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This commit is contained in:
Robin Müller
2023-06-24 17:29:23 +02:00
parent 88e8268c26
commit 07df6eb95f
4 changed files with 212 additions and 175 deletions
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169
bsp_q7s/core/CoreController.cpp
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@ -322,13 +322,13 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
return HasActionsIF::INVALID_PARAMETERS;
}
std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
parseRebootFile(path, rebootFile);
parseRebootWatchdogFile(path, rebootWatchdogFile);
if (data[0] == 0) {
rebootFile.enabled = false;
rewriteRebootFile(rebootFile);
rebootWatchdogFile.enabled = false;
rewriteRebootWatchdogFile(rebootWatchdogFile);
} else if (data[0] == 1) {
rebootFile.enabled = true;
rewriteRebootFile(rebootFile);
rebootWatchdogFile.enabled = true;
rewriteRebootWatchdogFile(rebootWatchdogFile);
} else {
return HasActionsIF::INVALID_PARAMETERS;
}
@ -336,8 +336,8 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
}
case (READ_REBOOT_MECHANISM_INFO): {
std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
parseRebootFile(path, rebootFile);
RebootMechanismPacket packet(rebootFile);
parseRebootWatchdogFile(path, rebootWatchdogFile);
RebootWatchdogPacket packet(rebootWatchdogFile);
ReturnValue_t result = actionHelper.reportData(commandedBy, actionId, &packet);
if (result != returnvalue::OK) {
return result;
@ -448,9 +448,9 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
}
std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
rebootFile.maxCount = data[0];
rewriteRebootFile(rebootFile);
parseRebootWatchdogFile(path, rebootWatchdogFile);
rebootWatchdogFile.maxCount = data[0];
rewriteRebootWatchdogFile(rebootWatchdogFile);
return HasActionsIF::EXECUTION_FINISHED;
}
case (XSC_REBOOT_OBC): {
@ -1555,7 +1555,7 @@ void CoreController::performMountedSdCardOperations() {
if (not timeFileInitDone) {
initClockFromTimeFile();
}
performRebootFileHandling(false);
performRebootWatchdogHandling(false);
}
backupTimeFileHandler();
};
@ -1627,7 +1627,7 @@ ReturnValue_t CoreController::performSdCardCheck() {
return returnvalue::OK;
}
void CoreController::performRebootFileHandling(bool recreateFile) {
void CoreController::performRebootWatchdogHandling(bool recreateFile) {
using namespace std;
std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
std::error_code e;
@ -1635,109 +1635,110 @@ void CoreController::performRebootFileHandling(bool recreateFile) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
#endif
rebootFile.enabled = false;
rebootFile.img00Cnt = 0;
rebootFile.img01Cnt = 0;
rebootFile.img10Cnt = 0;
rebootFile.img11Cnt = 0;
rebootFile.lastChip = xsc::Chip::CHIP_0;
rebootFile.lastCopy = xsc::Copy::COPY_0;
rebootFile.img00Lock = false;
rebootFile.img01Lock = false;
rebootFile.img10Lock = false;
rebootFile.img11Lock = false;
rebootFile.mechanismNextChip = xsc::Chip::NO_CHIP;
rebootFile.mechanismNextCopy = xsc::Copy::NO_COPY;
rebootFile.bootFlag = false;
rewriteRebootFile(rebootFile);
rebootWatchdogFile.enabled = false;
rebootWatchdogFile.img00Cnt = 0;
rebootWatchdogFile.img01Cnt = 0;
rebootWatchdogFile.img10Cnt = 0;
rebootWatchdogFile.img11Cnt = 0;
rebootWatchdogFile.lastChip = xsc::Chip::CHIP_0;
