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Merge branch 'meier/ploc' into meier/plocSupv
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This commit is contained in:
Jakob Meier 2022-05-06 19:36:03 +02:00
commit 4ba26f057d
7 changed files with 140 additions and 60 deletions
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3
bsp_te0720_1cfa/ObjectFactory.cpp
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@ -67,10 +67,9 @@ new UartComIF(objects::UART_COM_IF);
supervisorCookie->setNoFixedSizeReply(); supervisorCookie->setNoFixedSizeReply();
auto supvGpioIF = new DummyGpioIF(); auto supvGpioIF = new DummyGpioIF();
auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER); auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
auto plocSupervisor = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF), supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF),
pcdu::PDU1_CH6_PLOC_12V, supvHelper); pcdu::PDU1_CH6_PLOC_12V, supvHelper);
plocSupervisor->setStartUpImmediately();
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
#endif #endif

2
fsfw

@ -1 +1 @@
Subproject commit 789668ae50a26cda299cfd125011f9fb345824d9 Subproject commit 19bd26d9983d97c8daf010649e9142afac7e2650

68
linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
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@ -55,15 +55,16 @@ static const DeviceCommandId_t LOGGING_CLEAR_COUNTERS = 55;
static const DeviceCommandId_t LOGGING_SET_TOPIC = 56; static const DeviceCommandId_t LOGGING_SET_TOPIC = 56;
static const DeviceCommandId_t REQUEST_ADC_REPORT = 57; static const DeviceCommandId_t REQUEST_ADC_REPORT = 57;
static const DeviceCommandId_t RESET_PL = 58; static const DeviceCommandId_t RESET_PL = 58;
static const DeviceCommandId_t ENABLE_NVMS = 59;
/** Reply IDs */ /** Reply IDs */
static const DeviceCommandId_t ACK_REPORT = 50; static const DeviceCommandId_t ACK_REPORT = 100;
static const DeviceCommandId_t EXE_REPORT = 51; static const DeviceCommandId_t EXE_REPORT = 101;
static const DeviceCommandId_t HK_REPORT = 52; static const DeviceCommandId_t HK_REPORT = 102;
static const DeviceCommandId_t BOOT_STATUS_REPORT = 53; static const DeviceCommandId_t BOOT_STATUS_REPORT = 103;
static const DeviceCommandId_t LATCHUP_REPORT = 54; static const DeviceCommandId_t LATCHUP_REPORT = 104;
static const DeviceCommandId_t LOGGING_REPORT = 55; static const DeviceCommandId_t LOGGING_REPORT = 105;
static const DeviceCommandId_t ADC_REPORT = 56; static const DeviceCommandId_t ADC_REPORT = 106;
// Size of complete space packet (6 byte header + size of data + 2 byte CRC) // Size of complete space packet (6 byte header + size of data + 2 byte CRC)
static const uint16_t SIZE_ACK_REPORT = 14; static const uint16_t SIZE_ACK_REPORT = 14;
@ -122,6 +123,7 @@ static const uint16_t APID_SET_ADC_THRESHOLD = 0xE3;
static const uint16_t APID_GET_LATCHUP_STATUS_REPORT = 0xD9; static const uint16_t APID_GET_LATCHUP_STATUS_REPORT = 0xD9;
static const uint16_t APID_COPY_ADC_DATA_TO_MRAM = 0xDA; static const uint16_t APID_COPY_ADC_DATA_TO_MRAM = 0xDA;
static const uint16_t APID_REQUEST_ADC_REPORT = 0xDB; static const uint16_t APID_REQUEST_ADC_REPORT = 0xDB;
static const uint16_t APID_ENABLE_NVMS = 0xF0;
static const uint16_t APID_RUN_AUTO_EM_TESTS = 0xF2; static const uint16_t APID_RUN_AUTO_EM_TESTS = 0xF2;
static const uint16_t APID_WIPE_MRAM = 0xF3; static const uint16_t APID_WIPE_MRAM = 0xF3;
static const uint16_t APID_DUMP_MRAM = 0xF4; static const uint16_t APID_DUMP_MRAM = 0xF4;
@ -357,6 +359,50 @@ class MPSoCBootSelect : public SpacePacket {
} }
}; };
/**
* @brief This class creates the command to enable or disable the NVMs connected to the
* supervisor.
*/
class EnableNvms : public SpacePacket {
public:
/**
* @brief Constructor
*
* @param mem The memory to boot from: NVM0 (0), NVM1 (1)
* @param bp0 Partition pin 0
* @param bp1 Partition pin 1
* @param bp2 Partition pin 2
*/
EnableNvms(uint8_t nvm01, uint8_t nvm3)
: SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_ENABLE_NVMS, DEFAULT_SEQUENCE_COUNT),
nvm01(nvm01),
nvm3(nvm3) {
initPacket();
}
private:
static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
static const uint8_t DATA_FIELD_LENGTH = 4;
static const uint8_t CRC_OFFSET = 2;
uint8_t nvm01 = 0;
uint8_t nvm3 = 0;
void initPacket() {
*(this->localData.fields.buffer) = nvm01;
*(this->localData.fields.buffer + 1) = nvm3;
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
/* Add crc to packet data field of space packet */
size_t serializedSize = 0;
uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/** /**
* @brief This class generates the space packet to update the time of the PLOC supervisor. * @brief This class generates the space packet to update the time of the PLOC supervisor.
*/ */
@ -1664,13 +1710,7 @@ class BootStatusReport : public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
*/ */
class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> { class HkSet : public StaticLocalDataSet<HK_SET_ENTRIES> {
public: public:
enum class SocState { OFF = 0, BOOTING = 1, OPERATIONAL = 3, SHUTDOWN = 4 };
enum class SocState {
OFF = 0,
BOOTING = 1,
OPERATIONAL = 3,
SHUTDOWN = 4
};
HkSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HK_SET_ID) {} HkSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HK_SET_ID) {}

