unit testing refactoring * Create number comparisons file * unit testing continued * unit tests * ADCS Firmware (#73) Bugfixes, unit tests, refactoring, and returns * Complete all functions from Commissioning Manual Next steps: unit tests, bugfixes, and CTS1 telecommands * minor type change to remove pointer signedness warnings uint8_t from telecommands was different from char in the helper functions * Add telecommand ASCII to double functions * Create number comparisons file * minor type change to remove pointer signedness warnings uint8_t from telecommands was different from char in the helper functions * Add telecommand ASCII to double functions * Create number comparisons file * minor type change to remove pointer signedness warnings uint8_t from telecommands was different from char in the helper functions * Add telecommand ASCII to double functions * start work on telecommands * More telecommands * adcs_types docstrings They're not much, but they should be sufficient once paired with the title of each function. (I can write more on them later if needed.) * Telecommand docstrings The telemetry docstrings aren't much, but they should be pretty much self-evident. * More telecommands * fix a telecommand * TLM Command bugfixes * comments and docstring updates * more unit tests * More unit tests * Finish the packer unit tests Unit tests are finished, and they all pass! * Update docstrings * Create TCMD_extract_int64_arg function * Fix issues from rebase * type mismatch in extract_uint64_arg * telecommand bugfix * Set up telecommand definitions * Fix warnings, and add another telecommand * fix number * more telecommands * Another telecommand * fix warnings * Yet another telecommand * Last telecommand from commissioning manual * fix warnings and remove resolved todos * minor changes and bugfix * Update command/telemetry IDs for clarity * Replace defines with static consts * Reorganise ADCS folders * Finish reorganisation * Add timeouts to internal drivers * Renames * More renames * Change struct doubles to ints in engineering notation (note: 5 unit tests still fail here -- to be fixed in next commit) * fix failing unit tests * unit test bugfixes * Create struct to JSON functions * Implement JSON data downlinks into telecommands * Provide static length for JSON floats * Begin fixing min string lengths * Estimates for min string lengths * Remove old ADCS UART functions Functions kept in nadeem-old-adcs-uart branch * Rename switch_order functions * Make types static * bugfix * bitmasks and standardisation * Create generic ADCS telecommands * minor change to pass test * improve generic telecommands * Format changes * Replace tabs with spaces for indentation * Lowercase _i2c_ in function names * Replace milli_deg with mdeg in variables * Improve readability * Command bugfixes * Increase telecommand buffer size * more format changes * additional format changes * fix outstanding TODOs * Update adcs header include paths * IOC Update: Add OBC Rev1.3 pin updates (#189) * Update IOC pin list to OBC Rev 1.3 * Regenerate code * Regenerate IOC pin list documentation Main changes: ``` Update Label: PA4.GPIO_Label=PIN_BOOM_PGOOD_IN Add new GPIO input pin: PB14.GPIO_Label=PIN_REMOVE_BEFORE_FLIGHT_LOW_IS_FLYING_IN ``` * Fix timekeeping format bug (#180), update format to `sync+offset_source` for better sorting (#187) * Fixed the timekeeping bug, where the first part of timestamps should be the unix timestamp of the last sync, but was displaying the current unix timestamp, per the documentation. * Updated the format to be `sync+offset` instead of having the source in the middle of the `sync+offset` string. * Updated the docs to the new re-ordered format. * Initialise ADCS CRC8 in main (#191) Update main.c * Antenna deploy temp conversion (#188) * Added function for converting temperature to centi degrees celsius * Appropriate unit tests added * ant_measure_temp telecommand now converts raw temp measurements using the newly added function * Create API which can read, write, and erase the internal flash memory (#174) * Initial internal flash bank api * Initial internal flash bank telecommands * Update internal flash API, add telecommands * Update readiness level to ground useage only * Add comment for flash partition enum * add erase params to telecommand * print out data in hex * accept arbitrary number of bytes * Update comments for telecommands * verify partitions, update comment * Remove comments * update include pathing * update include paths * Update comments for internal flash memory functions * rename functions to match standard * Rename files to stm32_internal_flash * Update Flash memory region address enum names * clean up write function, update docs, remove dead lines, update return * update read function, remove unnecessary address condition, update doc * update docs