various fixes and improvements

common/config/devConf.h

@@ -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

linux/devices/devicedefinitions/PlocSupervisorDefinitions.h

@@ -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 {

linux/devices/ploc/PlocSupervisorHandler.cpp

@@ -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;

linux/devices/ploc/PlocSupvUartMan.cpp

@@ -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;
@@ -380,8 +382,8 @@ 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;
+    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);
@@ -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);
+}

linux/devices/ploc/PlocSupvUartMan.h

@@ -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_ */