rebootWatchdogFile.lastCopy = xsc::Copy::COPY_0;
rebootWatchdogFile.img00Lock = false;
rebootWatchdogFile.img01Lock = false;
rebootWatchdogFile.img10Lock = false;
rebootWatchdogFile.img11Lock = false;
rebootWatchdogFile.mechanismNextChip = xsc::Chip::NO_CHIP;
rebootWatchdogFile.mechanismNextCopy = xsc::Copy::NO_COPY;
rebootWatchdogFile.bootFlag = false;
rewriteRebootWatchdogFile(rebootWatchdogFile);
} else {
if (not parseRebootFile(path, rebootFile)) {
performRebootFileHandling(true);
if (not parseRebootWatchdogFile(path, rebootWatchdogFile)) {
performRebootWatchdogHandling(true);
}
}
if (CURRENT_CHIP == xsc::CHIP_0) {
if (CURRENT_COPY == xsc::COPY_0) {
rebootFile.img00Cnt++;
rebootWatchdogFile.img00Cnt++;
} else {
rebootFile.img01Cnt++;
rebootWatchdogFile.img01Cnt++;
}
} else {
if (CURRENT_COPY == xsc::COPY_0) {
rebootFile.img10Cnt++;
rebootWatchdogFile.img10Cnt++;
} else {
rebootFile.img11Cnt++;
rebootWatchdogFile.img11Cnt++;
}
}
if (rebootFile.bootFlag) {
if (rebootWatchdogFile.bootFlag) {
// Trigger event to inform ground that a reboot was triggered
uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
uint32_t p1 = rebootWatchdogFile.lastChip << 16 | rebootWatchdogFile.lastCopy;
triggerEvent(core::REBOOT_MECHANISM_TRIGGERED, p1, 0);
// Clear the boot flag
rebootFile.bootFlag = false;
rebootWatchdogFile.bootFlag = false;
}
announceBootCounts();
if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
rebootFile.mechanismNextCopy != xsc::NO_COPY) {
if (CURRENT_CHIP != rebootFile.mechanismNextChip or
CURRENT_COPY != rebootFile.mechanismNextCopy) {
std::string infoString = std::to_string(rebootFile.mechanismNextChip) + " " +
std::to_string(rebootFile.mechanismNextCopy);
if (rebootWatchdogFile.mechanismNextChip != xsc::NO_CHIP and
rebootWatchdogFile.mechanismNextCopy != xsc::NO_COPY) {
if (CURRENT_CHIP != rebootWatchdogFile.mechanismNextChip or
CURRENT_COPY != rebootWatchdogFile.mechanismNextCopy) {
std::string infoString = std::to_string(rebootWatchdogFile.mechanismNextChip) + " " +
std::to_string(rebootWatchdogFile.mechanismNextCopy);
sif::warning << "CoreController::performRebootFileHandling: Expected to be on image "
<< infoString << " but currently on other image. Locking " << infoString
<< std::endl;
// Firmware or other component might be corrupt and we are on another image then the target
// image specified by the mechanism. We can't really trust the target image anymore.
// Lock it for now
if (rebootFile.mechanismNextChip == xsc::CHIP_0) {
if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
rebootFile.img00Lock = true;
if (rebootWatchdogFile.mechanismNextChip == xsc::CHIP_0) {
if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
rebootWatchdogFile.img00Lock = true;
} else {
rebootFile.img01Lock = true;
rebootWatchdogFile.img01Lock = true;
}
} else {
if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
rebootFile.img10Lock = true;
if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
rebootWatchdogFile.img10Lock = true;
} else {
rebootFile.img11Lock = true;
rebootWatchdogFile.img11Lock = true;
}
}
}
}
rebootFile.lastChip = CURRENT_CHIP;
rebootFile.lastCopy = CURRENT_COPY;
rebootWatchdogFile.lastChip = CURRENT_CHIP;
rebootWatchdogFile.lastCopy = CURRENT_COPY;
// Only reboot if the reboot functionality is enabled.