for function, clean up error handling for erase * slight doc update * remove unnecessary null terminator addition * update comments and return types * give status default value * add comma, update section header * Update internal flash tcmds to take starting address * Update contributers list * update function names * update return on writing to flash * Update docs, return explicit codes for writing to flash * Update erase function returns * add casting to fix warnings * Update function names to follow naming guidelines * rename folders and files * update includes and define guards * update comments, update function names * rename functions to captalize stm * Use struct to track errors in writing to flash * Update comment * Add include * Update Deployment Final Check * EPS: Simplify EPS struct packers with tight byte packing (#196) * Enable heartbeat LED on General Purpose LED 2 for OBC bring-up * Add TASK_heartbeat_period_ms config variable * Tiny docs clarification * Add boot-up LED flash and pre-RTOS init message * Minor documentation changes (#202) * ADCS Attribution and format changes * Functions are lowercase after namespace * Attribution given to code from ADCS Firmware Reference Manual * Ensure comments have space after // * minor bugfix * Remove extra EPS_PBU battery pack JSON array elements (#205) * Remove extra battery pack JSON fields * Fix type error * Implement thread to trigger eps watchdog (#201) * Implement thread to trigger eps watchdog * Find+Replace "trigger_eps_watchdog" to "service_eps_watchdog" * Restructure comments, error log, service period --------- Co-authored-by: DeflateAwning <[email protected]> * EPS: Add startup delay to EPS watchdog thread * Antenna deploy: use both I2C lines (#199) Allow antenna deploy functions to use both i2c channels * ant commands modified to to take i2c bus as parameter * telecommands which use ant commands have been updated to comply * Updated flash driver and littlefs helper to use NAND memory module (MT29F1G Series) (#177) * Replaced all flash driver code for NAND chip Replaced all previous code for FLASH driver for NAND flash module. * Updated memory module configuration Updated littlefs_helper.c configuration to use NAND memory module configuration values * Changes to flash_driver and flash_telecommand_defs Made changes to flash to handle full page reading and writing, added flash telecommand that unblocks block locks. * Minor changes to flash telecommands Minor changes to flash read hex telecommand for testing, added docstring for FLASH_reset function and telecommand. * Cleaned code from testing Removed all debugging printing lines to prepare for merging. Added new timeout variable for handling HAL_SPI transmits of 2176 bytes. * Removed Unblock_block_lock telecommand, Removed the telecommand unblock_block_locks and added automatic execution during write functions, minor changes to other flash telecommands. * Update LFS_benchmark_write_read to write many files * Fixed improper page addressing issue Fixed issue with improper page addressing where littlefs sent page address in bytes rather than the actual page address. * Minor changes based on PR review Removed unnecessary lines of code and added additional helpful comments based on PR comments * Updated littlefs benchmark test function Updated the littlefs benchmark write & read function to test both writing to the same file and to a new file. * Minor changes to fs benchmark file * Update littlefs_benchmark.c Added additional parameter in benchmark docstring. * Updated FLASH_MAX_BYTES_PER_PAGE Updated the naming and usage of variable FLASH_MAX_BYTES_PER_PAGE that keeps track of the maximum bytes per page for the FLASH NAND module. * Update flash_driver.h * Updated LFS_benchmark_write_read Updated name of LFS_benchmark_write_read_enum_t and added else statement for mode within function. --------- Co-authored-by: Saksham Puri <[email protected]> Co-authored-by: parker-research <[email protected]> * Remove unnecessary `(char *)` casts in LFS/flash telecommands (#211) Got rid of all unesseccary casts (char*)args_src in tthe flash and lfs telecomand definitions Co-authored-by: fardin.mahid <[email protected]> * Flash: Added status register telecommand (#212) * Added status register telecommand Added a flash telecommand that reads the status register value of the NAND flash module. * Update flash_telecommand_defs.c Added telecommand docstring for `TCMD_flash_read_status_register()`. * (TESTING) added write enable telecommand Created write enable telecommand for testing purposes to ensure the status register is read properly. * Update flash_telecommand_defs.c Mistake in writing docstring * Update flash_telecommand_defs.c Added const keyword to applicable variables, updated variables and log results for clarity of page numbering. * Update flash_telecommand_defs.c Updated docstrings for clarity of functions and their parameters * IOC: Enable ST Cryptolib, related fixes (#217) * Convert number_comparisons to not use math.h * IOC: Enable ST Cryptolib Steps: 1. Open CubeMX. 