seems to work now
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
This commit is contained in:
parent
c682d75aff
commit
043a458f42
@ -268,18 +268,17 @@ void StarTrackerHandler::doStartUp() {
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default:
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return;
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}
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startupState = StartupState::IDLE;
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startupState = StartupState::DONE;
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internalState = InternalState::IDLE;
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boot = true;
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setMode(_MODE_TO_ON);
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}
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void StarTrackerHandler::doShutDown() {
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// If the star tracker is shutdown also stop all running processes in the image loader task
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strHelper->stopProcess();
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boot = false;
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internalState = InternalState::IDLE;
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startupState = StartupState::IDLE;
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bootState = FwBootState::NONE;
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setMode(_MODE_POWER_DOWN);
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}
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@ -303,81 +302,103 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
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ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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switch (internalState) {
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case InternalState::BOOT:
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*id = startracker::BOOT;
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bootCountdown.setTimeout(BOOT_TIMEOUT);
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internalState = InternalState::BOOT_DELAY;
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return buildCommandFromCommand(*id, nullptr, 0);
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case InternalState::REQ_VERSION:
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internalState = InternalState::VERIFY_BOOT;
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// Again read program to check if firmware boot was successful
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*id = startracker::REQ_VERSION;
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return buildCommandFromCommand(*id, nullptr, 0);
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case InternalState::LOGLEVEL:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::LOGLEVEL;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::LIMITS:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::LIMITS;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::TRACKING:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::TRACKING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::MOUNTING:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::MOUNTING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::IMAGE_PROCESSOR:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::IMAGE_PROCESSOR;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::CAMERA:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::CAMERA;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::CENTROIDING:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::CENTROIDING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::LISA:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::LISA;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::MATCHING:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::MATCHING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::VALIDATION:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::VALIDATION;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::ALGO:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::ALGO;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::LOG_SUBSCRIPTION:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::LOGSUBSCRIPTION;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::DEBUG_CAMERA:
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internalState = InternalState::WAIT_FOR_EXECUTION;
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*id = startracker::DEBUG_CAMERA;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case InternalState::BOOT_FIRMWARE: {
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if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
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return NOTHING_TO_SEND;
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}
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if (bootState == FwBootState::NONE) {
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*id = startracker::BOOT;
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bootCountdown.setTimeout(BOOT_TIMEOUT);
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bootState = FwBootState::BOOT_DELAY;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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if (bootState == FwBootState::BOOT_DELAY) {
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if (bootCountdown.isBusy()) {
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return NOTHING_TO_SEND;
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}
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bootState = FwBootState::REQ_VERSION;
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}
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switch (bootState) {
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case (FwBootState::REQ_VERSION): {
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bootState = FwBootState::VERIFY_BOOT;
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// Again read program to check if firmware boot was successful
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*id = startracker::REQ_VERSION;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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case (FwBootState::LOGLEVEL): {
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LOGLEVEL;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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}
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case (FwBootState::LIMITS): {
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LIMITS;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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}
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case (FwBootState::TRACKING): {
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::TRACKING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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}
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case FwBootState::MOUNTING:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::MOUNTING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::IMAGE_PROCESSOR:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::IMAGE_PROCESSOR;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::CAMERA:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::CAMERA;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::CENTROIDING:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::CENTROIDING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::LISA:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LISA;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::MATCHING:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::MATCHING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::VALIDATION:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::VALIDATION;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::ALGO:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::ALGO;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::LOG_SUBSCRIPTION:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LOGSUBSCRIPTION;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::DEBUG_CAMERA:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::DEBUG_CAMERA;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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default: {
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sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
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return NOTHING_TO_SEND;
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}
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}
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}
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case InternalState::BOOT_BOOTLOADER:
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internalState = InternalState::BOOTLOADER_CHECK;
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*id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
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@ -711,7 +732,7 @@ void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
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// We hide that the transition to submode firmware actually goes through the submode bootloader.
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// This is because the startracker always starts in bootloader mode but we want to allow direct
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// transitions to firmware mode.