5
linux/devices/ploc/PlocMemoryDumper.cpp
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@ -121,7 +121,10 @@ void PlocMemoryDumper::doStateMachine() {
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {} void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step, void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {} ReturnValue_t returnCode) {
triggerEvent(MRAM_DUMP_FAILED);
state = State::IDLE;
}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {} void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}

102
linux/devices/ploc/PlocSupervisorHandler.cpp
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@ -137,7 +137,6 @@ ReturnValue_t PlocSupervisorHandler::executeAction(ActionId_t actionId,
} }
void PlocSupervisorHandler::doStartUp() { void PlocSupervisorHandler::doStartUp() {
#ifdef XIPHOS_Q7S
switch (startupState) { switch (startupState) {
case StartupState::OFF: { case StartupState::OFF: {
bootTimeout.resetTimer(); bootTimeout.resetTimer();
@ -159,9 +158,6 @@ void PlocSupervisorHandler::doStartUp() {
default: default:
break; break;
} }
#else
setMode(_MODE_TO_ON);
#endif
} }
void PlocSupervisorHandler::doShutDown() { void PlocSupervisorHandler::doShutDown() {
@ -178,7 +174,7 @@ ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandI
if (startupState == StartupState::SET_TIME) { if (startupState == StartupState::SET_TIME) {
*id = supv::SET_TIME_REF; *id = supv::SET_TIME_REF;
startupState = StartupState::SET_TIME_EXECUTING; startupState = StartupState::SET_TIME_EXECUTING;
return RETURN_OK; return buildCommandFromCommand(*id, nullptr, 0);
} }
return NOTHING_TO_SEND; return NOTHING_TO_SEND;
} }
@ -376,6 +372,10 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
result = RETURN_OK; result = RETURN_OK;
break; break;
} }
case ENABLE_NVMS: {
result = prepareEnableNvmsCommand(commandData);
break;
}
default: default:
sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented" sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
<< std::endl; << std::endl;
@ -431,8 +431,11 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(LOGGING_CLEAR_COUNTERS); this->insertInCommandMap(LOGGING_CLEAR_COUNTERS);
this->insertInCommandMap(LOGGING_SET_TOPIC); this->insertInCommandMap(LOGGING_SET_TOPIC);
this->insertInCommandMap(RESET_PL); this->insertInCommandMap(RESET_PL);
this->insertInCommandAndReplyMap(FIRST_MRAM_DUMP, 3); this->insertInCommandMap(ENABLE_NVMS);
this->insertInCommandAndReplyMap(CONSECUTIVE_MRAM_DUMP, 3); this->insertInCommandAndReplyMap(FIRST_MRAM_DUMP, 0, nullptr, 0, false, false, FIRST_MRAM_DUMP,
&mramDumpTimeout);
this->insertInCommandAndReplyMap(CONSECUTIVE_MRAM_DUMP, 0, nullptr, 0, false, false,
CONSECUTIVE_MRAM_DUMP, &mramDumpTimeout);
this->insertInReplyMap(ACK_REPORT, 3, nullptr, SIZE_ACK_REPORT); this->insertInReplyMap(ACK_REPORT, 3, nullptr, SIZE_ACK_REPORT);
this->insertInReplyMap(EXE_REPORT, 0, nullptr, SIZE_EXE_REPORT, false, &executionTimeout); this->insertInReplyMap(EXE_REPORT, 0, nullptr, SIZE_EXE_REPORT, false, &executionTimeout);
this->insertInReplyMap(HK_REPORT, 3, &hkset, SIZE_HK_REPORT); this->insertInReplyMap(HK_REPORT, 3, &hkset, SIZE_HK_REPORT);
@ -551,6 +554,7 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
case LOGGING_CLEAR_COUNTERS: case LOGGING_CLEAR_COUNTERS:
case LOGGING_SET_TOPIC: case LOGGING_SET_TOPIC:
case RESET_PL: case RESET_PL:
case ENABLE_NVMS:
enabledReplies = 2; enabledReplies = 2;
break; break;
default: default:
@ -1310,6 +1314,10 @@ ReturnValue_t PlocSupervisorHandler::doSendReadHook() {
return RETURN_OK; return RETURN_OK;
} }
void PlocSupervisorHandler::doOffActivity() {
startupState = StartupState::OFF;
}
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) { DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
@ -1532,11 +1540,21 @@ ReturnValue_t PlocSupervisorHandler::prepareLoggingRequest(const uint8_t* comman
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t PlocSupervisorHandler::prepareEnableNvmsCommand(const uint8_t* commandData) {
using namespace supv;
uint8_t nvm01 = *(commandData);
uint8_t nvm3 = *(commandData + 1);
EnableNvms packet(nvm01, nvm3);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
return RETURN_OK;
}
void PlocSupervisorHandler::disableAllReplies() { void PlocSupervisorHandler::disableAllReplies() {
using namespace supv;
DeviceReplyMap::iterator iter; DeviceReplyMap::iterator iter;
/* Disable ack reply */ /* Disable ack reply */
iter = deviceReplyMap.find(supv::ACK_REPORT); iter = deviceReplyMap.find(ACK_REPORT);
DeviceReplyInfo* info = &(iter->second); DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0; info->delayCycles = 0;
info->command = deviceCommandMap.end(); info->command = deviceCommandMap.end();
@ -1545,21 +1563,29 @@ void PlocSupervisorHandler::disableAllReplies() {
