Merge remote-tracking branch 'origin/develop' into ptme_bat_priority_enable

bsp_q7s/core/CoreController.cpp

@@ -31,14 +31,15 @@
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
-CoreController::CoreController(object_id_t objectId)
+CoreController::CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors)
     : ExtendedControllerBase(objectId, 5),
       cmdExecutor(4096),
       cmdReplyBuf(4096, true),
       cmdRepliesSizes(128),
       opDivider5(5),
       opDivider10(10),
-      hkSet(this) {
+      hkSet(this),
+      i2cErrors(i2cErrors) {
   cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
   try {
     sdcMan = SdCardManager::instance();
@@ -107,6 +108,12 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   readHkData();
+  if(i2cErrors >= 5) {
+    bool protOpPerformed = false;
+    triggerEvent(I2C_UNAVAILABLE_REBOOT);
+    gracefulShutdownTasks(CURRENT_CHIP, CURRENT_COPY, protOpPerformed);
+    std::system("xsc_boot_copy -r");
+  }
   if (shellCmdIsExecuting) {
     bool replyReceived = false;
     // TODO: We could read the data in the ring buffer and send it as an action data reply.

bsp_q7s/core/CoreController.h

@@ -15,6 +15,7 @@
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "mission/devices/devicedefinitions/GPSDefinitions.h"
 #include "mission/trace.h"
+#include <atomic>
 
 class Timer;
 class SdCardManager;
@@ -131,8 +132,9 @@ class CoreController : public ExtendedControllerBase {
   //! P1: First 16 bits boot count of image 0 0, last 16 bits boot count of image 0 1.
   //! P2: First 16 bits boot count of image 1 0, last 16 bits boot count of image 1 1.
   static constexpr Event INDIVIDUAL_BOOT_COUNTS = event::makeEvent(SUBSYSTEM_ID, 8, severity::INFO);
+  static constexpr Event I2C_UNAVAILABLE_REBOOT = event::makeEvent(SUBSYSTEM_ID, 10, severity::MEDIUM);
 
-  CoreController(object_id_t objectId);
+  CoreController(object_id_t objectId, const std::atomic_uint16_t& i2cErrors);
   virtual ~CoreController();
 
   ReturnValue_t initialize() override;
@@ -262,6 +264,7 @@ class CoreController : public ExtendedControllerBase {
   PoolEntry<float> plVoltageEntry = PoolEntry<float>(0.0);
 
   core::HkSet hkSet;
+  const std::atomic_uint16_t& i2cErrors;
 
 #if OBSW_SD_CARD_MUST_BE_ON == 1
   bool remountAttemptFlag = true;

bsp_q7s/core/ObjectFactory.cpp

@@ -123,6 +123,7 @@ using gpio::Levels;
 
 ResetArgs RESET_ARGS_GNSS;
 std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
+std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
@@ -961,7 +962,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
   imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
 
-  new ImtqPollingTask(objects::IMTQ_POLLING);
+  new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
   I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
   auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);

bsp_q7s/core/ObjectFactory.h

@@ -12,6 +12,7 @@
 #include <mission/tmtc/PusTmFunnel.h>
 
 #include <string>
+#include <atomic>
 
 class LinuxLibgpioIF;
 class SerialComIF;
@@ -22,6 +23,8 @@ class HealthTableIF;
 class AcsBoardAssembly;
 class GpioIF;
 
+extern std::atomic_uint16_t I2C_FATAL_ERRORS;
+
 namespace ObjectFactory {
 
 struct CcsdsComponentArgs {

bsp_q7s/fmObjectFactory.cpp

@@ -38,7 +38,7 @@ void ObjectFactory::produce(void* args) {
   q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
   gpioCallbacks::disableAllDecoder(gpioComIF);
 
-  new CoreController(objects::CORE_CONTROLLER);
+  new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   auto* stackHandler = new Stack5VHandler(*pwrSwitcher);