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if (boot) {
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if (startupState == StartupState::DONE) {
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subModeFrom = SUBMODE_BOOTLOADER;
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}
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if (dhbSubmode == SUBMODE_NONE) {
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@ -746,13 +767,10 @@ void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFr
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void StarTrackerHandler::bootFirmware(Mode_t toMode) {
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switch (internalState) {
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case InternalState::IDLE:
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internalState = InternalState::BOOT;
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sif::info << "STR: Booting to firmware mode" << std::endl;
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internalState = InternalState::BOOT_FIRMWARE;
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break;
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case InternalState::BOOT_DELAY:
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if (bootCountdown.hasTimedOut()) {
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sif::info << "STR: Starting firmware boot" << std::endl;
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internalState = InternalState::REQ_VERSION;
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}
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case InternalState::BOOT_FIRMWARE:
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break;
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case InternalState::FAILED_FIRMWARE_BOOT:
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internalState = InternalState::IDLE;
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@ -763,7 +781,9 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
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} else {
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setMode(toMode, SUBMODE_FIRMWARE);
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}
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sif::info << "STR: Firmware boot success" << std::endl;
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internalState = InternalState::IDLE;
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startupState = StartupState::IDLE;
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break;
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default:
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return;
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@ -791,10 +811,11 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
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void StarTrackerHandler::bootBootloader() {
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if (internalState == InternalState::IDLE) {
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internalState = InternalState::BOOT_BOOTLOADER;
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} else if (internalState == InternalState::BOOTING_BOOTLOADER_FAILED) {
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} else if (internalState == InternalState::FAILED_BOOTLOADER_BOOT) {
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internalState = InternalState::IDLE;
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} else if (internalState == InternalState::DONE) {
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internalState = InternalState::IDLE;
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startupState = StartupState::IDLE;
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setMode(MODE_ON);
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}
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}
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@ -1949,7 +1970,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
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if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
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startupState = StartupState::DONE;
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}
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if (internalState == InternalState::VERIFY_BOOT) {
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if (bootState == FwBootState::VERIFY_BOOT) {
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sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
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// Device handler will run into timeout and fall back to transition source mode
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triggerEvent(BOOTING_FIRMWARE_FAILED_EVENT);
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@ -1962,11 +1983,11 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
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if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
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startupState = StartupState::BOOT_BOOTLOADER;
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}
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if (internalState == InternalState::VERIFY_BOOT) {
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internalState = InternalState::LOGLEVEL;
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if (bootState == FwBootState::VERIFY_BOOT) {
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bootState = FwBootState::LOGLEVEL;
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} else if (internalState == InternalState::BOOTLOADER_CHECK) {
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triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
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internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
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internalState = InternalState::FAILED_BOOTLOADER_BOOT;
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}
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break;
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default:
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@ -2040,55 +2061,55 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
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void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
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switch (*parameterId) {
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case (startracker::ID::LOG_LEVEL): {
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internalState = InternalState::LIMITS;
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bootState = FwBootState::LIMITS;
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break;
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}
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case (startracker::ID::LIMITS): {
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internalState = InternalState::TRACKING;
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bootState = FwBootState::TRACKING;
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break;
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}
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case (startracker::ID::TRACKING): {
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internalState = InternalState::MOUNTING;
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bootState = FwBootState::MOUNTING;
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break;
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}
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case (startracker::ID::MOUNTING): {
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internalState = InternalState::IMAGE_PROCESSOR;
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bootState = FwBootState::IMAGE_PROCESSOR;
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break;
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}
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case (startracker::ID::IMAGE_PROCESSOR): {
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internalState = InternalState::CAMERA;
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bootState = FwBootState::CAMERA;
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break;
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}
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case (startracker::ID::CAMERA): {
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internalState = InternalState::CENTROIDING;
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bootState = FwBootState::CENTROIDING;
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break;
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}
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case (startracker::ID::CENTROIDING): {
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internalState = InternalState::LISA;
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bootState = FwBootState::LISA;
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break;
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}
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case (startracker::ID::LISA): {
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internalState = InternalState::MATCHING;
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bootState = FwBootState::MATCHING;
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break;
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}
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case (startracker::ID::MATCHING): {
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internalState = InternalState::VALIDATION;
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bootState = FwBootState::VALIDATION;
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break;
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}
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case (startracker::ID::VALIDATION): {
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internalState = InternalState::ALGO;
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bootState = FwBootState::ALGO;
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break;
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}
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case (startracker::ID::ALGO): {
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internalState = InternalState::LOG_SUBSCRIPTION;
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bootState = FwBootState::LOG_SUBSCRIPTION;
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break;
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}
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case (startracker::ID::LOG_SUBSCRIPTION): {
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internalState = InternalState::DEBUG_CAMERA;
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bootState = FwBootState::DEBUG_CAMERA;
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break;
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}
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case (startracker::ID::DEBUG_CAMERA): {
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sif::info << "Star Tracker configuration done" << std::endl;
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bootState = FwBootState::NONE;
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internalState = InternalState::DONE;
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break;
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}
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@ -211,7 +211,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
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// Pointer to object responsible for uploading and downloading images to/from the star tracker
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StrHelper* strHelper = nullptr;
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bool boot = false;
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uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
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@ -247,14 +246,31 @@ class StarTrackerHandler : public DeviceHandlerBase {
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NormalState normalState = NormalState::TEMPERATURE_REQUEST;
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enum class StartupState {
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IDLE,
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CHECK_PROGRAM,
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WAIT_CHECK_PROGRAM,
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BOOT_BOOTLOADER,
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WAIT_JCFG,
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DONE
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};
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StartupState startupState = StartupState::IDLE;
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enum class InternalState {
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IDLE,
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BOOT,
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BOOT_FIRMWARE,
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DONE,
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FAILED_FIRMWARE_BOOT,
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BOOT_BOOTLOADER,
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BOOTLOADER_CHECK,
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FAILED_BOOTLOADER_BOOT
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};
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enum class FwBootState {
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NONE,
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BOOT_DELAY,
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REQ_VERSION,
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VERIFY_BOOT,
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STARTUP_CHECK,
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BOOT_DELAY,
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FIRMWARE_CHECK,
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LOGLEVEL,
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LIMITS,
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TRACKING,
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@ -270,30 +286,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
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LOG_SUBSCRIPTION,
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DEBUG_CAMERA,
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WAIT_FOR_EXECUTION,
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DONE,
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FAILED_FIRMWARE_BOOT,
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BOOT_BOOTLOADER,
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BOOTLOADER_CHECK,
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BOOTING_BOOTLOADER_FAILED
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};
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enum class CfgSetupState {
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};
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FwBootState bootState = FwBootState::NONE;
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InternalState internalState = InternalState::IDLE;
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enum class StartupState {
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IDLE,
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CHECK_PROGRAM,
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WAIT_CHECK_PROGRAM,
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BOOT_BOOTLOADER,
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WAIT_JCFG,
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DONE
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};
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StartupState startupState = StartupState::IDLE;
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bool strHelperExecuting = false;
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const power::Switch_t powerSwitch = power::NO_SWITCH;
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