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */ /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) { switch (commandId) {
case supv::GET_HK_REPORT: { case GET_HK_REPORT: {
iter = deviceReplyMap.find(supv::GET_HK_REPORT); disableReply(GET_HK_REPORT);
info = &(iter->second);
info->delayCycles = 0;
info->active = false;
info->command = deviceCommandMap.end();
break; break;
} }
case supv::FIRST_MRAM_DUMP: case FIRST_MRAM_DUMP:
case supv::CONSECUTIVE_MRAM_DUMP: { case CONSECUTIVE_MRAM_DUMP: {
iter = deviceReplyMap.find(commandId); disableReply(commandId);
info = &(iter->second); break;
info->delayCycles = 0; }
info->active = false; case REQUEST_ADC_REPORT: {
info->command = deviceCommandMap.end(); disableReply(ADC_REPORT);
break;
}
case GET_BOOT_STATUS_REPORT: {
disableReply(BOOT_STATUS_REPORT);
break;
}
case GET_LATCHUP_STATUS_REPORT: {
disableReply(LATCHUP_REPORT);
break;
}
case LOGGING_REQUEST_COUNTERS: {
disableReply(LOGGING_REPORT);
break; break;
} }
default: { default: {
@ -1571,6 +1597,14 @@ void PlocSupervisorHandler::disableAllReplies() {
disableExeReportReply(); disableExeReportReply();
} }
void PlocSupervisorHandler::disableReply(DeviceCommandId_t replyId) {
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->active = false;
info->command = deviceCommandMap.end();
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) { void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId); DeviceReplyIter iter = deviceReplyMap.find(replyId);
@ -1648,9 +1682,13 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
sif::warning << "PlocSupervisorHandler::handleMramDumpPacket: CRC failure" << std::endl; sif::warning << "PlocSupervisorHandler::handleMramDumpPacket: CRC failure" << std::endl;
return result; return result;
} }
handleMramDumpFile(id); result = handleMramDumpFile(id);
if (downlinkMramDump == true) { if (result != RETURN_OK) {
handleDeviceTM(spacePacketBuffer + supv::SPACE_PACKET_HEADER_LENGTH, packetLen - 1, id); DeviceCommandMap::iterator iter = deviceCommandMap.find(id);
actionHelper.finish(false, iter->second.sendReplyTo, id, result);
disableAllReplies();
nextReplyId = supv::NONE;
return result;
} }
packetInBuffer = false; packetInBuffer = false;
receivedMramDumpPackets++; receivedMramDumpPackets++;
@ -1699,23 +1737,19 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
(sequenceFlags != static_cast<uint8_t>(supv::SequenceFlags::STANDALONE_PKT))) { (sequenceFlags != static_cast<uint8_t>(supv::SequenceFlags::STANDALONE_PKT))) {
// Command expects at least one MRAM packet more and the execution report // Command expects at least one MRAM packet more and the execution report
info->expectedReplies = 2; info->expectedReplies = 2;
// Wait maximum of 2 cycles for next MRAM packet mramReplyInfo->countdown->resetTimer();
mramReplyInfo->delayCycles = 2;
// Also adapting delay cycles for execution report
exeReplyInfo->delayCycles = 3;
} else { } else {
// Command expects the execution report // Command expects the execution report
info->expectedReplies = 1; info->expectedReplies = 1;
mramReplyInfo->delayCycles = 0; mramReplyInfo->active = false;
} }
exeReplyInfo->countdown->resetTimer();
return; return;
} }
ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() { ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & supv::APID_MASK; uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & supv::APID_MASK;
if (apid != supv::APID_MRAM_DUMP_TM) { if (apid != supv::APID_MRAM_DUMP_TM) {
sif::warning << "PlocSupervisorHandler::checkMramPacketApid: 0x" << std::hex << apid
<< std::endl;
return SupvReturnValuesIF::NO_MRAM_PACKET; return SupvReturnValuesIF::NO_MRAM_PACKET;
} }
return APERIODIC_REPLY; return APERIODIC_REPLY;
@ -1788,7 +1822,7 @@ ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp)
Clock::TimeOfDay_t time; Clock::TimeOfDay_t time;
ReturnValue_t result = Clock::getDateAndTime(&time); ReturnValue_t result = Clock::getDateAndTime(&time);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::warning << "PlocSupervisorHandler::createMramDumpFile: Failed to get current time" sif::warning << "PlocSupervisorHandler::getTimeStampString: Failed to get current time"
<< std::endl; << std::endl;
return SupvReturnValuesIF::GET_TIME_FAILURE; return SupvReturnValuesIF::GET_TIME_FAILURE;
} }
@ -1871,8 +1905,8 @@ void PlocSupervisorHandler::handleExecutionSuccessReport(const uint8_t* data) {
} }
uint8_t data[sizeof(gpioState)]; uint8_t data[sizeof(gpioState)];
size_t size = 0; size_t size = 0;
ReturnValue_t result = SerializeAdapter::serialize( ReturnValue_t result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState),
&gpioState, data, &size, sizeof(gpioState), SerializeIF::Endianness::BIG); SerializeIF::Endianness::BIG);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl; sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl;
} }

