improve MPSoC boot and shutdown process

linux/payload/PlocMpsocHandler.cpp

@@ -188,72 +188,27 @@ void PlocMpsocHandler::doStartUp() {
     startupState = StartupState::HW_INIT;
   }
   if (startupState == StartupState::HW_INIT) {
-#ifdef XIPHOS_Q7S
+    if (handleHwStartup()) {
-#if not OBSW_MPSOC_JTAG_BOOT == 1
-    switch (powerState) {
-      case PowerState::OFF:
-        commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
-        powerState = PowerState::BOOTING;
-        return;
-      case PowerState::ON:
-        uartIsolatorSwitch.pullHigh();
-        startupState = StartupState::WAIT_CYCLES;
-        break;
-      default:
-        return;
-    }
-#else
-    uartIsolatorSwitch.pullHigh();
-    startupState = StartupState::WAIT_CYCLES;
-#endif /* not MSPOC_JTAG_BOOT == 1 */
-#else
-    startupState = StartupState::WAIT_CYCLES;
-    powerState = PowerState::ON;
-#endif /* XIPHOS_Q7S */
-  }
-  // Need to wait, MPSoC still not booted properly, requesting HK without these wait cycles does
-  // not work, no replies..
-  if (startupState == StartupState::WAIT_CYCLES) {
-    waitCycles++;
-    if (waitCycles >= 8) {
       startupState = StartupState::DONE;
-      waitCycles = 0;
     }
   }
   if (startupState == StartupState::DONE) {
     setMode(_MODE_TO_ON);
     hkReport.setReportingEnabled(true);
+    powerState = PowerState::IDLE;
     startupState = StartupState::IDLE;
   }
 }
 
 void PlocMpsocHandler::doShutDown() {
-#ifdef XIPHOS_Q7S
+  if (handleHwShutdown()) {
-#if not OBSW_MPSOC_JTAG_BOOT == 1
+    hkReport.setReportingEnabled(false);
-  if (powerState == PowerState::ON) {
+    setMode(_MODE_POWER_DOWN);
-    uartIsolatorSwitch.pullLow();
+    commandIsPending = false;
-    commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
+    sequenceCount = 0;
-    powerState = PowerState::SHUTDOWN;
+    powerState = PowerState::IDLE;
-    return;
+    startupState = StartupState::IDLE;
-  } else if (powerState == PowerState::SHUTDOWN) {
-    // Wait till power state is OFF.
-    return;
   }
-#else
-  uartIsolatorSwitch.pullLow();
-  powerState = PowerState::OFF;
-#endif
-#endif
-
-  if (specialComHelper != nullptr) {
-    specialComHelper->stopProcess();
-  }
-  hkReport.setReportingEnabled(false);
-  setMode(_MODE_POWER_DOWN);
-  commandIsPending = false;
-  sequenceCount = 0;
-  specialComHelperExecuting = false;
-  startupState = StartupState::IDLE;
 }
 
 ReturnValue_t PlocMpsocHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -1247,15 +1202,11 @@ void PlocMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
   switch (actionId) {
     case supv::START_MPSOC: {
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
-      // This usually happens when the supervisor handler is in off mode
-      powerState = PowerState::OFF;
-      setMode(MODE_OFF);
       break;
     }
     case supv::SHUTDOWN_MPSOC: {
       triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
-      powerState = PowerState::OFF;
       break;
     }
     default:
@@ -1263,6 +1214,7 @@ void PlocMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
                  << std::endl;
       break;
   }
+  powerState = PowerState::SUPV_FAILED;
 }
 
 void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
@@ -1272,16 +1224,14 @@ void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, ui
 void PlocMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
   if (actionId != supv::EXE_REPORT) {
     sif::warning << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
-               << "ID " << actionId << std::endl;
+                 << "ID " << actionId << std::endl;
     return;
   }
   switch (powerState) {
-    case PowerState::BOOTING: {
+    case PowerState::PENDING_STARTUP:
-      powerState = PowerState::ON;
+    case PowerState::PENDING_SHUTDOWN: {
-      break;
+      // sif::debug << "power switching done" << std::endl;
-    }
+      powerState = PowerState::DONE;
-    case PowerState::SHUTDOWN: {
-      powerState = PowerState::OFF;
       break;
     }
     default: {
@@ -1409,6 +1359,88 @@ void PlocMpsocHandler::disableExeReportReply() {
   info->command->second.expectedReplies = 0;
 }
 
