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Finish Migrating SOTI Firmware to Latest Version of TUK #42
Description
📋 Task Description
Summary
Finish the branch I started called refactor/update-soti-board in SOTI.
Details
A while ago we made a bunch of changes to the TSAT Utilities Kit. We made a lot of API changes and—critically—we made it run exclusively with RTOS.
These changes meant our old code in the SOTI firmware was now incompatible. To fix this, I started a branch where I was updating the SOTI board firmware to be compatible with the new API and have it run with RTOS.
Unfortunately, I never finished as I got busy with other things. For this task, please complete the migration to the latest commit of TUK.
The new code will definitely not be 1:1 with the old code, as the code structure will be a bit different in the new API.
A much better reference will be the NUCLEO project, as I had previously migrated that code successfully, and the SOTI project will be extremely similar to it.
✅ Completion Criteria
- The submodule for TUK is at the latest commit.
- The SOTI firmware implements all functionality correctly.
- All message traffic gets transmitted to the front-end via UART using an RTOS queue.
- The LED flashes when data is being sent to the front-end.
- Messages received from the front-end via UART are passed to the CAN bus.
- The code compiles with no errors or warnings.
📂 Affected Components
- Only soti-board-project/ will be affected.
🚧 Notes / Reference
- Refer to the changes made in
soti-nucleo-projectin commit 4674aae, especially the changes toapp.c. Your code will look similar to this, with some extra things on top.
Activity
Koloss0 commentedon Oct 8, 2025
Just wanted to elaborate on the task a bit here.
What is the SOTI firmware supposed to do?
The SOTI board is the bridge between the satellite and the computer. It connects to the computer via UART (USB-C) and connects to the satellite via CAN.
There are two main tasks SOTI performs:
So this is what you're implementing in the firmware:
What's left to do
So far, most of this is implemented. The only work left to complete is implementing
Handle_Message,Handle_RXandHandle_TX:Handle_Messagegets called when a received CAN message is ready to be processed. This function should accept CAN messages and put them into thes_output_queue.Handle_RXgets called when a CAN message gets detected on the bus. It expects you to set the parameteruint8_t *rx_behaviourto define the processing behaviour of the message. To do this, you bitwise OR the constantsRX_ACK,RX_HANDLE, andRX_CLEAR_TX_CACHE. In this case, you do not want SOTI to acknowledge messages it receives, so do not applyRX_ACK. You DO want SOTI to handle messages it receives (so it gets passed toHandle_Message), so applyRX_HANDLE. You DO want SOTI to detect timeout errors (will be implemented later), so applyTX_CLEAR_TX_CACHE.Handle_TXgets called when a CAN message is transmitted usingCANWrapper_Transmit_Raw. Remember, any messages going to and from CAN needs to be recorded to the front-end. So in this function, pass the messages tos_output_queue(to be later displayed).After you complete the above items, this task should be complete. Make sure to fix any errors or warnings you encounter and we'll test the code on the SOTI board when its done.