12
linux/devices/ploc/PlocSupervisorHandler.h
View File

@ -56,7 +56,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
uint8_t expectedReplies = 1, bool useAlternateId = false, uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override; DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override; size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override; ReturnValue_t doSendReadHook() override;
void doOffActivity() override;
private: private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
@ -86,6 +87,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 60000; static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 60000;
// 70 s // 70 s
static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000; static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
// 60 s
static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
// 2 s // 2 s
static const uint32_t BOOT_TIMEOUT = 2000; static const uint32_t BOOT_TIMEOUT = 2000;
enum class StartupState: uint8_t { enum class StartupState: uint8_t {
@ -141,15 +144,13 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
std::string supervisorFilePath = "ploc/supervisor"; std::string supervisorFilePath = "ploc/supervisor";
std::string activeMramFile; std::string activeMramFile;
// Setting this variable to true will enable direct downlink of MRAM packets
bool downlinkMramDump = false;
// Supervisor helper class currently executing a command // Supervisor helper class currently executing a command
bool plocSupvHelperExecuting = false; bool plocSupvHelperExecuting = false;
Countdown executionTimeout = Countdown(EXECUTION_DEFAULT_TIMEOUT, false); Countdown executionTimeout = Countdown(EXECUTION_DEFAULT_TIMEOUT, false);
// Vorago nees some time to boot properly // Vorago nees some time to boot properly
Countdown bootTimeout = Countdown(BOOT_TIMEOUT); Countdown bootTimeout = Countdown(BOOT_TIMEOUT);
Countdown mramDumpTimeout = Countdown(MRAM_DUMP_TIMEOUT);
/** /**
* @brief Adjusts the timeout of the execution report dependent on command * @brief Adjusts the timeout of the execution report dependent on command
@ -280,6 +281,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
void prepareSetGpioCmd(const uint8_t* commandData); void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData); void prepareReadGpioCmd(const uint8_t* commandData);
ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
/** /**
* @brief Copies the content of a space packet to the command buffer. * @brief Copies the content of a space packet to the command buffer.
@ -293,6 +295,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
*/ */
void disableAllReplies(); void disableAllReplies();
void disableReply(DeviceCommandId_t replyId);
/** /**
* @brief This function sends a failure report if the active action was commanded by an other * @brief This function sends a failure report if the active action was commanded by an other
* object. * object.

2
tmtc

@ -1 +1 @@
Subproject commit a4bf730b22125a5e28f9186e13b7d3a419442b82 Subproject commit e62484ee80d160de704ec5a69a1f29c64f31b8d6