2. Go to Software Packs > Select Software Packs. 3. Enable `STMicroelectronics.X-CUBE-SAFEA1` 4. Enable `ST_Cryptolib`. 5. Click Ok. 6. Go to "Middleware and Software Packs". 7. Enable checkbox in `X-CUBE-SAFEA1`. * Add Cryptolib parts to CI Makefile #### Post-IOC Code Generation Steps: * Revert linker script change * Remove `x509.c` and `x509_crypto.c` bad files * Docs: Add IOC file regeneration guidelines * Move the `cts1_ground_support` folder to its own repo (#218) * Move the `cts1_ground_support` folder to its own repo * Update docs * Bring back CI tasks * FreeRTOS Thread to monitor high stack watermarks (#192) * Created osThread to monitor high stack watermarks * WIP * WIP * WIP: Addressing Hard Fault Issue * Created osThread to monitor high stack watermarks * WIP * WIP: Addressing Build Issues * Addressed PR changes * WIP:Addressing PR comments * Rebasing * Fixing rebase * Addressed PR * Rename `TASK_monitor_freertos_highstack_watermarks` to `TASK_monitor_freertos_memory` * Simplify threshold check logic; clarify variable names * Rename variable with namespace now, docs --------- Co-authored-by: DeflateAwning <[email protected]> * EPS: Only show first 17 EPS channels in JSON renders (#208) * Automated Python Unit Testing Framework (#206) * initial python test framework implementation * Added json extension for pytest debug Added function to read terminal lines and parse it to strings. Hello world tcmd unit test added * python unit test for echo arg and delay ms * Added environment variables for serial call * Renaming .env variables * Revert "IOC: Enable ST Cryptolib" (#220) * Revert "IOC: Enable ST Cryptolib, related fixes (#217)" This reverts commit 603f8e0. * Update docs for IOC generation Per discussion in #38, reverting this change. * Create MPI transceiver testing commands for OBC bring-up (#222) * Create mpi_demo_tx_to_mpi * Add repeat send for testing * Add transceiver code to MPI_send_telecommand_get_response --------- Co-authored-by: Aaryan Deshpande <[email protected]> * Antenna deploy: report durations in ms (#213) Antenna deploy: report durations in ms (issue # 213) Changed Report durations from intervals of 50 ms to intervals of 1 ms. Co-authored-by: fardin.mahid <[email protected]> * Implement SHA256 hash function (#223) * sha256 function implemented * benchmarked unit tests included * script for generating unit tests included Co-authored-by: DeflateAwning <[email protected]> * On-OBC temperature sensor driver (#178) OBC temp sensor driver which reports the temperature with configurable precision via telecommand. All unit tests included. Output screen shots included in pr. * Implement function and telecommand for syncing eps time to obc time (#207) * Implement functions and telecommands for syncing obc time to eps time and eps time to obc time * Add thread for setting obc time on bootup * Thread also monitors the difference between eps and obc time --------- Co-authored-by: DeflateAwning <[email protected]> * Added a section in docs for issues revolving Driver installation and … (#235) * Added a section in docs for issues revolving Driver installation and VS code setup. Added instrucations to follow along as well as my name in README * Update setup guide to clarify scope/applicability --------- Co-authored-by: DeflateAwning <[email protected]> * Implement `TCMDEXEC_comms_dipole_switch_set_state` (#229) * Fix link to cts1_ground_support to go to new repo (#237) * Added functionality to make warnings appear when LOG_message doesn't have same format as printf (#238) * Added functionality to make warnings appear when LOG_message doesn't have same format as printf Also fixed the warning that came up when functionality was added. * Explain `__attribute__` following `LOG_message` * Update `LOG_message` byte width --------- Co-authored-by: DeflateAwning <[email protected]> --------- Co-authored-by: DeflateAwning <[email protected]> Co-authored-by: Makiv1 <[email protected]> Co-authored-by: DeemDeem52 <[email protected]> Co-authored-by: Parker L <[email protected]> Co-authored-by: Muhammad Ali <[email protected]> Co-authored-by: Kale Fordham <[email protected]> Co-authored-by: Saksham Puri <[email protected]> Co-authored-by: Fardin Mahid <[email protected]> Co-authored-by: fardin.mahid <[email protected]> Co-authored-by: Christopher Kinyua <[email protected]> Co-authored-by: kev9268 <[email protected]> Co-authored-by: Aaryan Deshpande <[email protected]> Co-authored-by: Parker Graham <[email protected]> Co-authored-by: 2BlackCats <[email protected]>

JohnathanBurchill marked this pull request as ready for review June 13, 2024 01:13