+void PlocMpsocHandler::stopSpecialComHelper() {
+  if (specialComHelper != nullptr) {
+    specialComHelper->stopProcess();
+  }
+  specialComHelperExecuting = false;
+}
+
+bool PlocMpsocHandler::handleHwStartup() {
+#if OBSW_MPSOC_JTAG_BOOT == 1
+  uartIsolatorSwitch.pullHigh();
+  startupState = StartupState::WAIT_CYCLES;
+  return true;
+#endif
+  if (powerState == PowerState::IDLE) {
+    if (supv::SUPV_ON) {
+      commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
+      supvTransitionCd.resetTimer();
+      powerState = PowerState::PENDING_STARTUP;
+    } else {
+      triggerEvent(SUPV_NOT_ON, 1);
+      // Set back to OFF for now, failing the transition.
+      setMode(MODE_OFF);
+    }
+  }
+  if (powerState == PowerState::SUPV_FAILED) {
+    setMode(MODE_OFF);
+    powerState = PowerState::IDLE;
+    return false;
+  }
+  if (powerState == PowerState::PENDING_STARTUP) {
+    if (supvTransitionCd.hasTimedOut()) {
+      // Process with transition nonetheless..
+      triggerEvent(SUPV_REPLY_TIMEOUT);
+      powerState = PowerState::DONE;
+    } else {
+      return false;
+    }
+  }
+  if (powerState == PowerState::DONE) {
+    if (not !supvTransitionCd.hasTimedOut()) {
+      // Wait a bit for the MPSoC to fully boot. We re-use the SUPV transition countdown
+      // for this.
+      return false;
+    }
+    uartIsolatorSwitch.pullHigh();
+    powerState = PowerState::IDLE;
+  }
+  return true;
+}
+
+bool PlocMpsocHandler::handleHwShutdown() {
+  stopSpecialComHelper();
+  uartIsolatorSwitch.pullLow();
+#if OBSW_MPSOC_JTAG_BOOT == 1
+  powerState = PowerState::DONE;
+  return true;
+#endif
+
+  if (powerState == PowerState::IDLE) {
+    if (supv::SUPV_ON) {
+      commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
+      supvTransitionCd.resetTimer();
+      powerState = PowerState::PENDING_SHUTDOWN;
+    } else {
+      triggerEvent(SUPV_NOT_ON, 0);
+      powerState = PowerState::DONE;
+    }
+  }
+  if (powerState == PowerState::PENDING_SHUTDOWN) {
+    if (supvTransitionCd.hasTimedOut()) {
+      powerState = PowerState::DONE;
+      // Process with transition nonetheless..
+      triggerEvent(SUPV_REPLY_TIMEOUT);
+      return true;
+    } else {
+      // Wait till power state is OFF.
+      return false;
+    }
+  }
+  return true;
+}
+
 void PlocMpsocHandler::handleActionCommandFailure(ActionId_t actionId) {
   switch (actionId) {
     case supv::ACK_REPORT:
@@ -1420,25 +1452,24 @@ void PlocMpsocHandler::handleActionCommandFailure(ActionId_t actionId) {
       return;
   }
   switch (powerState) {
-    case PowerState::BOOTING: {
+    case PowerState::PENDING_STARTUP: {
       sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
                 << std::endl;
       // This is commonly the case when the MPSoC is already operational. Thus the power state is
       // set to on here
-      powerState = PowerState::ON;
       break;
     }
-    case PowerState::SHUTDOWN: {
+    case PowerState::PENDING_SHUTDOWN: {
       // FDIR will intercept event and switch PLOC power off
       triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
                    << std::endl;
-      powerState = PowerState::OFF;
       break;
     }
     default:
       break;
   }
+  powerState = PowerState::SUPV_FAILED;
   return;
 }
 

linux/payload/PlocMpsocHandler.h

@@ -103,11 +103,16 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   //! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
   //! thus also to shutdown the supervisor.
   static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
+  //! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
+  //! ON transition.
+  static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 6, severity::LOW);
+  static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
 
   mpsoc::HkReport hkReport;
+  Countdown supvTransitionCd = Countdown(3000);
 
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
@@ -188,10 +193,10 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   TelemetryBuffer tmBuffer;
   uint32_t waitCycles = 0;
 
-  enum class StartupState { IDLE, HW_INIT, WAIT_CYCLES, DONE } startupState = StartupState::IDLE;
+  enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
-  enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
+  enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
 
-  PowerState powerState = PowerState::OFF;
+  PowerState powerState = PowerState::IDLE;
 
   /**
    * @brief   Handles events received from the PLOC MPSoC helper
@@ -299,6 +304,9 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   ReturnValue_t prepareTcModeReplay();
 
   void cmdDoneHandler(bool success, ReturnValue_t result);
+  bool handleHwStartup();
+  bool handleHwShutdown();
+  void stopSpecialComHelper();
 
   void handleActionCommandFailure(ActionId_t actionId);
 };

linux/payload/PlocSupervisorHandler.cpp

@@ -19,6 +19,8 @@
 using namespace supv;
 using namespace returnvalue;
 
+std::atomic_bool supv::SUPV_ON = false;
+
 PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie,
                                              Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
                                              PlocSupvUartManager& supvHelper)
@@ -156,6 +158,7 @@ void PlocSupervisorHandler::doStartUp() {
   }
   if (startupState == StartupState::ON) {
     hkset.setReportingEnabled(true);
+    supv::SUPV_ON = true;
     setMode(_MODE_TO_ON);
   }
 }
@@ -169,6 +172,7 @@ void PlocSupervisorHandler::doShutDown() {
   nextReplyId = supv::NONE;
   uartManager.stop();
   uartIsolatorSwitch.pullLow();
+  supv::SUPV_ON = false;
   startupState = StartupState::OFF;
 }
 
@@ -202,11 +206,13 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
       break;
     }
     case START_MPSOC: {
+      sif::info << "PLOC SUPV: Starting MPSoC" << std::endl;
       prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::START_MPSOC));
       result = returnvalue::OK;
       break;
     }
     case SHUTDOWN_MPSOC: {
+      sif::info << "PLOC SUPV: Shutting down MPSoC" << std::endl;
       prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC));
       result = returnvalue::OK;
       break;

linux/payload/plocSupvDefs.h

@@ -10,12 +10,15 @@
 #include <fsfw/tmtcpacket/ccsds/SpacePacketReader.h>
 #include <mission/payload/plocSpBase.h>
 
+#include <atomic>
 #include <optional>
 
 #include "eive/resultClassIds.h"
 
 namespace supv {
 
+extern std::atomic_bool SUPV_ON;
+
 namespace result {
 static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;