// The handler will still increment the boot counts
if (rebootFile.enabled and (*rebootFile.relevantBootCnt >= rebootFile.maxCount)) {
if (rebootWatchdogFile.enabled and
(*rebootWatchdogFile.relevantBootCnt >= rebootWatchdogFile.maxCount)) {
// Reboot to other image
bool doReboot = false;
xsc::Chip tgtChip = xsc::NO_CHIP;
xsc::Copy tgtCopy = xsc::NO_COPY;
determineAndExecuteReboot(rebootFile, doReboot, tgtChip, tgtCopy);
determineAndExecuteReboot(rebootWatchdogFile, doReboot, tgtChip, tgtCopy);
if (doReboot) {
rebootFile.bootFlag = true;
rebootWatchdogFile.bootFlag = true;
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "Boot counter for image " << CURRENT_CHIP << " " << CURRENT_COPY
<< " too high. Rebooting to " << tgtChip << " " << tgtCopy << std::endl;
#endif
rebootFile.mechanismNextChip = tgtChip;
rebootFile.mechanismNextCopy = tgtCopy;
rewriteRebootFile(rebootFile);
rebootWatchdogFile.mechanismNextChip = tgtChip;
rebootWatchdogFile.mechanismNextCopy = tgtCopy;
rewriteRebootWatchdogFile(rebootWatchdogFile);
xsc_boot_copy(static_cast<xsc_libnor_chip_t>(tgtChip),
static_cast<xsc_libnor_copy_t>(tgtCopy));
}
} else {
rebootFile.mechanismNextChip = xsc::NO_CHIP;
rebootFile.mechanismNextCopy = xsc::NO_COPY;
rebootWatchdogFile.mechanismNextChip = xsc::NO_CHIP;
rebootWatchdogFile.mechanismNextCopy = xsc::NO_COPY;
}
rewriteRebootFile(rebootFile);
rewriteRebootWatchdogFile(rebootWatchdogFile);
}
void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot,
void CoreController::determineAndExecuteReboot(RebootWatchdogFile &rf, bool &needsReboot,
xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
tgtChip = xsc::CHIP_0;
tgtCopy = xsc::COPY_0;
@ -1826,7 +1827,7 @@ void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot
}
}
bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
bool CoreController::parseRebootWatchdogFile(std::string path, RebootWatchdogFile &rf) {
using namespace std;
std::string selfMatch;
if (CURRENT_CHIP == xsc::CHIP_0) {
@ -2010,31 +2011,31 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
parseRebootFile(path, rebootFile);
parseRebootWatchdogFile(path, rebootWatchdogFile);
if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
rebootFile.img00Cnt = 0;
rebootFile.img01Cnt = 0;
rebootFile.img10Cnt = 0;
rebootFile.img11Cnt = 0;
rebootWatchdogFile.img00Cnt = 0;
rebootWatchdogFile.img01Cnt = 0;
rebootWatchdogFile.img10Cnt = 0;
rebootWatchdogFile.img11Cnt = 0;
} else {
if (tgtChip == xsc::CHIP_0) {
if (tgtCopy == xsc::COPY_0) {
rebootFile.img00Cnt = 0;
rebootWatchdogFile.img00Cnt = 0;
} else {
rebootFile.img01Cnt = 0;
rebootWatchdogFile.img01Cnt = 0;
}
} else {
if (tgtCopy == xsc::COPY_0) {
rebootFile.img10Cnt = 0;
rebootWatchdogFile.img10Cnt = 0;
} else {
rebootFile.img11Cnt = 0;
rebootWatchdogFile.img11Cnt = 0;
}
}
}
rewriteRebootFile(rebootFile);
rewriteRebootWatchdogFile(rebootWatchdogFile);
}
void CoreController::rewriteRebootFile(RebootFile file) {
void CoreController::rewriteRebootWatchdogFile(RebootWatchdogFile file) {
std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
std::ofstream rebootFile(path);
if (rebootFile.is_open()) {
@ -2054,21 +2055,21 @@ void CoreController::rewriteRebootFile(RebootFile file) {
void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
// Disable the reboot file mechanism
parseRebootFile(path, rebootFile);
parseRebootWatchdogFile(path, rebootWatchdogFile);
if (tgtChip == xsc::CHIP_0) {
if (tgtCopy == xsc::COPY_0) {
rebootFile.img00Lock = lock;
rebootWatchdogFile.img00Lock = lock;
} else {
rebootFile.img01Lock = lock;
rebootWatchdogFile.img01Lock = lock;
}
} else {
if (tgtCopy == xsc::COPY_0) {
rebootFile.img10Lock = lock;
rebootWatchdogFile.img10Lock = lock;
} else {
rebootFile.img11Lock = lock;
rebootWatchdogFile.img11Lock = lock;
}
}
rewriteRebootFile(rebootFile);
rewriteRebootWatchdogFile(rebootWatchdogFile);
}
ReturnValue_t CoreController::backupTimeFileHandler() {
@ -2355,10 +2356,12 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
}
void CoreController::announceBootCounts() {
uint64_t totalBootCount =
rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
uint64_t totalBootCount = rebootWatchdogFile.img00Cnt + rebootWatchdogFile.img01Cnt +
rebootWatchdogFile.img10Cnt + rebootWatchdogFile.img11Cnt;
uint32_t individualBootCountsP1 =
(rebootWatchdogFile.img00Cnt << 16) | rebootWatchdogFile.img01Cnt;
uint32_t individualBootCountsP2 =
(rebootWatchdogFile.img10Cnt << 16) | rebootWatchdogFile.img11Cnt;
triggerEvent(core::INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
triggerEvent(core::REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff,
totalBootCount & 0xffffffff);