eive/eive-obsw
eive/eive-obsw
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various fixes and improvements
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This commit is contained in:
Robin Müller 2022-11-28 16:24:18 +01:00
parent 003d37c490
commit 2c223712ff
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GPG Key ID: 11D4952C8CCEF814
5 changed files with 41 additions and 12 deletions
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2
common/config/devConf.h
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@ -60,7 +60,7 @@ static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
static constexpr UartBaudRate SCEX_BAUD = UartBaudRate::RATE_115200;
static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;
static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600;
static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
} // namespace uart

1
linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
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@ -122,6 +122,7 @@ static const DeviceCommandId_t RESET_PL = 58;
static const DeviceCommandId_t ENABLE_NVMS = 59;
static const DeviceCommandId_t CONTINUE_UPDATE = 60;
static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
/** Reply IDs */
enum ReplyId : DeviceCommandId_t {

21
linux/devices/ploc/PlocSupervisorHandler.cpp
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@ -411,6 +411,7 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
insertInCommandMap(SET_GPIO);
insertInCommandMap(READ_GPIO);
insertInCommandMap(FACTORY_RESET);
insertInCommandMap(MEMORY_CHECK);
insertInCommandMap(SET_SHUTDOWN_TIMEOUT);
insertInCommandMap(FACTORY_FLASH);
insertInCommandMap(SET_ADC_ENABLED_CHANNELS);
@ -421,6 +422,7 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
// ACK replies, use countdown for them
insertInReplyMap(ACK_REPORT, 0, nullptr, SIZE_ACK_REPORT, false, &acknowledgementReportTimeout);
insertInReplyMap(EXE_REPORT, 0, nullptr, SIZE_EXE_REPORT, false, &executionReportTimeout);
insertInReplyMap(MEMORY_CHECK, 5, nullptr, 0, false);
// TM replies
insertInReplyMap(HK_REPORT, 3, &hkset, SIZE_HK_REPORT);
@ -507,6 +509,16 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
}
break;
}
case MEMORY_CHECK: {
enabledReplies = 3;
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, MEMORY_CHECK);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << MEMORY_CHECK
<< " not in replyMap" << std::endl;
}
break;
}
case START_MPSOC:
case SHUTDOWN_MPSOC:
case SEL_MPSOC_BOOT_IMAGE:
@ -625,10 +637,7 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
static_cast<uint8_t>(supv::tm::MemManId::UPDATE_STATUS_REPORT)) {
*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::UPDATE_STATUS_REPORT;
// TODO: I think this will be handled by the uart manager?
// Actually, this is a bit tricky. Maybe the lower level will have two separate ring
// buffers, one for internally handled packets and one for packets which are handled
// here?
return OK;
}
}
}
@ -667,6 +676,10 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
result = handleExecutionReport(packet);
break;
}
case (UPDATE_STATUS_REPORT): {
// TODO: handle status report here
break;
}
default: {
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;

26
linux/devices/ploc/PlocSupvUartMan.cpp
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@ -116,7 +116,9 @@ ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
break;
}
case InternalState::DEDICATED_REQUEST: {
updateVtime(1);
handleRunningLongerRequest();
updateVtime(2);
MutexGuard mg(lock);
state = InternalState::DEFAULT;
break;
@ -380,9 +382,9 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
uint8_t tempData[supv::WriteMemory::CHUNK_MAX + 1]{};
if (not std::filesystem::exists(update.file)) {
sif::error << "PlocSupvUartManager::writeUpdatePackets: File "
<< update.file << " does not exist" << std::endl;
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
sif::error << "PlocSupvUartManager::writeUpdatePackets: File " << update.file
<< " does not exist" << std::endl;
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
}
std::ifstream file(update.file, std::ifstream::binary);
uint16_t dataLength = 0;
@ -553,6 +555,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
return result;
}
Countdown countdown(timeoutExecutionReport);
dur_millis_t currentDelay = 5;
bool ackReceived = false;
bool packetWasHandled = false;
while (true) {
@ -590,7 +593,10 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
decodedRingBuf.deleteData(packetLen);
}
} else {
TaskFactory::delayTask(20);
TaskFactory::delayTask(currentDelay);
if (currentDelay < 20) {
currentDelay *= 2;
}
}
if (countdown.hasTimedOut()) {
return result::NO_REPLY_TIMEOUT;
@ -1095,9 +1101,11 @@ void PlocSupvUartManager::addHdlcFraming(const uint8_t* src, size_t slen, uint8_
}
size_t dummy = 0;
uint8_t crcRaw[2];
// hdlc crc16 is in little endian format
SerializeAdapter::serialize(&crc16, dst + tlen, &dummy, maxDest, SerializeIF::Endianness::LITTLE);
tlen += dummy;
SerializeAdapter::serialize(&crc16, crcRaw, &dummy, maxDest, SerializeIF::Endianness::LITTLE);
hdlc_add_byte(crcRaw[0], dst, &tlen);
hdlc_add_byte(crcRaw[1], dst, &tlen);
dst[tlen++] = 0x7C;
*dlen = tlen;
@ -1141,3 +1149,9 @@ bool PlocSupvUartManager::longerRequestActive() const {
MutexGuard mg(lock);
return state == InternalState::DEDICATED_REQUEST;
}
void PlocSupvUartManager::updateVtime(uint8_t vtime) {
tcgetattr(serialPort, &tty);
tty.c_cc[VTIME] = vtime;
tcsetattr(serialPort, TCSANOW, &tty);
}

3
linux/devices/ploc/PlocSupvUartMan.h
View File

@ -253,7 +253,7 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
std::array<uint8_t, supv::MAX_COMMAND_SIZE> tmBuf{};
bool printTc = true;
bool printTc = false;
bool debugMode = false;
bool timestamping = true;
@ -368,6 +368,7 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
void performUartShutdown();
void updateVtime(uint8_t vtime);
};
#endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */