Merge remote-tracking branch 'origin/develop' into mueller/plpcdu-sus-updates

CMakeLists.txt

@@ -99,7 +99,7 @@ pre_source_hw_os_config()
 
 if(TGT_BSP)
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
-        OR TGT_BSP MATCHES "arm/beagleboneblack"
+        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse"
     )
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
         if(NOT BUILD_Q7S_SIMPLE_MODE)
@@ -109,12 +109,18 @@ if(TGT_BSP)
         endif()
     endif()
    
-    if(TGT_BSP MATCHES "arm/raspberrypi")
+    if(TGT_BSP MATCHES "arm/raspberrypi" )
         # Used by configure file
         set(RASPBERRY_PI ON)
         set(FSFW_HAL_ADD_RASPBERRY_PI ON)
     endif()
 
+    if(TGT_BSP MATCHES "arm/egse")
+        # Used by configure file
+        set(EGSE ON)
+        set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
+    endif()
+    
     if(TGT_BSP MATCHES "arm/beagleboneblack")
         # Used by configure file
         set(BEAGLEBONEBLACK ON)
@@ -140,7 +146,7 @@ configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
 if(TGT_BSP MATCHES "arm/q7s")
     configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
-elseif(TGT_BSP MATCHES "arm/raspberrypi")
+elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
     configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
 endif()
 
@@ -266,7 +272,11 @@ if(TGT_BSP MATCHES "arm/q7s")
     )
 endif()
 
-
+if(TGT_BSP MATCHES "arm/egse")
+    target_link_libraries(${OBSW_NAME} PRIVATE
+	    ${LIB_ARCSEC}
+	)
+endif()
 
 if(ADD_CSP_LIB)
     target_link_libraries(${OBSW_NAME} PRIVATE
@@ -305,7 +315,7 @@ target_include_directories(${LIB_EIVE_MISSION} PUBLIC
 	${LIB_ARCSEC_PATH}
 )
 
-if(TGT_BSP MATCHES "arm/q7s")
+if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
     target_include_directories(${LIB_EIVE_MISSION} PUBLIC
         ${ARCSEC_LIB_PATH}
     )

README.md

@@ -19,9 +19,10 @@
 12. [Static Code Analysis](#static-code-analysis)
 13. [Eclipse](#eclipse)
 14. [Running the OBSW on a Raspberry Pi](#rpi)
-15. [Manually preparing sysroots to compile gpsd](#gpsd)
+15. [Running OBSW on EGSE](#egse)
-16. [FSFW](#fsfw)
+16. [Manually preparing sysroots to compile gpsd](#gpsd)
-17. [Coding Style](#coding-style)
+17. [FSFW](#fsfw)
+18. [Coding Style](#coding-style)
 
 # <a id="general"></a> General information
 
@@ -1152,6 +1153,35 @@ sudo apt-get install gpiod libgpiod-dev
 
 to install the required GPIO libraries before cloning the system root folder.
 
+# <a id="egse"></a> Running OBSW on EGSE
+The EGSE is a test system from arcsec build arround a raspberry pi 4 to test the star tracker. The IP address of the EGSE (raspberry pi) is 192.168.18.31. An ssh session can be opened with
+````
+ssh pi@192.168.18.31
+````
+Password: raspberry
+
+To run the obsw perform the following steps:
+1. Build the cmake EGSE Configuration 
+   * the sysroots for the EGSE can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/egse&fileid=1190471)
+   * toolchain for linux host can be downloaded from [here](https://github.com/Pro/raspi-toolchain)
+   * toolchain for windows host from [here](https://gnutoolchains.com/raspberry/) (the raspios-buster-armhf toolchain is the right one for the EGSE)
+2. Disable the ser2net systemd service on the EGSE
+````sh
+$ sudo systemctl stop ser2net.service
+````
+3. Power on the star tracker by running
+````sh
+$ ~/powerctrl/enable0.sh`
+````
+4. Run portforwarding script for tmtc tcp connection and tcf agent on host PC
+````sh
+$ ./scripts/egse-port.sh
+````
+5. The star tracker can be powered off by running
+````sh
+$ ~/powerctrl/disable0.sh
+````
+
 # <a id="gpsd"></a> Manually preparing sysroots to compile gpsd
 Copy all header files from [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/gpsd&fileid=1189985) to the /usr/include directory and all static libraries to /usr/lib.
 

bsp_egse/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${OBSW_NAME} PUBLIC
+	InitMission.cpp
+	main.cpp
+	ObjectFactory.cpp
+)
+
+add_subdirectory(boardconfig)

bsp_egse/InitMission.cpp

@@ -0,0 +1,192 @@
+#include "InitMission.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <mission/utility/InitMission.h>
+
+#include <iostream>
+
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "objects/systemObjectList.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR");
+
+ObjectManagerIF* objectManager = nullptr;
+
+void initmission::initMission() {
+  sif::info << "Make sure the systemd service ser2net on the egse has been stopped "
+            << "(alias stop-ser2net)" << std::endl;
+  sif::info << "Make sure the power lines of the star tracker have been enabled "
+            << "(alias enable-startracker)" << std::endl;
+  sif::info << "Building global objects.." << std::endl;
+  /* Instantiate global object manager and also create all objects */
+  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void initmission::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
+#else
+  void (*missedDeadlineFunc)(void) = nullptr;
+#endif
+
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
+      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
+      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Bridge failed" << std::endl;
+  }
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Polling failed" << std::endl;
+  }
+
+  /* PUS Services */
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+
+  std::vector<PeriodicTaskIF*> pstTasks;
+  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
+      "STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstUart(pst);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  }
+  pstTasks.push_back(pst);
+
+  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
+      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = strHelperTask->addComponent(objects::STR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+  }
+  pstTasks.push_back(strHelperTask);
+
+  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+    for (const auto& task : taskVector) {
+      if (task != nullptr) {
+        task->startTask();
+      } else {
+        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+      }
+    }
+  };
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmtcDistributor->startTask();
+  tmtcBridgeTask->startTask();
+  tmtcPollingTask->startTask();
+
+  taskStarter(pstTasks, "PST Tasks");
+  taskStarter(pusTasks, "PUS Tasks");
+
+  sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  taskVec.push_back(pusVerification);
+
+  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
+      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+  }
+  taskVec.push_back(pusEvents);
+
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+  taskVec.push_back(pusHighPrio);
+
+  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+  taskVec.push_back(pusMedPrio);
+
+  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
+      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+  }
+  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
+  }
+  taskVec.push_back(pusLowPrio);
+}

bsp_egse/InitMission.h

@@ -0,0 +1,21 @@
+#ifndef BSP_LINUX_INITMISSION_H_
+#define BSP_LINUX_INITMISSION_H_
+
+#include <vector>
+
+#include "fsfw/tasks/Typedef.h"
+
+class PeriodicTaskIF;
+class TaskFactory;
+
+namespace initmission {
+void initMission();
+void initTasks();
+
+void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                    std::vector<PeriodicTaskIF*>& taskVec);
+void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                    std::vector<PeriodicTaskIF*>& taskVec);
+};  // namespace initmission
+
+#endif /* BSP_LINUX_INITMISSION_H_ */

bsp_egse/ObjectFactory.cpp

@@ -0,0 +1,49 @@
+#include "ObjectFactory.h"
+
+#include <devConf.h>
+#include <fsfw_hal/linux/uart/UartComIF.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <mission/devices/GPSHyperionHandler.h>
+
+#include "OBSWConfig.h"
+#include "busConf.h"
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/PusServiceBase.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "linux/devices/startracker/StarTrackerHandler.h"
+#include "mission/core/GenericFactory.h"
+#include "mission/utility/TmFunnel.h"
+#include "objects/systemObjectList.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
+
+void Factory::setStaticFrameworkObjectIds() {
+  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+
+  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+  TmFunnel::storageDestination = objects::NO_OBJECT;
+
+  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+}
+
+void ObjectFactory::produce(void* args) {
+  Factory::setStaticFrameworkObjectIds();
+  ObjectFactory::produceGenericObjects();
+
+  UartCookie* starTrackerCookie =
+      new UartCookie(objects::STAR_TRACKER, egse::STAR_TRACKER_UART, UartModes::NON_CANONICAL,
+                     uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
+  new UartComIF(objects::UART_COM_IF);
+  starTrackerCookie->setNoFixedSizeReply();
+  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
+      objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
+  starTrackerHandler->setStartUpImmediately();
+}

bsp_egse/ObjectFactory.h

@@ -0,0 +1,8 @@
+#ifndef BSP_LINUX_OBJECTFACTORY_H_
+#define BSP_LINUX_OBJECTFACTORY_H_
+
+namespace ObjectFactory {
+void produce(void* args);
+};  // namespace ObjectFactory
+
+#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_egse/boardconfig/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${OBSW_NAME} PRIVATE
+	print.c
+)
+
+target_include_directories(${OBSW_NAME} PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}
+)

bsp_egse/boardconfig/busConf.h

@@ -0,0 +1,8 @@
+#ifndef BSP_EGSE_BOARDCONFIG_BUSCONF_H_
+#define BSP_EGSE_BOARDCONFIG_BUSCONF_H_
+
+namespace egse {
+static constexpr char STAR_TRACKER_UART[] = "/dev/serial0";
+}
+
+#endif /* BSP_EGSE_BOARDCONFIG_BUSCONF_H_ */

bsp_egse/boardconfig/etl_profile.h

@@ -0,0 +1,38 @@
+///\file
+
+/******************************************************************************
+The MIT License(MIT)
+
+Embedded Template Library.
+https://github.com/ETLCPP/etl
+https://www.etlcpp.com
+
+Copyright(c) 2019 jwellbelove
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files(the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions :
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+******************************************************************************/
+#ifndef __ETL_PROFILE_H__
+#define __ETL_PROFILE_H__
+
+#define ETL_CHECK_PUSH_POP
+
+#define ETL_CPP11_SUPPORTED 1
+#define ETL_NO_NULLPTR_SUPPORT 0
+
+#endif

bsp_egse/boardconfig/gcov.h

@@ -0,0 +1,15 @@
+#ifndef LINUX_GCOV_H_
+#define LINUX_GCOV_H_
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+
+#ifdef GCOV
+extern "C" void __gcov_flush();
+#else
+void __gcov_flush() {
+  sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
+               "coverage information is desired.\n"
+            << std::flush;
+}
+#endif
+
+#endif /* LINUX_GCOV_H_ */

bsp_egse/boardconfig/print.c

@@ -0,0 +1,10 @@
+#include <bsp_egse/boardconfig/print.h>
+#include <stdio.h>
+
+void printChar(const char* character, bool errStream) {
+  if (errStream) {
+    putc(*character, stderr);
+    return;
+  }
+  putc(*character, stdout);
+}

bsp_egse/boardconfig/print.h

@@ -0,0 +1,8 @@
+#ifndef HOSTED_BOARDCONFIG_PRINT_H_
+#define HOSTED_BOARDCONFIG_PRINT_H_
+
+#include <stdbool.h>
+
+void printChar(const char* character, bool errStream);
+
+#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */

bsp_egse/boardconfig/rpiConfig.h.in

@@ -0,0 +1,6 @@
+#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
+#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
+
+#include <cstdint>
+
+#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_egse/main.cpp

@@ -0,0 +1,28 @@
+#include <iostream>
+
+#include "InitMission.h"
+#include "OBSWConfig.h"
+#include "OBSWVersion.h"
+#include "fsfw/FSFWVersion.h"
+#include "fsfw/tasks/TaskFactory.h"
+
+/**
+ * @brief 	    This is the main program entry point for the egse (raspberry pi 4)
+ * @return
+ */
+int main(void) {
+  std::cout << "-- EIVE OBSW --" << std::endl;
+  std::cout << "-- Compiled for EGSE from Arcsec"
+            << " --" << std::endl;
+  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
+            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
+            << "--" << std::endl;
+  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
+
+  initmission::initMission();
+
+  for (;;) {
+    /* Suspend main thread by sleeping it. */
+    TaskFactory::delayTask(5000);
+  }
+}

bsp_linux_board/InitMission.cpp

@@ -64,17 +64,17 @@ void initmission::initTasks() {
   }
 
   /* UDP bridge */
-  PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+    sif::error << "Add component TMTC Bridge failed" << std::endl;
   }
-  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component UDP Polling failed" << std::endl;
+    sif::error << "Add component TMTC Polling failed" << std::endl;
   }
 
   /* PUS Services */
@@ -100,8 +100,8 @@ void initmission::initTasks() {
 
   sif::info << "Starting tasks.." << std::endl;
   tmTcDistributor->startTask();
-  udpBridgeTask->startTask();
+  tmtcBridgeTask->startTask();
-  udpPollingTask->startTask();
+  tmtcPollingTask->startTask();
 
   taskStarter(pusTasks, "PUS Tasks");
 #if OBSW_ADD_TEST_CODE == 1

bsp_linux_board/boardconfig/print.c

@@ -1,4 +1,4 @@
-#include <bsp_q7s/boardconfig/print.h>
+#include <bsp_linux_board/boardconfig/print.h>
 #include <stdio.h>
 
 void printChar(const char* character, bool errStream) {

bsp_q7s/core/InitMission.cpp

@@ -86,7 +86,7 @@ void initmission::initTasks() {
       "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
+    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
   }
   PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@@ -135,9 +135,9 @@ void initmission::initTasks() {
   }
 
 #if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
+  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
       "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strImgLoaderTask->addComponent(objects::STR_HELPER);
+  result = strHelperTask->addComponent(objects::STR_HELPER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
   }
@@ -204,7 +204,7 @@ void initmission::initTasks() {
 #if BOARD_TE0720 == 0
   fsTask->startTask();
 #if OBSW_ADD_STAR_TRACKER == 1
-  strImgLoaderTask->startTask();
+  strHelperTask > startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 #endif
 

bsp_q7s/core/ObjectFactory.cpp

@@ -16,9 +16,6 @@
 #include "bsp_q7s/devices/PlocMemoryDumper.h"
 #include "bsp_q7s/devices/PlocSupervisorHandler.h"
 #include "bsp_q7s/devices/PlocUpdater.h"
-#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
-#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
-#include "bsp_q7s/devices/startracker/StrHelper.h"
 #include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
@@ -32,6 +29,12 @@
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "linux/devices/startracker/StarTrackerHandler.h"
+#include "linux/devices/startracker/StrHelper.h"
+#include "linux/boardtest/SpiTestClass.h"
+#include "linux/csp/CspComIF.h"
+#include "linux/csp/CspCookie.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 #if OBSW_TEST_LIBGPIOD == 1
@@ -55,9 +58,7 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw_hal/linux/uart/UartCookie.h"
-#include "linux/boardtest/SpiTestClass.h"
+
-#include "linux/csp/CspComIF.h"
-#include "linux/csp/CspCookie.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"

bsp_q7s/devices/CMakeLists.txt

@@ -3,5 +3,3 @@ target_sources(${OBSW_NAME} PRIVATE
     PlocUpdater.cpp
     PlocMemoryDumper.cpp
 )
-
-add_subdirectory(startracker)

cmake/HardwareOsPreConfig.cmake

@@ -47,7 +47,7 @@ if(CMAKE_CROSSCOMPILING)
 	
 	set_property(CACHE TGT_BSP 
 		PROPERTY STRINGS  
-		"arm/q7s" "arm/raspberrypi" 
+		"arm/q7s" "arm/raspberrypi" "arm/egse"
 	)
 endif()
 	
@@ -57,6 +57,8 @@ if(TGT_BSP)
 		set(BSP_PATH "bsp_linux_board")
 	elseif(TGT_BSP MATCHES "arm/q7s")
 		set(BSP_PATH "bsp_q7s")
+  elseif(TGT_BSP MATCHES "arm/egse")
+    set(BSP_PATH "bsp_egse")
 	else() 
 		message(WARNING "CMake not configured for this target!")
 		message(FATAL_ERROR "Target: ${TGT_BSP}!")

cmake/PreProjectConfig.cmake

@@ -17,8 +17,7 @@ if(FSFW_OSAL MATCHES linux AND TGT_BSP)
 			"${CMAKE_SCRIPT_PATH}/Q7SCrossCompileConfig.cmake"
 			PARENT_SCOPE
 		)
-		
+	elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
-	elseif(TGT_BSP MATCHES "arm/raspberrypi")
 		if(NOT DEFINED ENV{LINUX_ROOTFS})
 			if(NOT DEFINED LINUX_ROOTFS)
 			    message(WARNING "No LINUX_ROOTFS environmental or CMake variable set!")

cmake/scripts/Q7S/q7s-env-win.sh

@@ -1,5 +1,49 @@
 #!/bin/sh
-export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+# Run with: source q7s-env-win-sh [OPTIONS]
-export CROSS_COMPILE="arm-linux-gnueabihf"
+function help () {
+	echo "source q7s-env-win-sh [options] -t|--toolchain=<toolchain path> -s|--sysroot=<sysroot path>"
+}
 
-export Q7S_SYSROOT="/c/Users/${USER}/Documents/EIVE/cortexa9hf-neon-xiphos-linux-gnueabi"
+TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+SYSROOT="/c/Users/${USER}/eive-software/cortexa9hf-neon-xiphos-linux-gnueabi"
+
+for i in "$@"; do
+  case $i in
+    -t=*|--toolchain=*)
+      TOOLCHAIN_PATH="${i#*=}"
+      shift
+      ;;
+    -s=*|--sysroot=*)
+      SYSROOT="${i#*=}"
+      shift
+      ;;
+	-h|--help)
+	  help
+	  shift
+      ;;
+    -*|--*)
+      echo "Unknown option $i"
+	  help
+      return
+      ;;
+    *)
+      ;;
+  esac
+done
+
+if [ -d "$TOOLCHAIN_PATH" ]; then
+	export PATH=$PATH:"/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+	export CROSS_COMPILE="arm-linux-gnueabihf"
+	echo "Set toolchain path to /c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+else 
+	echo "Toolchain path $TOOLCHAIN_PATH does not exist"
+	return
+fi
+
+if [ -d "$SYSROOT" ]; then
+	export Q7S_SYSROOT=$SYSROOT
+	echo "Set sysroot path to $SYSROOT"
+else 
+	echo "Sysroot path $SYSROOT does not exist"
+	return
+fi

cmake/scripts/egse/egse_path_helper_win.sh

@@ -0,0 +1,13 @@
+#!/bin/sh
+# Script to set path to raspberry pi toolchain
+# Run script with: source egse_path_helper_win.sh
+TOOLCHAIN_PATH="/c/SysGCC/raspberry/bin"
+if [ $# -eq 1 ];then
+	export PATH=$PATH:"$1"
+else
+	export PATH=$PATH:$TOOLCHAIN_PATH
+fi
+
+echo "Path of toolchain set to $TOOLCHAIN_PATH"
+export CROSS_COMPILE="arm-linux-gnueabihf"
+export RASPBERRY_VERSION="4"

cmake/scripts/egse/make-debug-cfg.sh

@@ -0,0 +1,34 @@
+#!/bin/sh
+counter=0
+cfg_script_name="cmake-build-cfg.py"
+while [ ${counter} -lt 5 ]
+do
+    cd ..
+    if [ -f ${cfg_script_name} ];then
+        break
+    fi
+    counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+    echo "${cfg_script_name} not found in upper directories!"
+    exit 1
+fi
+
+
+os_fsfw="linux"
+tgt_bsp="arm/egse"
+build_generator="make"
+build_dir="build-Debug-egse"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l"${build_dir}"
+# set +x

common/config/devConf.h

@@ -48,9 +48,9 @@ namespace uart {
 static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr uint32_t SYRLINKS_BAUD = 38400;
 static constexpr uint32_t GNSS_BAUD = 9600;
-static constexpr uint32_t PLOC_MPSOC_BAUD = 115200;
+static constexpr uint32_t PLOC_MPSOC_BAUD = 921600;
 static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200;
-static constexpr uint32_t STAR_TRACKER_BAUD = 115200;
+static constexpr uint32_t STAR_TRACKER_BAUD = 921600;
 
 }
 

fsfw

@@ -1 +1 @@
-Subproject commit 123f2ff360e71228e1c0c786d80a4c93d7144a2e
+Subproject commit 2d9216ba19f1931225daa5b6b6f244a48c09f1b9

generators/.run/events.run.xml

@@ -6,9 +6,9 @@
     <envs>
       <env name="PYTHONUNBUFFERED" value="1" />
     </envs>
-    <option name="SDK_HOME" value="" />
+    <option name="SDK_HOME" value="C:\Users\jakob\AppData\Local\Programs\Python\Python39\python.exe" />
     <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
-    <option name="IS_MODULE_SDK" value="true" />
+    <option name="IS_MODULE_SDK" value="false" />
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />

generators/bsp_q7s_events.csv

@@ -100,12 +100,14 @@
 11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;./mission/devices/IMTQHandler.h
 11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;./mission/devices/IMTQHandler.h
 11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;./mission/devices/RwHandler.h
+11401;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;./linux/devices/startracker/StarTrackerHandler.h
+11402;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;./linux/devices/startracker/StarTrackerHandler.h
 11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;./bsp_q7s/devices/PlocSupervisorHandler.h
 11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;./bsp_q7s/devices/PlocSupervisorHandler.h
 11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;./bsp_q7s/devices/PlocSupervisorHandler.h
 11504;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;./bsp_q7s/devices/PlocSupervisorHandler.h
-11600;SANITIZATION_FAILED;LOW;;./bsp_q7s/memory/SdCardManager.h
+11600;ALLOC_FAILURE;MEDIUM;;./bsp_q7s/core/CoreController.h
-11601;MOUNTED_SD_CARD;INFO;;./bsp_q7s/memory/SdCardManager.h
+11601;REBOOT_SW;MEDIUM; Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;./bsp_q7s/core/CoreController.h
 11603;REBOOT_HW;MEDIUM;;./bsp_q7s/core/CoreController.h
 11700;UPDATE_FILE_NOT_EXISTS;LOW;;./bsp_q7s/devices/PlocUpdater.h
 11701;ACTION_COMMANDING_FAILED;LOW;Failed to send command to supervisor handler P1: Return value of CommandActionHelper::commandAction P2: Action ID of command to send;./bsp_q7s/devices/PlocUpdater.h
@@ -120,26 +122,23 @@
 11902;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;./linux/obc/PdecHandler.h
 11903;CARRIER_LOCK;INFO;Carrier lock detected;./linux/obc/PdecHandler.h
 11904;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);./linux/obc/PdecHandler.h
-12000;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;./bsp_q7s/devices/startracker/StrHelper.h
+12000;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;./linux/devices/startracker/StrHelper.h
-12001;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;./bsp_q7s/devices/startracker/StrHelper.h
+12001;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;./linux/devices/startracker/StrHelper.h
-12002;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;./bsp_q7s/devices/startracker/StrHelper.h
+12002;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;./linux/devices/startracker/StrHelper.h
-12003;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;./bsp_q7s/devices/startracker/StrHelper.h
+12003;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;./linux/devices/startracker/StrHelper.h
-12004;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;./bsp_q7s/devices/startracker/StrHelper.h
+12004;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;./linux/devices/startracker/StrHelper.h
-12005;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;./bsp_q7s/devices/startracker/StrHelper.h
+12005;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;./linux/devices/startracker/StrHelper.h
-12006;FLASH_WRITE_FAILED;LOW;Flash write procedure failed;./bsp_q7s/devices/startracker/StrHelper.h
+12006;FLASH_READ_FAILED;LOW;Flash read procedure failed;./linux/devices/startracker/StrHelper.h
-12007;FLASH_READ_FAILED;LOW;Flash read procedure failed;./bsp_q7s/devices/startracker/StrHelper.h
+12007;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;./linux/devices/startracker/StrHelper.h
-12008;FPGA_DOWNLOAD_SUCCESSFUL;LOW;Download of FPGA image successful;./bsp_q7s/devices/startracker/StrHelper.h
+12008;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;./linux/devices/startracker/StrHelper.h
-12009;FPGA_DOWNLOAD_FAILED;LOW;Download of FPGA image failed;./bsp_q7s/devices/startracker/StrHelper.h
+12009;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;./linux/devices/startracker/StrHelper.h
-12010;FPGA_UPLOAD_SUCCESSFUL;LOW;Upload of FPGA image successful;./bsp_q7s/devices/startracker/StrHelper.h
+12010;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;./linux/devices/startracker/StrHelper.h
-12011;FPGA_UPLOAD_FAILED;LOW;Upload of FPGA image failed;./bsp_q7s/devices/startracker/StrHelper.h
+12011;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;./linux/devices/startracker/StrHelper.h
-12012;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;./bsp_q7s/devices/startracker/StrHelper.h
+12012;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;./linux/devices/startracker/StrHelper.h
-12013;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;./bsp_q7s/devices/startracker/StrHelper.h
+12013;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;./linux/devices/startracker/StrHelper.h
-12014;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;./bsp_q7s/devices/startracker/StrHelper.h
+12014;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;./linux/devices/startracker/StrHelper.h
-12015;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;./bsp_q7s/devices/startracker/StrHelper.h
+12015;STR_HELPER_SENDING_PACKET_FAILED;LOW;;./linux/devices/startracker/StrHelper.h
-12016;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;./bsp_q7s/devices/startracker/StrHelper.h
+12016;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;./linux/devices/startracker/StrHelper.h
-12017;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;./bsp_q7s/devices/startracker/StrHelper.h
-12018;STR_HELPER_SENDING_PACKET_FAILED;LOW;;./bsp_q7s/devices/startracker/StrHelper.h
-12019;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;./bsp_q7s/devices/startracker/StrHelper.h
 12101;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;./mission/devices/PayloadPcduHandler.h
 12102;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;./mission/devices/PayloadPcduHandler.h
 12103;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;./mission/devices/PayloadPcduHandler.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 153 translations.
+ * @brief    Auto-generated event translation file. Contains 152 translations.
  * @details
- * Generated on: 2022-02-26 13:53:13
+ * Generated on: 2022-03-01 15:15:11
  */
 #include "translateEvents.h"
 
@@ -107,12 +107,14 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
+const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
-const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
-const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *UPDATE_FILE_NOT_EXISTS_STRING = "UPDATE_FILE_NOT_EXISTS";
 const char *ACTION_COMMANDING_FAILED_STRING = "ACTION_COMMANDING_FAILED";
@@ -133,12 +135,9 @@ const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
 const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
 const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
 const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
-const char *FLASH_WRITE_FAILED_STRING = "FLASH_WRITE_FAILED";
 const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
-const char *FPGA_DOWNLOAD_SUCCESSFUL_STRING = "FPGA_DOWNLOAD_SUCCESSFUL";
+const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
-const char *FPGA_DOWNLOAD_FAILED_STRING = "FPGA_DOWNLOAD_FAILED";
+const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
-const char *FPGA_UPLOAD_SUCCESSFUL_STRING = "FPGA_UPLOAD_SUCCESSFUL";
-const char *FPGA_UPLOAD_FAILED_STRING = "FPGA_UPLOAD_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
 const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
@@ -365,6 +364,10 @@ const char *translateEvents(Event event) {
       return INVALID_ERROR_BYTE_STRING;
     case (11301):
       return ERROR_STATE_STRING;
+    case (11401):
+      return BOOTING_FIRMWARE_FAILED_STRING;
+    case (11402):
+      return BOOTING_BOOTLOADER_FAILED_STRING;
     case (11501):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (11502):
@@ -374,9 +377,9 @@ const char *translateEvents(Event event) {
     case (11504):
       return SUPV_CRC_FAILURE_EVENT_STRING;
     case (11600):
-      return SANITIZATION_FAILED_STRING;
+      return ALLOC_FAILURE_STRING;
     case (11601):
-      return MOUNTED_SD_CARD_STRING;
+      return REBOOT_SW_STRING;
     case (11603):
       return REBOOT_HW_STRING;
     case (11700):
@@ -418,32 +421,26 @@ const char *translateEvents(Event event) {
     case (12005):
       return FLASH_READ_SUCCESSFUL_STRING;
     case (12006):
-      return FLASH_WRITE_FAILED_STRING;
-    case (12007):
       return FLASH_READ_FAILED_STRING;
+    case (12007):
+      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
     case (12008):
-      return FPGA_DOWNLOAD_SUCCESSFUL_STRING;
+      return FIRMWARE_UPDATE_FAILED_STRING;
     case (12009):
-      return FPGA_DOWNLOAD_FAILED_STRING;
-    case (12010):
-      return FPGA_UPLOAD_SUCCESSFUL_STRING;
-    case (12011):
-      return FPGA_UPLOAD_FAILED_STRING;
-    case (12012):
       return STR_HELPER_READING_REPLY_FAILED_STRING;
-    case (12013):
+    case (12010):
       return STR_HELPER_COM_ERROR_STRING;
-    case (12014):
+    case (12011):
       return STR_HELPER_NO_REPLY_STRING;
-    case (12015):
+    case (12012):
       return STR_HELPER_DEC_ERROR_STRING;
-    case (12016):
+    case (12013):
       return POSITION_MISMATCH_STRING;
-    case (12017):
+    case (12014):
       return STR_HELPER_FILE_NOT_EXISTS_STRING;
-    case (12018):
+    case (12015):
       return STR_HELPER_SENDING_PACKET_FAILED_STRING;
-    case (12019):
+    case (12016):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12101):
       return NEG_V_OUT_OF_BOUNDS_STRING;

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 112 translations.
- * Generated on: 2022-02-26 14:03:55
+ * Generated on: 2022-03-01 15:15:27
  */
 #include "translateObjects.h"
 

linux/boardtest/SpiTestClass.cpp

@@ -337,6 +337,8 @@ void SpiTestClass::performMax1227Test() {
   std::string deviceName = q7s::SPI_DEFAULT_DEV;
 #elif defined(RASPBERRY_PI)
   std::string deviceName = "";
+#elif defined(EGSE)
+  std::string deviceName = "";
 #endif
   int fd = 0;
   UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface");

linux/devices/CMakeLists.txt

@@ -1,9 +1,7 @@
-target_sources(${OBSW_NAME} PRIVATE
-	GPSHyperionLinuxController.cpp
-)
-
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
     target_sources(${OBSW_NAME} PRIVATE
         GPSHyperionLinuxController.cpp
     )
 endif()
+
+add_subdirectory(startracker)

linux/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -6,7 +6,7 @@ ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
 
 void ArcsecDatalinkLayer::slipInit() {
   slipInfo.buffer = rxBuffer;
-  slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
+  slipInfo.maxlength = startracker::MAX_FRAME_SIZE;
   slipInfo.length = 0;
   slipInfo.unescape_next = 0;
   slipInfo.prev_state = SLIP_COMPLETE;

linux/devices/startracker/ArcsecDatalinkLayer.h

@@ -1,8 +1,8 @@
 #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
 
-#include "StarTrackerDefinitions.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
 extern "C" {
 #include "common/misc.h"
@@ -79,12 +79,12 @@ class ArcsecDatalinkLayer : public HasReturnvaluesIF {
   static const uint8_t STATUS_OFFSET = 2;
 
   // Used by arcsec slip decoding function process received data
-  uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
+  uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
   // Decoded frame will be copied to this buffer
-  uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
+  uint8_t decodedFrame[startracker::MAX_FRAME_SIZE];
   // Buffer where encoded frames will be stored. First byte of encoded frame represents type of
   // reply
-  uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
+  uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2];
   // Size of decoded frame
   uint32_t decFrameSize = 0;
   // Size of encoded frame

linux/devices/startracker/ArcsecJsonKeys.h

@@ -28,6 +28,13 @@ static const char qx[] = "qx";
 static const char qy[] = "qy";
 static const char qz[] = "qz";
 
+static const char IMAGE_PROCESSOR[] = "imageprocessor";
+static const char IMAGE_PROCESSOR_MODE[] = "mode";
+static const char STORE[] = "store";
+static const char SIGNAL_THRESHOLD[] = "signalThreshold";
+static const char IMAGE_PROCESSOR_DARK_THRESHOLD[] = "darkThreshold";
+static const char BACKGROUND_COMPENSATION[] = "backgroundcompensation";
+
 static const char CAMERA[] = "camera";
 static const char MODE[] = "mode";
 static const char FOCALLENGTH[] = "focallength";
@@ -53,7 +60,6 @@ static const char VAL_7[] = "val7";
 static const char REG_8[] = "reg8";
 static const char VAL_8[] = "val8";
 static const char FREQ_1[] = "freq1";
-static const char FREQ_2[] = "freq2";
 
 static const char BLOB[] = "blob";
 static const char MIN_VALUE[] = "minValue";
@@ -65,8 +71,8 @@ static const char MAX_TOTAL_VALUE[] = "maxTotalValue";
 static const char MIN_BRIGHT_NEIGHBOURS[] = "minBrightNeighbours";
 static const char MAX_BRIGHT_NEIGHBOURS[] = "maxBrightNeighbours";
 static const char MAX_PIXEL_TO_CONSIDER[] = "maxPixelsToConsider";
-static const char SIGNAL_THRESHOLD[] = "signalThreshold";
+// static const char SIGNAL_THRESHOLD[] = "signalThreshold";
-static const char DARK_THRESHOLD[] = "darkThreshold";
+static const char BLOB_DARK_THRESHOLD[] = "darkThreshold";
 static const char ENABLE_HISTOGRAM[] = "enableHistogram";
 static const char ENABLE_CONTRAST[] = "enableContrast";
 static const char BIN_MODE[] = "binMode";
@@ -74,6 +80,7 @@ static const char BIN_MODE[] = "binMode";
 static const char CENTROIDING[] = "centroiding";
 static const char ENABLE_FILTER[] = "enableFilter";
 static const char MAX_QUALITY[] = "maxquality";
+static const char DARK_THRESHOLD[] = "darkthreshold";
 static const char MIN_QUALITY[] = "minquality";
 static const char MAX_INTENSITY[] = "maxintensity";
 static const char MIN_INTENSITY[] = "minintensity";
@@ -86,6 +93,7 @@ static const char TRANSMATRIX_10[] = "transmatrix10";
 static const char TRANSMATRIX_11[] = "transmatrix11";
 
 static const char LISA[] = "lisa";
+static const char LISA_MODE[] = "mode";
 static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
 static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
 static const char FOV_WIDTH[] = "fov_width";
@@ -118,9 +126,56 @@ static const char TRACKER_CHOICE[] = "trackerChoice";
 
 static const char ALGO[] = "algo";
 static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
-static const char L2T_MIN_MATCHED[] = "l2t_minConfidence";
+static const char L2T_MIN_MATCHED[] = "l2t_minMatched";
 static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
 static const char T2L_MIN_MATCHED[] = "t2l_minMatched";
+
+static const char LOGLEVEL[] = "loglevel";
+static const char LOGLEVEL1[] = "loglevel1";
+static const char LOGLEVEL2[] = "loglevel2";
+static const char LOGLEVEL3[] = "loglevel3";
+static const char LOGLEVEL4[] = "loglevel4";
+static const char LOGLEVEL5[] = "loglevel5";
+static const char LOGLEVEL6[] = "loglevel6";
+static const char LOGLEVEL7[] = "loglevel7";
+static const char LOGLEVEL8[] = "loglevel8";
+static const char LOGLEVEL9[] = "loglevel9";
+static const char LOGLEVEL10[] = "loglevel10";
+static const char LOGLEVEL11[] = "loglevel11";
+static const char LOGLEVEL12[] = "loglevel12";
+static const char LOGLEVEL13[] = "loglevel13";
+static const char LOGLEVEL14[] = "loglevel14";
+static const char LOGLEVEL15[] = "loglevel15";
+static const char LOGLEVEL16[] = "loglevel16";
+
+static const char SUBSCRIPTION[] = "subscription";
+static const char TELEMETRY_1[] = "telemetry1";
+static const char TELEMETRY_2[] = "telemetry2";
+static const char TELEMETRY_3[] = "telemetry3";
+static const char TELEMETRY_4[] = "telemetry4";
+static const char TELEMETRY_5[] = "telemetry5";
+static const char TELEMETRY_6[] = "telemetry6";
+static const char TELEMETRY_7[] = "telemetry7";
+static const char TELEMETRY_8[] = "telemetry8";
+static const char TELEMETRY_9[] = "telemetry9";
+static const char TELEMETRY_10[] = "telemetry10";
+static const char TELEMETRY_11[] = "telemetry11";
+static const char TELEMETRY_12[] = "telemetry12";
+static const char TELEMETRY_13[] = "telemetry13";
+static const char TELEMETRY_14[] = "telemetry14";
+static const char TELEMETRY_15[] = "telemetry15";
+static const char TELEMETRY_16[] = "telemetry16";
+
+static const char LOG_SUBSCRIPTION[] = "logsubscription";
+static const char LEVEL1[] = "level1";
+static const char MODULE1[] = "module1";
+static const char LEVEL2[] = "level2";
+static const char MODULE2[] = "module2";
+
+static const char DEBUG_CAMERA[] = "debugcamera";
+static const char TIMING[] = "timing";
+static const char TEST[] = "test";
+
 }  // namespace arcseckeys
 
 #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

linux/devices/startracker/ArcsecJsonParamBase.cpp

@@ -8,9 +8,15 @@ ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer)
   ReturnValue_t result = RETURN_OK;
   result = init(fullname);
   if (result != RETURN_OK) {
+    sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
+                 << setName << std::endl;
     return result;
   }
   result = createCommand(buffer);
+  if (result != RETURN_OK) {
+    sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set "
+                 << setName << std::endl;
+  }
   return result;
 }
 
@@ -91,5 +97,7 @@ ReturnValue_t ArcsecJsonParamBase::initSet() {
       return RETURN_OK;
     }
   }
+  sif::warning << "ArcsecJsonParamBase::initSet: Set " << setName << "not present in json file"
+               << std::endl;
   return SET_NOT_EXISTS;
 }

linux/devices/startracker/ArcsecJsonParamBase.h

@@ -5,8 +5,8 @@
 #include <fstream>
 #include <nlohmann/json.hpp>
 
-#include "StarTrackerDefinitions.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
 extern "C" {
 #include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"

linux/devices/startracker/StarTrackerHandler.h

@@ -5,11 +5,12 @@
 
 #include "ArcsecDatalinkLayer.h"
 #include "ArcsecJsonParamBase.h"
-#include "StarTrackerDefinitions.h"
+#include "OBSWConfig.h"
 #include "StrHelper.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/Countdown.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "thirdparty/arcsec_star_tracker/common/SLIP.h"
 
 /**
@@ -47,6 +48,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   void performOperationHook() override;
 
+  Submode_t getInitialSubmode() override;
+
+  static const Submode_t SUBMODE_BOOTLOADER = 1;
+  static const Submode_t SUBMODE_FIRMWARE = 2;
+
  protected:
   void doStartUp() override;
   void doShutDown() override;
@@ -56,6 +62,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   void fillCommandAndReplyMap() override;
   ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
                                         size_t commandDataLen) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
@@ -68,78 +75,76 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
   virtual ReturnValue_t doSendReadHook() override;
+  virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
 
-  //! [EXPORT] : [COMMENT] Received reply is too short
-  static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
-  //! [EXPORT] : [COMMENT] Received reply with invalid CRC
-  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB1);
-  //! [EXPORT] : [COMMENT] Image loader executing
-  static const ReturnValue_t IMAGE_LOADER_EXECUTING = MAKE_RETURN_CODE(0xB2);
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
-
   //! [EXPORT] : [COMMENT] Status in temperature reply signals error
   static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
   //! [EXPORT] : [COMMENT] Ping command failed
   static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
   //! [EXPORT] : [COMMENT] Status in version reply signals error
-  static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
+  static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA2);
   //! [EXPORT] : [COMMENT] Status in interface reply signals error
-  static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
+  static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
   //! [EXPORT] : [COMMENT] Status in power reply signals error
-  static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
+  static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
   //! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
-  static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
+  static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA5);
   //! [EXPORT] : [COMMENT] Status of reply to action command signals error
-  static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
+  static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Received upload image command with invalid length
-  static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Received upload image command with invalid position field
-  static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
-  static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
-  //! [EXPORT] : [COMMENT] Received upload image command with invalid length
-  static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xAA);
   //! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
-  static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xAB);
+  static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xA7);
   //! [EXPORT] : [COMMENT] Name of file received with command is too long
-  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
+  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA8);
   //! [EXPORT] : [COMMENT] Received version reply with invalid program ID
-  static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
+  static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xA9);
   //! [EXPORT] : [COMMENT] Status field reply signals error
-  static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
+  static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAA);
-  //! [EXPORT] : [COMMENT] Status field of contrast reply signals error
-  static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
   //! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
   //! execution)
-  static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
+  static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAB);
   //! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
-  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
+  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAC);
   //! [EXPORT] : [COMMENT] Region mismatch between send and received data
-  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xB1);
+  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xAD);
   //! [EXPORT] : [COMMENT] Address mismatch between send and received data
-  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xB2);
+  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xAE);
   //! [EXPORT] : [COMMENT] Length field mismatch between send and received data
-  static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xB3);
+  static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xAF);
   //! [EXPORT] : [COMMENT] Specified file does not exist
-  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB4);
+  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB0);
-  //! [EXPORT] : [COMMENT] Reply to upload centroid does not match commanded centroid id
-  static const ReturnValue_t UPLOAD_CENTROID_ID_MISMATCH = MAKE_RETURN_CODE(0xB5);
   //! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
-  static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB6);
+  static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB1);
   //! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
-  static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB7);
+  static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB2);
+  //! [EXPORT] : [COMMENT] Received reply is too short
+  static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB3);
+  //! [EXPORT] : [COMMENT] Received reply with invalid CRC
+  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB4);
+  //! [EXPORT] : [COMMENT] Star tracker handler currently executing a command and using the
+  //! communication interface
+  static const ReturnValue_t STR_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB5);
+  //! [EXPORT] : [COMMENT] Star tracker is already in firmware mode
+  static const ReturnValue_t STARTRACKER_ALREADY_BOOTED = MAKE_RETURN_CODE(0xB6);
+  //! [EXPORT] : [COMMENT] Star tracker is in firmware mode but must be in bootloader mode to
+  //! execute this command
+  static const ReturnValue_t STARTRACKER_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xB7);
+  //! [EXPORT] : [COMMENT] Star tracker is in bootloader mode but must be in firmware mode to
+  //! execute this command
+  static const ReturnValue_t STARTRACKER_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xB8);
+
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
+
+  //! [EXPORT] : [COMMENT] Failed to boot firmware
+  static const Event BOOTING_FIRMWARE_FAILED = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
+  static const Event BOOTING_BOOTLOADER_FAILED = MAKE_EVENT(2, severity::LOW);
 
   static const size_t MAX_PATH_SIZE = 50;
   static const size_t MAX_FILE_NAME = 30;
 
-  // position (uint32) + 1024 image data
-  static const size_t UPLOAD_COMMAND_LEN = 1028;
-  // Max valid position value in upload image command
-  static const uint16_t MAX_POSITION = 4095;
   static const uint8_t STATUS_OFFSET = 1;
   static const uint8_t PARAMS_OFFSET = 1;
   static const uint8_t TICKS_OFFSET = 2;
@@ -154,37 +159,14 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static const uint32_t MUTEX_TIMEOUT = 20;
   static const uint32_t BOOT_TIMEOUT = 1000;
+  static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
 
-  class WriteCmd {
+  class FlashReadCmd {
    public:
-    static const uint8_t ADDRESS_OFFSET = 1;
+    // Minimum length of a read command (region, length and filename)
-    static const uint8_t FILE_OFFSET = 5;
-    // Minimum length of a write command (region, address and filename)
     static const size_t MIN_LENGTH = 7;
   };
 
-  class ReadCmd {
-   public:
-    static const uint8_t ADDRESS_OFFSET = 1;
-    static const uint8_t LENGTH_OFFSET = 5;
-    static const uint8_t FILE_OFFSET = 9;
-    // Minimum length of a read command (region, address, length and filename)
-    static const size_t MIN_LENGTH = 11;
-  };
-
-  class EraseCmd {
-   public:
-    static const uint8_t LENGTH = 1;
-    uint8_t rememberRegion = 0;
-  };
-
-  EraseCmd eraseCmd;
-
-  class UnlockCmd {
-   public:
-    static const uint8_t CODE_OFFSET = 1;
-  };
-
   class ChecksumCmd {
    public:
     static const uint8_t ADDRESS_OFFSET = 1;
@@ -198,94 +180,69 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   ChecksumCmd checksumCmd;
 
-  class SetTimeCmd {
-   public:
-    static const uint8_t LENGTH = 8;
-  };
-
-  class DownloadCentroidCmd {
-   public:
-    static const uint8_t LENGTH = 1;
-  };
-
-  class UploadCentroid {
-   public:
-    uint8_t rememberId = 0;
-  };
-
-  UploadCentroid uploadCentroid;
-
-  class DownloadMatchedStarCmd {
-   public:
-    static const uint8_t LENGTH = 1;
-  };
-
-  class DownloadDbImageCmd {
-   public:
-    static const uint8_t LENGTH = 1;
-  };
-
-  class DownloadBlobPixCmd {
-   public:
-    static const uint8_t LENGTH = 2;
-    static const uint8_t NORMAL = 0;
-    static const uint8_t FAST = 1;
-  };
-
-  class FpgaDownloadCmd {
-   public:
-    static const uint8_t MIN_LENGTH = 10;
-  };
-
-  class FpgaActionCmd {
-   public:
-    static const uint8_t LENGTH = 1;
-    static const uint8_t ID = 3;
-  };
-
   MessageQueueIF* eventQueue = nullptr;
 
   ArcsecDatalinkLayer dataLinkLayer;
 
-  StarTracker::TemperatureSet temperatureSet;
+  startracker::TemperatureSet temperatureSet;
-  StarTracker::VersionSet versionSet;
+  startracker::VersionSet versionSet;
-  StarTracker::PowerSet powerSet;
+  startracker::PowerSet powerSet;
-  StarTracker::InterfaceSet interfaceSet;
+  startracker::InterfaceSet interfaceSet;
-  StarTracker::TimeSet timeSet;
+  startracker::TimeSet timeSet;
-  StarTracker::SolutionSet solutionSet;
+  startracker::SolutionSet solutionSet;
-  StarTracker::HistogramSet histogramSet;
+  startracker::HistogramSet histogramSet;
-  StarTracker::ContrastSet contrastSet;
+  startracker::ChecksumSet checksumSet;
-  StarTracker::ChecksumSet checksumSet;
+  startracker::CameraSet cameraSet;
-  StarTracker::DownloadCentroidSet downloadCentroidSet;
+  startracker::LimitsSet limitsSet;
-  StarTracker::DownloadMatchedStar downloadMatchedStar;
+  startracker::LogLevelSet loglevelSet;
-  StarTracker::DownloadDBImage downloadDbImage;
+  startracker::MountingSet mountingSet;
-  StarTracker::DownloadBlobPixel downloadBlobPixel;
+  startracker::ImageProcessorSet imageProcessorSet;
-  StarTracker::CameraSet cameraSet;
+  startracker::CentroidingSet centroidingSet;
-  StarTracker::LimitsSet limitsSet;
+  startracker::LisaSet lisaSet;
-  StarTracker::BlobSet blobSet;
+  startracker::MatchingSet matchingSet;
+  startracker::TrackingSet trackingSet;
+  startracker::ValidationSet validationSet;
+  startracker::AlgoSet algoSet;
+  startracker::SubscriptionSet subscriptionSet;
+  startracker::LogSubscriptionSet logSubscriptionSet;
+  startracker::DebugCameraSet debugCameraSet;
 
   // Pointer to object responsible for uploading and downloading images to/from the star tracker
   StrHelper* strHelper = nullptr;
 
-  uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
+  uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
 
   // Countdown to insert delay for star tracker to switch from bootloader to firmware program
+  // Loading firmware requires some time and the command will not trigger a reply when executed
   Countdown bootCountdown;
 
-  std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
+#ifdef EGSE
+  std::string paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
+#else
+#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
+  std::string paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
+#else
+  std::string paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
+#endif
+#endif
 
-  enum class InternalState { TEMPERATURE_REQUEST };
+  enum class NormalState { TEMPERATURE_REQUEST, SOLUTION_REQUEST };
 
-  InternalState internalState = InternalState::TEMPERATURE_REQUEST;
+  NormalState normalState = NormalState::TEMPERATURE_REQUEST;
 
-  enum class StartupState {
+  enum class InternalState {
     IDLE,
-    CHECK_BOOT_STATE,
     BOOT,
+    REQ_VERSION,
+    VERIFY_BOOT,
+    STARTUP_CHECK,
     BOOT_DELAY,
+    FIRMWARE_CHECK,
+    LOGLEVEL,
     LIMITS,
     TRACKING,
     MOUNTING,
+    IMAGE_PROCESSOR,
     CAMERA,
     BLOB,
     CENTROIDING,
@@ -293,10 +250,20 @@ class StarTrackerHandler : public DeviceHandlerBase {
     MATCHING,
     VALIDATION,
     ALGO,
+    LOG_SUBSCRIPTION,
+    DEBUG_CAMERA,
     WAIT_FOR_EXECUTION,
-    DONE
+    DONE,
+    FAILED_FIRMWARE_BOOT,
+    BOOT_BOOTLOADER,
+    BOOTLOADER_CHECK,
+    BOOTING_BOOTLOADER_FAILED
   };
 
+  InternalState internalState = InternalState::IDLE;
+
+  enum class StartupState { IDLE, CHECK_PROGRAM, WAIT_CHECK_PROGRAM, BOOT_BOOTLOADER, DONE };
+
   StartupState startupState = StartupState::IDLE;
 
   bool strHelperExecuting = false;
@@ -338,24 +305,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   void handleEvent(EventMessage* eventMessage);
 
-  /**
-   * @brief   Executes the write command
-   *
-   * @param commandData       Pointer to received command data
-   * @param commandDataLen    Size of received command data
-   *
-   * @return  RETURN_OK if start of execution was successful, otherwise error return value
-   */
-  ReturnValue_t executeWriteCommand(const uint8_t* commandData, size_t commandDataLen);
-
-  /**
-   * @brief   Starts the execution of the fpga download command
-   *
-   * @param commandData       Pointer to buffer with command data
-   * @param commandDataLen    Size of received command
-   */
-  ReturnValue_t executeFpgaDownloadCommand(const uint8_t* commandData, size_t commandDataLen);
-
   /**
    * @brief   Extracts information for flash-read-command from TC data and starts execution of
    *          flash-read-procedure
@@ -365,7 +314,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    *
    * @return  RETURN_OK if start of execution was successful, otherwise error return value
    */
-  ReturnValue_t executeReadCommand(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t executeFlashReadCommand(const uint8_t* commandData, size_t commandDataLen);
 
   /**
    * @brief   Fills command buffer with data to boot image (works only when star tracker is
@@ -373,36 +322,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   void prepareBootCommand();
 
-  /**
-   * @brief   Fills command buffer with command to erase a flash region
-   */
-  ReturnValue_t prepareEraseCommand(const uint8_t* commandData, size_t commandDataLen);
-
-  /**
-   * @brief   Fills command buffer with command to unlock flash region
-   */
-  ReturnValue_t prepareUnlockCommand(const uint8_t* commandData, size_t commandDataLen);
-
   /**
    * @brief   Fills command buffer with command to get the checksum of a flash part
    */
   ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
 
-  /**
-   * @brief   Fills command buffer with command to set the unix time
-   */
-  ReturnValue_t prepareSetTimeCommand(const uint8_t* commandData, size_t commandDataLen);
-
-  /**
-   * @brief   Fills command buffer with command to request a centroid
-   */
-  ReturnValue_t prepareDownloadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
-
-  /**
-   * @brief   Fills command buffer with command to upload a centroid for testing purpose
-   */
-  ReturnValue_t prepareUploadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
-
   /**
    * @brief   Fills the command buffer with the command to take an image.
    */
@@ -426,7 +350,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   /**
    * @brief   Fills command buffer with data to reboot star tracker.
    */
-  void prepareRebootCommand();
+  void prepareSwitchToBootloaderCmd();
 
   /**
    * @brief   Fills command buffer with data to subscribe to a telemetry packet.
@@ -451,13 +375,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   void prepareHistogramRequest();
 
-  void prepareContrastRequest();
-
-  /**
-   * @brief   Fills command buffer with command to reset the error signal of the star tracker
-   */
-  void prepareErrorResetRequest();
-
   /**
    * @brief   Reads parameters from json file specified by string in commandData and
    *          prepares the command to apply the parameter set to the star tracker
@@ -472,40 +389,23 @@ class StarTrackerHandler : public DeviceHandlerBase {
                                     ArcsecJsonParamBase& paramSet);
 
   /**
-   * @brief   Fills command buffer with data to request matched star.
+   * @brief   The following function will fill the command buffer with the command to request
-   */
+   *          a parameter set.
-  ReturnValue_t prepareDownloadMatchedStarCommand(const uint8_t* commandData,
-                                                  size_t commandDataLen);
-
-  /**
-   * @brief   Fills command buffer with data to request matched star coordinates.
-   */
-  ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, size_t commandDataLen);
-
-  /**
-   * @brief   Fills command buffer with data to request output of the blob filter algorithm.
-   */
-  ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, size_t commandDataLen);
-
-  /**
-   * @brief   With this command the FPGA update will be applied to the star tracker
-   */
-  ReturnValue_t prepareFpgaActionCommand(const uint8_t* commandData, size_t commandDataLen);
-
-  /**
-   * @brief   Will fill the command buffer with the command to request the set camera parameters.
    */
   ReturnValue_t prepareRequestCameraParams();
-
-  /**
-   * @brief   Will fill the command buffer with the command to request the set limits.
-   */
   ReturnValue_t prepareRequestLimitsParams();
-
+  ReturnValue_t prepareRequestLogLevelParams();
-  /**
+  ReturnValue_t prepareRequestMountingParams();
-   * @brief   Will fill the command buffer with the command to request the set blob parameters.
+  ReturnValue_t prepareRequestImageProcessorParams();
-   */
+  ReturnValue_t prepareRequestCentroidingParams();
-  ReturnValue_t prepareRequestBlobParams();
+  ReturnValue_t prepareRequestLisaParams();
+  ReturnValue_t prepareRequestMatchingParams();
+  ReturnValue_t prepareRequestTrackingParams();
+  ReturnValue_t prepareRequestValidationParams();
+  ReturnValue_t prepareRequestAlgoParams();
+  ReturnValue_t prepareRequestSubscriptionParams();
+  ReturnValue_t prepareRequestLogSubscriptionParams();
+  ReturnValue_t prepareRequestDebugCameraParams();
 
   /**
    * @brief   Handles action replies with datasets.
@@ -522,11 +422,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   ReturnValue_t handleUploadCentroidReply();
 
-  /**
-   * @brief   Handles reply to erase command
-   */
-  ReturnValue_t handleEraseReply();
-
   /**
    * @brief   Handles reply to checksum command
    */
@@ -560,6 +455,20 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * @return  RETURN_OK if successful, otherwise error return value
    */
   ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
+
+  /**
+   * @brief Checks if star tracker is in valid mode for executing the received command.
+   *
+   * @param actioId Id of received command
+   *
+   * @return    RETURN_OK if star tracker is in valid mode, otherwise error return value
+   */
+  ReturnValue_t checkCommand(ActionId_t actionId);
+
+  void doOnTransition(Submode_t subModeFrom);
+  void doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom);
+  void bootFirmware(Mode_t toMode);
+  void bootBootloader();
 };
 
 #endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

linux/devices/startracker/StarTrackerJsonCommands.cpp

@@ -10,7 +10,7 @@ ReturnValue_t Limits::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::LIMITS);
+  addSetParamHeader(buffer, startracker::ID::LIMITS);
   offset = 2;
   result = getParam(arcseckeys::ACTION, param);
   if (result != RETURN_OK) {
@@ -88,7 +88,7 @@ ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::TRACKING);
+  addSetParamHeader(buffer, startracker::ID::TRACKING);
   offset = 2;
   result = getParam(arcseckeys::THIN_LIMIT, param);
   if (result != RETURN_OK) {
@@ -124,7 +124,7 @@ ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::MOUNTING);
+  addSetParamHeader(buffer, startracker::ID::MOUNTING);
   offset = 2;
   result = getParam(arcseckeys::qw, param);
   if (result != RETURN_OK) {
@@ -152,6 +152,48 @@ ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
   return RETURN_OK;
 }
 
+ImageProcessor::ImageProcessor() : ArcsecJsonParamBase(arcseckeys::IMAGE_PROCESSOR) {}
+
+size_t ImageProcessor::getSize() { return COMMAND_SIZE; }
+
+ReturnValue_t ImageProcessor::createCommand(uint8_t* buffer) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t offset = 0;
+  std::string param;
+  addSetParamHeader(buffer, startracker::ID::IMAGE_PROCESSOR);
+  offset = 2;
+  result = getParam(arcseckeys::IMAGE_PROCESSOR_MODE, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::STORE, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint16(param, buffer + offset);
+  offset += sizeof(uint16_t);
+  result = getParam(arcseckeys::IMAGE_PROCESSOR_DARK_THRESHOLD, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint16(param, buffer + offset);
+  offset += sizeof(uint16_t);
+  result = getParam(arcseckeys::BACKGROUND_COMPENSATION, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  return RETURN_OK;
+}
+
 Camera::Camera() : ArcsecJsonParamBase(arcseckeys::CAMERA) {}
 
 size_t Camera::getSize() { return COMMAND_SIZE; }
@@ -160,7 +202,7 @@ ReturnValue_t Camera::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::CAMERA);
+  addSetParamHeader(buffer, startracker::ID::CAMERA);
   offset = 2;
   result = getParam(arcseckeys::MODE, param);
   if (result != RETURN_OK) {
@@ -304,116 +346,7 @@ ReturnValue_t Camera::createCommand(uint8_t* buffer) {
   if (result != RETURN_OK) {
     return result;
   }
-  addfloat(param, buffer + offset);
-  offset += sizeof(float);
-  result = getParam(arcseckeys::FREQ_2, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  addfloat(param, buffer + offset);
-  return RETURN_OK;
-}
-
-Blob::Blob() : ArcsecJsonParamBase(arcseckeys::BLOB) {}
-
-size_t Blob::getSize() { return COMMAND_SIZE; }
-
-ReturnValue_t Blob::createCommand(uint8_t* buffer) {
-  ReturnValue_t result = RETURN_OK;
-  uint8_t offset = 0;
-  std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::BLOB);
-  offset = 2;
-  result = getParam(arcseckeys::MODE, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::MIN_VALUE, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::MIN_DISTANCE, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::NEIGHBOUR_DISTANCE, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::NEIGHBOUR_BRIGHT_PIXELS, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::MIN_TOTAL_VALUE, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint16(param, buffer + offset);
-  offset += sizeof(uint16_t);
-  result = getParam(arcseckeys::MAX_TOTAL_VALUE, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint16(param, buffer + offset);
-  offset += sizeof(uint16_t);
-  result = getParam(arcseckeys::MIN_BRIGHT_NEIGHBOURS, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint16(param, buffer + offset);
-  offset += sizeof(uint16_t);
-  result = getParam(arcseckeys::MAX_BRIGHT_NEIGHBOURS, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint16(param, buffer + offset);
-  offset += sizeof(uint16_t);
-  result = getParam(arcseckeys::MAX_PIXEL_TO_CONSIDER, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
   adduint32(param, buffer + offset);
-  offset += sizeof(uint32_t);
-  result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::DARK_THRESHOLD, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::ENABLE_HISTOGRAM, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::ENABLE_CONTRAST, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
-  result = getParam(arcseckeys::BIN_MODE, param);
-  if (result != RETURN_OK) {
-    return result;
-  }
-  adduint8(param, buffer + offset);
-  offset += sizeof(uint8_t);
   return RETURN_OK;
 }
 
@@ -425,7 +358,7 @@ ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::CENTROIDING);
+  addSetParamHeader(buffer, startracker::ID::CENTROIDING);
   offset = 2;
   result = getParam(arcseckeys::ENABLE_FILTER, param);
   if (result != RETURN_OK) {
@@ -439,6 +372,12 @@ ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
   }
   addfloat(param, buffer + offset);
   offset += sizeof(float);
+  result = getParam(arcseckeys::DARK_THRESHOLD, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  addfloat(param, buffer + offset);
+  offset += sizeof(float);
   result = getParam(arcseckeys::MIN_QUALITY, param);
   if (result != RETURN_OK) {
     return result;
@@ -509,8 +448,14 @@ ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::LISA);
+  addSetParamHeader(buffer, startracker::ID::LISA);
   offset = 2;
+  result = getParam(arcseckeys::LISA_MODE, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint32(param, buffer + offset);
+  offset += sizeof(uint32_t);
   result = getParam(arcseckeys::PREFILTER_DIST_THRESHOLD, param);
   if (result != RETURN_OK) {
     return result;
@@ -559,6 +504,12 @@ ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
   }
   addfloat(param, buffer + offset);
   offset += sizeof(float);
+  result = getParam(arcseckeys::RATING_WEIGHT_MEAN_SUM, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  addfloat(param, buffer + offset);
+  offset += sizeof(float);
   result = getParam(arcseckeys::RATING_WEIGHT_DB_STAR_COUNT, param);
   if (result != RETURN_OK) {
     return result;
@@ -594,7 +545,7 @@ ReturnValue_t Matching::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::MATCHING);
+  addSetParamHeader(buffer, startracker::ID::MATCHING);
   offset = 2;
   result = getParam(arcseckeys::SQUARED_DISTANCE_LIMIT, param);
   if (result != RETURN_OK) {
@@ -618,7 +569,7 @@ ReturnValue_t Validation::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::VALIDATION);
+  addSetParamHeader(buffer, startracker::ID::VALIDATION);
   offset = 2;
   result = getParam(arcseckeys::STABLE_COUNT, param);
   if (result != RETURN_OK) {
@@ -654,7 +605,7 @@ ReturnValue_t Algo::createCommand(uint8_t* buffer) {
   ReturnValue_t result = RETURN_OK;
   uint8_t offset = 0;
   std::string param;
-  addSetParamHeader(buffer, StarTracker::ID::ALGO);
+  addSetParamHeader(buffer, startracker::ID::ALGO);
   offset = 2;
   result = getParam(arcseckeys::MODE, param);
   if (result != RETURN_OK) {
@@ -687,3 +638,280 @@ ReturnValue_t Algo::createCommand(uint8_t* buffer) {
   adduint8(param, buffer + offset);
   return RETURN_OK;
 }
+
+LogLevel::LogLevel() : ArcsecJsonParamBase(arcseckeys::LOGLEVEL) {}
+
+size_t LogLevel::getSize() { return COMMAND_SIZE; }
+
+ReturnValue_t LogLevel::createCommand(uint8_t* buffer) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t offset = 0;
+  std::string param;
+  addSetParamHeader(buffer, startracker::ID::LOG_LEVEL);
+  offset = 2;
+  result = getParam(arcseckeys::LOGLEVEL1, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL2, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL3, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL4, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL5, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL6, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL7, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL8, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL9, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL10, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL11, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL12, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL13, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL14, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL15, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LOGLEVEL16, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+
+  return RETURN_OK;
+}
+
+Subscription::Subscription() : ArcsecJsonParamBase(arcseckeys::SUBSCRIPTION) {}
+
+size_t Subscription::getSize() { return COMMAND_SIZE; }
+
+ReturnValue_t Subscription::createCommand(uint8_t* buffer) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t offset = 0;
+  std::string param;
+  addSetParamHeader(buffer, startracker::ID::SUBSCRIPTION);
+  offset = 2;
+  result = getParam(arcseckeys::TELEMETRY_1, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_2, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_3, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_4, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_5, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_6, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_7, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_8, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_9, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_10, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_11, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_12, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_13, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_14, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_15, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::TELEMETRY_16, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  return RETURN_OK;
+}
+
+LogSubscription::LogSubscription() : ArcsecJsonParamBase(arcseckeys::LOG_SUBSCRIPTION) {}
+
+size_t LogSubscription::getSize() { return COMMAND_SIZE; }
+
+ReturnValue_t LogSubscription::createCommand(uint8_t* buffer) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t offset = 0;
+  std::string param;
+  addSetParamHeader(buffer, startracker::ID::LOG_SUBSCRIPTION);
+  offset = 2;
+  result = getParam(arcseckeys::LEVEL1, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::MODULE1, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::LEVEL2, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  offset += sizeof(uint8_t);
+  result = getParam(arcseckeys::MODULE2, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint8(param, buffer + offset);
+  return RETURN_OK;
+}
+
+DebugCamera::DebugCamera() : ArcsecJsonParamBase(arcseckeys::DEBUG_CAMERA) {}
+
+size_t DebugCamera::getSize() { return COMMAND_SIZE; }
+
+ReturnValue_t DebugCamera::createCommand(uint8_t* buffer) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t offset = 0;
+  std::string param;
+  addSetParamHeader(buffer, startracker::ID::DEBUG_CAMERA);
+  offset = 2;
+  result = getParam(arcseckeys::TIMING, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint32(param, buffer + offset);
+  offset += sizeof(uint32_t);
+  result = getParam(arcseckeys::TEST, param);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  adduint32(param, buffer + offset);
+  return RETURN_OK;
+}

linux/devices/startracker/StarTrackerJsonCommands.h

@@ -60,6 +60,22 @@ class Mounting : public ArcsecJsonParamBase {
   ReturnValue_t createCommand(uint8_t* buffer) override;
 };
 
+/**
+ * @brief   Generates the command to configure the image processor
+ *
+ */
+class ImageProcessor : public ArcsecJsonParamBase {
+ public:
+  ImageProcessor();
+
+  size_t getSize();
+
+ private:
+  static const size_t COMMAND_SIZE = 9;
+
+  ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
 /**
  * @brief   Generates the command to set the mounting quaternion
  *
@@ -71,23 +87,7 @@ class Camera : public ArcsecJsonParamBase {
   size_t getSize();
 
  private:
-  static const size_t COMMAND_SIZE = 43;
+  static const size_t COMMAND_SIZE = 39;
-
-  ReturnValue_t createCommand(uint8_t* buffer) override;
-};
-
-/**
- * @brief   Generates the command to configure the blob algorithm
- *
- */
-class Blob : public ArcsecJsonParamBase {
- public:
-  Blob();
-
-  size_t getSize();
-
- private:
-  static const size_t COMMAND_SIZE = 24;
 
   ReturnValue_t createCommand(uint8_t* buffer) override;
 };
@@ -103,7 +103,7 @@ class Centroiding : public ArcsecJsonParamBase {
   size_t getSize();
 
  private:
-  static const size_t COMMAND_SIZE = 47;
+  static const size_t COMMAND_SIZE = 51;
 
   ReturnValue_t createCommand(uint8_t* buffer) override;
 };
@@ -119,7 +119,7 @@ class Lisa : public ArcsecJsonParamBase {
   size_t getSize();
 
  private:
-  static const size_t COMMAND_SIZE = 48;
+  static const size_t COMMAND_SIZE = 52;
 
   ReturnValue_t createCommand(uint8_t* buffer) override;
 };
@@ -173,4 +173,68 @@ class Algo : public ArcsecJsonParamBase {
   ReturnValue_t createCommand(uint8_t* buffer) override;
 };
 
+/**
+ * @brief   Generates command to configure the log level parameters.
+ *
+ */
+class LogLevel : public ArcsecJsonParamBase {
+ public:
+  LogLevel();
+
+  size_t getSize();
+
+ private:
+  static const size_t COMMAND_SIZE = 18;
+
+  ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
+/**
+ * @brief   Generates command to set subscription parameters.
+ *
+ */
+class Subscription : public ArcsecJsonParamBase {
+ public:
+  Subscription();
+
+  size_t getSize();
+
+ private:
+  static const size_t COMMAND_SIZE = 18;
+
+  ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
+/**
+ * @brief   Generates command to set log subscription parameters.
+ *
+ */
+class LogSubscription : public ArcsecJsonParamBase {
+ public:
+  LogSubscription();
+
+  size_t getSize();
+
+ private:
+  static const size_t COMMAND_SIZE = 6;
+
+  ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
+/**
+ * @brief   Generates command to set debug camera parameters
+ *
+ */
+class DebugCamera : public ArcsecJsonParamBase {
+ public:
+  DebugCamera();
+
+  size_t getSize();
+
+ private:
+  static const size_t COMMAND_SIZE = 10;
+
+  ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
 #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

linux/devices/startracker/StrHelper.cpp

@@ -3,6 +3,9 @@
 #include <filesystem>
 #include <fstream>
 
+#include "OBSWConfig.h"
+#include "fsfw/timemanager/Countdown.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "mission/utility/Timestamp.h"
 
 StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
@@ -10,11 +13,13 @@ StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
 StrHelper::~StrHelper() {}
 
 ReturnValue_t StrHelper::initialize() {
+#ifdef XIPHOS_Q7S
   sdcMan = SdCardManager::instance();
   if (sdcMan == nullptr) {
     sif::warning << "StrHelper::initialize: Invalid SD Card Manager" << std::endl;
     return RETURN_FAILED;
   }
+#endif
   return RETURN_OK;
 }
 
@@ -47,16 +52,6 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
         internalState = InternalState::IDLE;
         break;
       }
-      case InternalState::FLASH_WRITE: {
-        result = performFlashWrite();
-        if (result == RETURN_OK) {
-          triggerEvent(FLASH_WRITE_SUCCESSFUL);
-        } else {
-          triggerEvent(FLASH_WRITE_FAILED);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
       case InternalState::FLASH_READ: {
         result = performFlashRead();
         if (result == RETURN_OK) {
@@ -67,22 +62,12 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
         internalState = InternalState::IDLE;
         break;
       }
-      case InternalState::DOWNLOAD_FPGA_IMAGE: {
+      case InternalState::FIRMWARE_UPDATE: {
-        result = performFpgaDownload();
+        result = performFirmwareUpdate();
         if (result == RETURN_OK) {
-          triggerEvent(FPGA_DOWNLOAD_SUCCESSFUL);
+          triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
         } else {
-          triggerEvent(FPGA_DOWNLOAD_FAILED);
+          triggerEvent(FIRMWARE_UPDATE_FAILED);
-        }
-        internalState = InternalState::IDLE;
-        break;
-      }
-      case InternalState::UPLOAD_FPGA_IMAGE: {
-        result = performFpgaUpload();
-        if (result == RETURN_OK) {
-          triggerEvent(FPGA_UPLOAD_SUCCESSFUL);
-        } else {
-          triggerEvent(FPGA_UPLOAD_FAILED);
         }
         internalState = InternalState::IDLE;
         break;
@@ -106,10 +91,12 @@ ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_
 void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
 
 ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
+#ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(fullname);
   if (result != RETURN_OK) {
     return result;
   }
+#endif
   uploadImage.uploadFile = fullname;
   if (not std::filesystem::exists(fullname)) {
     return FILE_NOT_EXISTS;
@@ -121,10 +108,12 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
 }
 
 ReturnValue_t StrHelper::startImageDownload(std::string path) {
+#ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(path);
   if (result != RETURN_OK) {
     return result;
   }
+#endif
   if (not std::filesystem::exists(path)) {
     return PATH_NOT_EXISTS;
   }
@@ -141,37 +130,37 @@ void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filen
 
 void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
 
-void StrHelper::setDownloadFpgaImage(std::string filename) { fpgaDownload.fileName = filename; }
+ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) {
-
+#ifdef XIPHOS_Q7S
-ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region, uint32_t address) {
   ReturnValue_t result = checkPath(fullname);
   if (result != RETURN_OK) {
     return result;
   }
+#endif
   flashWrite.fullname = fullname;
   if (not std::filesystem::exists(flashWrite.fullname)) {
     return FILE_NOT_EXISTS;
   }
-  flashWrite.address = address;
+  flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST);
-  flashWrite.region = region;
+  flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST);
-  internalState = InternalState::FLASH_WRITE;
+  internalState = InternalState::FIRMWARE_UPDATE;
   semaphore.release();
   terminate = false;
   return RETURN_OK;
 }
 
-ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region, uint32_t address,
+ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, uint32_t length) {
-                                        uint32_t length) {
+#ifdef XIPHOS_Q7S
   ReturnValue_t result = checkPath(path);
   if (result != RETURN_OK) {
     return result;
   }
+#endif
   flashRead.path = path;
   if (not std::filesystem::exists(flashRead.path)) {
     return FILE_NOT_EXISTS;
   }
-  flashRead.address = address;
+  flashRead.startRegion = startRegion;
-  flashRead.region = region;
   flashRead.size = length;
   internalState = InternalState::FLASH_READ;
   semaphore.release();
@@ -179,39 +168,24 @@ ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region, uint32
   return RETURN_OK;
 }
 
-ReturnValue_t StrHelper::startFpgaDownload(std::string path, uint32_t startPosition,
+void StrHelper::disableTimestamping() { timestamping = false; }
-                                           uint32_t length) {
-  fpgaDownload.path = path;
-  fpgaDownload.startPosition = startPosition;
-  fpgaDownload.length = length;
-  internalState = InternalState::DOWNLOAD_FPGA_IMAGE;
-  semaphore.release();
-  terminate = false;
-  return RETURN_OK;
-}
 
-ReturnValue_t StrHelper::startFpgaUpload(std::string uploadFile) {
+void StrHelper::enableTimestamping() { timestamping = true; }
-  fpgaUpload.uploadFile = uploadFile;
-  internalState = InternalState::UPLOAD_FPGA_IMAGE;
-  semaphore.release();
-  terminate = false;
-  return RETURN_OK;
-}
 
 ReturnValue_t StrHelper::performImageDownload() {
   ReturnValue_t result;
   struct DownloadActionRequest downloadReq;
   uint32_t size = 0;
   uint32_t retries = 0;
-  Timestamp timestamp;
+  std::string image = makeFullFilename(downloadImage.path, downloadImage.filename);
-  std::string image = downloadImage.path + "/" + timestamp.str() + downloadImage.filename;
+  std::ofstream file(image, std::ios_base::out);
-  std::ofstream file(image, std::ios_base::app | std::ios_base::out);
   if (not std::filesystem::exists(image)) {
     return FILE_CREATION_FAILED;
   }
   downloadReq.position = 0;
   while (downloadReq.position < ImageDownload::LAST_POSITION) {
     if (terminate) {
+      file.close();
       return RETURN_OK;
     }
     arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
@@ -246,8 +220,11 @@ ReturnValue_t StrHelper::performImageDownload() {
       return result;
     }
     file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
-               IMAGE_DATA_SIZE);
+               CHUNK_SIZE);
     downloadReq.position++;
+#if OBSW_DEBUG_STARTRACKER == 1
+    printProgress(downloadReq.position, ImageDownload::LAST_POSITION);
+#endif /* OBSW_DEBUG_STARTRACKER == 1 */
     retries = 0;
   }
   file.close();
@@ -273,6 +250,7 @@ ReturnValue_t StrHelper::performImageUpload() {
   imageSize = file.tellg();
   while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
     if (terminate) {
+      file.close();
       return RETURN_OK;
     }
     file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
@@ -280,12 +258,17 @@ ReturnValue_t StrHelper::performImageUpload() {
     arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
     result = sendAndRead(size, uploadReq.position);
     if (result != RETURN_OK) {
+      file.close();
       return RETURN_FAILED;
     }
     result = checkActionReply();
     if (result != RETURN_OK) {
+      file.close();
       return result;
     }
+#if OBSW_DEBUG_STARTRACKER == 1
+    printProgress((uploadReq.position + 1) * SIZE_IMAGE_PART, imageSize);
+#endif /* OBSW_DEBUG_STARTRACKER == 1 */
     uploadReq.position++;
   }
   std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
@@ -303,13 +286,28 @@ ReturnValue_t StrHelper::performImageUpload() {
   if (result != RETURN_OK) {
     return result;
   }
+#if OBSW_DEBUG_STARTRACKER == 1
+  printProgress((uploadReq.position + 1) * SIZE_IMAGE_PART, imageSize);
+#endif /* OBSW_DEBUG_STARTRACKER == 1 */
   return RETURN_OK;
 }
 
+ReturnValue_t StrHelper::performFirmwareUpdate() {
+  using namespace startracker;
+  ReturnValue_t result = RETURN_OK;
+  result = unlockAndEraseRegions(static_cast<uint32_t>(startracker::FirmwareRegions::FIRST),
+                                 static_cast<uint32_t>(startracker::FirmwareRegions::LAST));
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = performFlashWrite();
+  return result;
+}
+
 ReturnValue_t StrHelper::performFlashWrite() {
   ReturnValue_t result = RETURN_OK;
   uint32_t size = 0;
-  uint32_t remainingBytes = 0;
+  uint32_t bytesWritten = 0;
   uint32_t fileSize = 0;
   struct WriteActionRequest req;
   if (not std::filesystem::exists(flashWrite.fullname)) {
@@ -320,36 +318,55 @@ ReturnValue_t StrHelper::performFlashWrite() {
   std::ifstream file(flashWrite.fullname, std::ifstream::binary);
   file.seekg(0, file.end);
   fileSize = file.tellg();
-  remainingBytes = fileSize;
+  if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) {
-  req.region = flashWrite.region;
+    sif::warning << "StrHelper::performFlashWrite: Invalid file" << std::endl;
-  req.address = flashWrite.address;
+    return RETURN_FAILED;
-  req.length = MAX_FLASH_DATA;
+  }
-  while (remainingBytes >= MAX_FLASH_DATA) {
+  uint32_t fileChunks = fileSize / CHUNK_SIZE;
+  bytesWritten = 0;
+  req.region = flashWrite.firstRegion;
+  req.length = CHUNK_SIZE;
+  for (uint32_t idx = 0; idx < fileChunks; idx++) {
     if (terminate) {
+      file.close();
       return RETURN_OK;
     }
-    file.seekg(fileSize - remainingBytes, file.beg);
+    file.seekg(idx * CHUNK_SIZE, file.beg);
-    file.read(reinterpret_cast<char*>(req.data), MAX_FLASH_DATA);
+    file.read(reinterpret_cast<char*>(req.data), CHUNK_SIZE);
+    if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
+      req.region++;
+      bytesWritten = 0;
+    }
+    req.address = bytesWritten;
     arc_pack_write_action_req(&req, commandBuffer, &size);
     result = sendAndRead(size, req.address);
     if (result != RETURN_OK) {
-      return RETURN_FAILED;
+      file.close();
+      return result;
     }
-    result = checkFlashActionReply(req.region, req.address, req.length);
+    result = checkActionReply();
+    if (result != RETURN_OK) {
+      file.close();
+      return result;
+    }
+    bytesWritten += CHUNK_SIZE;
+  }
+  uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
+  file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg);
+  file.read(reinterpret_cast<char*>(req.data), remainingBytes);
+  file.close();
+  if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
+    req.region++;
+    bytesWritten = 0;
+  }
+  req.address = bytesWritten;
+  req.length = remainingBytes;
+  arc_pack_write_action_req(&req, commandBuffer, &size);
+  result = sendAndRead(size, req.address);
   if (result != RETURN_OK) {
     return result;
   }
-    remainingBytes = remainingBytes - MAX_FLASH_DATA;
+  result = checkActionReply();
-  }
-  file.seekg(fileSize - remainingBytes, file.beg);
-  file.read(reinterpret_cast<char*>(req.data), remainingBytes);
-  file.close();
-  arc_pack_write_action_req(&req, commandBuffer, &size);
-  result = sendAndRead(size, req.address);
-  if (result != RETURN_OK) {
-    return RETURN_FAILED;
-  }
-  result = checkFlashActionReply(req.region, req.address, req.length);
   if (result != RETURN_OK) {
     return result;
   }
@@ -363,22 +380,22 @@ ReturnValue_t StrHelper::performFlashRead() {
   uint32_t size = 0;
   uint32_t retries = 0;
   Timestamp timestamp;
-  std::string fullname = flashRead.path + "/" + timestamp.str() + flashRead.filename;
+  std::string fullname = makeFullFilename(flashRead.path, flashRead.filename);
   std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
   if (not std::filesystem::exists(fullname)) {
     return FILE_CREATION_FAILED;
   }
-  req.region = flashRead.region;
+  req.region = flashRead.startRegion;
+  req.address = 0;
   while (bytesRead < flashRead.size) {
     if (terminate) {
       return RETURN_OK;
     }
-    if ((flashRead.size - bytesRead) < MAX_FLASH_DATA) {
+    if ((flashRead.size - bytesRead) < CHUNK_SIZE) {
       req.length = flashRead.size - bytesRead;
     } else {
-      req.length = MAX_FLASH_DATA;
+      req.length = CHUNK_SIZE;
     }
-    req.address = flashRead.address + bytesRead;
     arc_pack_read_action_req(&req, commandBuffer, &size);
     result = sendAndRead(size, req.address);
     if (result != RETURN_OK) {
@@ -400,117 +417,24 @@ ReturnValue_t StrHelper::performFlashRead() {
       file.close();
       return result;
     }
-    result = checkFlashActionReply(req.region, req.address, req.length);
-    if (result != RETURN_OK) {
-      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
-        retries++;
-        continue;
-      }
-      file.close();
-      return result;
-    }
     file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
                req.length);
     bytesRead += req.length;
+    req.address += req.length;
+    if (req.address >= FLASH_REGION_SIZE) {
+      req.address = 0;
+      req.region++;
+    }
     retries = 0;
+#if OBSW_DEBUG_STARTRACKER == 1
+    printProgress(bytesRead, flashRead.size);
+#endif /* OBSW_DEBUG_STARTRACKER == 1 */
   }
   file.close();
   return RETURN_OK;
 }
 
-ReturnValue_t StrHelper::performFpgaDownload() {
+ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) {
-  ReturnValue_t result;
-  struct DownloadFPGAImageActionRequest req;
-  uint32_t size = 0;
-  uint32_t retries = 0;
-  Timestamp timestamp;
-  std::string image = fpgaDownload.path + "/" + timestamp.str() + fpgaDownload.fileName;
-  std::ofstream file(image, std::ios_base::app | std::ios_base::out);
-  if (not std::filesystem::exists(image)) {
-    return FILE_CREATION_FAILED;
-  }
-  req.pos = fpgaDownload.startPosition;
-  while (req.pos < fpgaDownload.length) {
-    if (terminate) {
-      return RETURN_OK;
-    }
-    if (fpgaDownload.length - req.pos >= FpgaDownload::MAX_DATA) {
-      req.length = FpgaDownload::MAX_DATA;
-    } else {
-      req.length = fpgaDownload.length - req.pos;
-    }
-    arc_pack_downloadfpgaimage_action_req(&req, commandBuffer, &size);
-    result = sendAndRead(size, req.pos);
-    if (result != RETURN_OK) {
-      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
-        retries++;
-        continue;
-      }
-      file.close();
-      return result;
-    }
-    result = checkFpgaActionReply(req.pos, req.length);
-    if (result != RETURN_OK) {
-      if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
-        uartComIF->flushUartRxBuffer(comCookie);
-        retries++;
-        continue;
-      }
-      file.close();
-      return result;
-    }
-    file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FpgaDownload::DATA_OFFSET),
-               req.length);
-    req.pos += req.length;
-    retries = 0;
-  }
-  file.close();
-  return RETURN_OK;
-}
-
-ReturnValue_t StrHelper::performFpgaUpload() {
-  ReturnValue_t result = RETURN_OK;
-  uint32_t commandSize = 0;
-  uint32_t bytesUploaded = 0;
-  uint32_t fileSize = 0;
-  struct UploadFPGAImageActionRequest req;
-  if (not std::filesystem::exists(fpgaUpload.uploadFile)) {
-    triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
-    internalState = InternalState::IDLE;
-    return RETURN_FAILED;
-  }
-  std::ifstream file(flashWrite.fullname, std::ifstream::binary);
-  file.seekg(0, file.end);
-  fileSize = file.tellg();
-  req.pos = 0;
-  while (bytesUploaded <= fileSize) {
-    if (terminate) {
-      return RETURN_OK;
-    }
-    if (fileSize - bytesUploaded > FpgaUpload::MAX_DATA) {
-      req.length = FpgaUpload::MAX_DATA;
-    } else {
-      req.length = fileSize - bytesUploaded;
-    }
-    file.seekg(bytesUploaded, file.beg);
-    file.read(reinterpret_cast<char*>(req.data), req.length);
-    arc_pack_uploadfpgaimage_action_req(&req, commandBuffer, &commandSize);
-    result = sendAndRead(commandSize, req.pos);
-    if (result != RETURN_OK) {
-      return RETURN_FAILED;
-    }
-    result = checkFpgaActionReply(req.pos, req.length);
-    if (result != RETURN_OK) {
-      return result;
-    }
-    bytesUploaded += req.length;
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
   ReturnValue_t result = RETURN_OK;
   ReturnValue_t decResult = RETURN_OK;
   size_t receivedDataLen = 0;
@@ -527,7 +451,11 @@ ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
   }
   decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
   while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
-    result = uartComIF->requestReceiveMessage(comCookie, StarTracker::MAX_FRAME_SIZE * 2 + 2);
+    Countdown delay(delayMs);
+    delay.resetTimer();
+    while (delay.isBusy()) {
+    }
+    result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2);
     if (result != RETURN_OK) {
       sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
       triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
@@ -588,72 +516,7 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
   return RETURN_OK;
 }
 
-ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address_,
+#ifdef XIPHOS_Q7S
-                                               uint16_t length_) {
-  ReturnValue_t result = RETURN_OK;
-  result = checkActionReply();
-  if (result != RETURN_OK) {
-    return result;
-  }
-  const uint8_t* data = datalinkLayer.getReply();
-  uint8_t region = *(data + REGION_OFFSET);
-  uint32_t address;
-  const uint8_t* addressData = data + ADDRESS_OFFSET;
-  size_t size = sizeof(address);
-  result =
-      SerializeAdapter::deSerialize(&address, &addressData, &size, SerializeIF::Endianness::LITTLE);
-  if (result != RETURN_OK) {
-    sif::warning << "StrHelper::checkFlashActionReply: Deserialization of address failed"
-                 << std::endl;
-    return result;
-  }
-  uint16_t length = 0;
-  size = sizeof(length);
-  const uint8_t* lengthData = data + LENGTH_OFFSET;
-  result =
-      SerializeAdapter::deSerialize(&length, lengthData, &size, SerializeIF::Endianness::LITTLE);
-  if (result != RETURN_OK) {
-    sif::warning << "StrHelper::checkFlashActionReply: Deserialization of length failed"
-                 << std::endl;
-  }
-  if (region != region_) {
-    return REGION_MISMATCH;
-  }
-  if (address != address_) {
-    return ADDRESS_MISMATCH;
-  }
-  if (length != length_) {
-    return LENGTH_MISMATCH;
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength) {
-  ReturnValue_t result = RETURN_OK;
-  result = checkActionReply();
-  if (result != RETURN_OK) {
-    return result;
-  }
-  const uint8_t* data = datalinkLayer.getReply() + ACTION_DATA_OFFSET;
-  uint32_t position;
-  size_t size = sizeof(position);
-  result = SerializeAdapter::deSerialize(&position, &data, &size, SerializeIF::Endianness::LITTLE);
-  if (result != RETURN_OK) {
-    sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of position failed"
-                 << std::endl;
-    return result;
-  }
-  uint32_t length;
-  size = sizeof(length);
-  result = SerializeAdapter::deSerialize(&length, &data, &size, SerializeIF::Endianness::LITTLE);
-  if (result != RETURN_OK) {
-    sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of length failed"
-                 << std::endl;
-    return result;
-  }
-  return result;
-}
-
 ReturnValue_t StrHelper::checkPath(std::string name) {
   if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
       std::string(SdCardManager::SD_0_MOUNT_POINT)) {
@@ -670,3 +533,55 @@ ReturnValue_t StrHelper::checkPath(std::string name) {
   }
   return RETURN_OK;
 }
+#endif
+
+void StrHelper::printProgress(uint32_t itemsTransferred, uint32_t fullNumItems) {
+  float progressInPercent =
+      static_cast<float>(itemsTransferred) / static_cast<float>(fullNumItems) * 100;
+  if (static_cast<uint32_t>(progressInPercent) == nextProgressPrint) {
+    sif::info << "Str Helper Progress: " << progressInPercent << " %" << std::endl;
+    nextProgressPrint += FIVE_PERCENT;
+  }
+  if (nextProgressPrint > 100) {
+    nextProgressPrint = 0;
+  }
+}
+
+ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
+  ReturnValue_t result = RETURN_OK;
+  struct UnlockActionRequest unlockReq;
+  struct EraseActionRequest eraseReq;
+  uint32_t size = 0;
+  for (uint8_t idx = from; idx <= to; idx++) {
+    unlockReq.region = idx;
+    unlockReq.code = startracker::region_secrets::secret[idx];
+    arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size);
+    sendAndRead(size, unlockReq.region);
+    result = checkActionReply();
+    if (result != RETURN_OK) {
+      sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
+                   << static_cast<unsigned int>(unlockReq.region) << std::endl;
+      return result;
+    }
+    eraseReq.region = idx;
+    arc_pack_erase_action_req(&eraseReq, commandBuffer, &size);
+    result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY);
+    if (result != RETURN_OK) {
+      sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
+                   << static_cast<unsigned int>(eraseReq.region) << std::endl;
+      return result;
+    }
+  }
+  return result;
+}
+
+std::string StrHelper::makeFullFilename(std::string path, std::string filename) {
+  std::string image;
+  Timestamp timestamp;
+  if (timestamping) {
+    image = path + "/" + timestamp.str() + filename;
+  } else {
+    image = path + "/" + filename;
+  }
+  return image;
+}

linux/devices/startracker/StrHelper.h

@@ -4,7 +4,12 @@
 #include <string>
 
 #include "ArcsecDatalinkLayer.h"
+#include "OBSWConfig.h"
+
+#ifdef XIPHOS_Q7S
 #include "bsp_q7s/memory/SdCardManager.h"
+#endif
+
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
@@ -19,6 +24,8 @@ extern "C" {
 
 /**
  * @brief   Helper class for the star tracker handler to accelerate large data transfers.
+ *
+ * @author  J. Meier
  */
 class StrHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
  public:
@@ -36,49 +43,43 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
   //! [EXPORT] : [COMMENT] Finished flash read procedure successfully
   static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
-  //! [EXPORT] : [COMMENT] Flash write procedure failed
-  static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
   //! [EXPORT] : [COMMENT] Flash read procedure failed
-  static const Event FLASH_READ_FAILED = MAKE_EVENT(7, severity::LOW);
+  static const Event FLASH_READ_FAILED = MAKE_EVENT(6, severity::LOW);
-  //! [EXPORT] : [COMMENT] Download of FPGA image successful
+  //! [EXPORT] : [COMMENT] Firmware update was successful
-  static const Event FPGA_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(8, severity::LOW);
+  static const Event FIRMWARE_UPDATE_SUCCESSFUL = MAKE_EVENT(7, severity::LOW);
-  //! [EXPORT] : [COMMENT] Download of FPGA image failed
+  //! [EXPORT] : [COMMENT] Firmware update failed
-  static const Event FPGA_DOWNLOAD_FAILED = MAKE_EVENT(9, severity::LOW);
+  static const Event FIRMWARE_UPDATE_FAILED = MAKE_EVENT(8, severity::LOW);
-  //! [EXPORT] : [COMMENT] Upload of FPGA image successful
-  static const Event FPGA_UPLOAD_SUCCESSFUL = MAKE_EVENT(10, severity::LOW);
-  //! [EXPORT] : [COMMENT] Upload of FPGA image failed
-  static const Event FPGA_UPLOAD_FAILED = MAKE_EVENT(11, severity::LOW);
   //! [EXPORT] : [COMMENT] Failed to read communication interface reply data
   //! P1: Return code of failed communication interface read call
   //! P1: Upload/download position for which the read call failed
-  static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(12, severity::LOW);
+  static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(9, severity::LOW);
   //! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
   //! P1: Return code of failed communication interface read call
   //! P1: Upload/download position for which the read call failed
-  static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(13, severity::LOW);
+  static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW);
   //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
   //! P1: Position of upload or download packet for which no reply was sent
-  static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(14, severity::LOW);
+  static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(11, severity::LOW);
   //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
   // P1: Return value of decoding function
   // P2: Position of upload/download packet, or address of flash write/read request
-  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(15, severity::LOW);
+  static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(12, severity::LOW);
   //! [EXPORT] : [COMMENT] Position mismatch
   //! P1: The expected position and thus the position for which the image upload/download failed
-  static const Event POSITION_MISMATCH = MAKE_EVENT(16, severity::LOW);
+  static const Event POSITION_MISMATCH = MAKE_EVENT(13, severity::LOW);
   //! [EXPORT] : [COMMENT] Specified file does not exist
   //! P1: Internal state of str helper
-  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(17, severity::LOW);
+  static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(14, severity::LOW);
   //! [EXPORT] : [COMMENT] Sending packet to star tracker failed
   //! P1: Return code of communication interface sendMessage function
   //! P2: Position of upload/download packet, or address of flash write/read request for which
   //! sending failed
-  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(18, severity::LOW);
+  static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(15, severity::LOW);
   //! [EXPORT] : [COMMENT] Communication interface requesting reply failed
   //! P1: Return code of failed request
   //! P1: Upload/download position, or address of flash write/read request for which transmission
   //! failed
-  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(19, severity::LOW);
+  static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(16, severity::LOW);
 
   StrHelper(object_id_t objectId);
   virtual ~StrHelper();
@@ -105,40 +106,21 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   ReturnValue_t startImageDownload(std::string path);
 
   /**
-   * @brief   Starts the flash write procedure
+   * @brief   Will start the firmware update
    *
-   * @param fullname             Full name including absolute path of file to write to flash
+   * @param fullname    Full name including absolute path of file containing firmware
-   * @param region               Region ID of flash region to write to
+   *                    update.
-   * @param address              Start address of flash write procedure
    */
-  ReturnValue_t startFlashWrite(std::string fullname, uint8_t region, uint32_t address);
+  ReturnValue_t startFirmwareUpdate(std::string fullname);
 
   /**
    * @brief   Starts the flash read procedure
    *
    * @param path                 Path where file with read flash data will be created
-   * @param region               Region ID of flash region to read from
+   * @param startRegion          Region form where to start reading
-   * @param address    Start address of flash section to read
    * @param length               Number of bytes to read from flash
    */
-  ReturnValue_t startFlashRead(std::string path, uint8_t region, uint32_t address, uint32_t length);
+  ReturnValue_t startFlashRead(std::string path, uint8_t startRegion, uint32_t length);
-
-  /**
-   * @brief   Starts the download of the FPGA image
-   *
-   * @param path          The path where the file with the downloaded data will be created
-   * @param startPosition Offset in fpga image to read from
-   * @param length        Number of bytes to dwonload from the FPGA image
-   *
-   */
-  ReturnValue_t startFpgaDownload(std::string path, uint32_t startPosition, uint32_t length);
-
-  /**
-   * @brief   Starts upload of new image to FPGA
-   *
-   * @param uploadFile      Full name of file containing FPGA image data
-   */
-  ReturnValue_t startFpgaUpload(std::string uploadFile);
 
   /**
    * @brief   Can be used to interrupt a running data transfer.
@@ -156,9 +138,14 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   void setFlashReadFilename(std::string filename);
 
   /**
-   * @brief   Set download FPGA image name
+   * @brief	Disables timestamp generation when new file is created
    */
-  void setDownloadFpgaImage(std::string filename);
+  void disableTimestamping();
+
+  /**
+   * @brief	Enables timestamp generation when new file is created
+   */
+  void enableTimestamping();
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
@@ -184,35 +171,14 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
 
   // Size of one image part which can be sent per action request
   static const size_t SIZE_IMAGE_PART = 1024;
+  static constexpr uint32_t FIVE_PERCENT = 5;
+  static const uint32_t FLASH_REGION_SIZE = 0x20000;
 
   class ImageDownload {
    public:
     static const uint32_t LAST_POSITION = 4095;
   };
 
-  class FpgaDownload {
-   public:
-    static const uint16_t MAX_DATA = 1024;
-    static const uint8_t DATA_OFFSET = 10;
-    // Start position of fpga image part to download
-    uint32_t startPosition = 0;
-    // Length of image part to download
-    uint32_t length = 0;
-    // Path where downloaded FPGA image will be stored
-    std::string path;
-    // Name of file containing downloaded FPGA image
-    std::string fileName = "fpgaimage.bin";
-  };
-  FpgaDownload fpgaDownload;
-
-  class FpgaUpload {
-   public:
-    static const uint32_t MAX_DATA = 1024;
-    // Full name of file to upload
-    std::string uploadFile;
-  };
-  FpgaUpload fpgaUpload;
-
   static const uint32_t MAX_POLLS = 10000;
 
   static const uint8_t ACTION_DATA_OFFSET = 2;
@@ -222,19 +188,11 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   static const uint8_t REGION_OFFSET = 2;
   static const uint8_t ADDRESS_OFFSET = 3;
   static const uint8_t LENGTH_OFFSET = 7;
-  static const size_t IMAGE_DATA_SIZE = 1024;
+  static const size_t CHUNK_SIZE = 1024;
-  static const size_t MAX_FLASH_DATA = 1024;
   static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
+  static const uint32_t FLASH_ERASE_DELAY = 500;
 
-  enum class InternalState {
+  enum class InternalState { IDLE, UPLOAD_IMAGE, DOWNLOAD_IMAGE, FLASH_READ, FIRMWARE_UPDATE };
-    IDLE,
-    UPLOAD_IMAGE,
-    DOWNLOAD_IMAGE,
-    FLASH_WRITE,
-    FLASH_READ,
-    DOWNLOAD_FPGA_IMAGE,
-    UPLOAD_FPGA_IMAGE
-  };
 
   InternalState internalState = InternalState::IDLE;
 
@@ -262,8 +220,10 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    public:
     // File which contains data to write when executing the flash write command
     std::string fullname;
-    // Will be set with the flash write command
+    // The first region to write to
-    uint8_t region = 0;
+    uint8_t firstRegion = 0;
+    // Maximum region the flash write command is allowed to write to
+    uint8_t lastRegion = 0;
     // Will be set with the flash write command and specifies the start address where to write the
     // flash data to
     uint32_t address = 0;
@@ -277,21 +237,28 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
     // Default name of file containing the data read from flash, can be changed via command
     std::string filename = "flashread.bin";
     // Will be set with the flash read command
-    uint8_t region = 0;
+    uint8_t startRegion = 0;
-    // Will be set with the flash read command and specifies the start address of the flash section
-    // to read
-    uint32_t address = 0;
     // Number of bytes to read from flash
     uint32_t size = 0;
   };
   FlashRead flashRead;
 
+#ifdef XIPHOS_Q7S
   SdCardManager* sdcMan = nullptr;
+#endif
 
-  uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
+  uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
 
   bool terminate = false;
 
+  uint32_t nextProgressPrint = 0;
+
+#ifdef EGSE
+  bool timestamping = false;
+#else
+  bool timestamping = true;
+#endif
+
   /**
    * UART communication object responsible for low level access of star tracker
    * Must be set by star tracker handler
@@ -308,6 +275,13 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    */
   ReturnValue_t performImageUpload();
 
+  /**
+   * @brief Performs firmware update
+   *
+   * @return    RETURN_OK if successful, otherwise error return value
+   */
+  ReturnValue_t performFirmwareUpdate();
+
   /**
    * @brief   Performs download of last taken image from the star tracker.
    *
@@ -321,6 +295,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   /**
    * @brief   Handles flash write procedure
    *
+   * @param  ID of first region to write to
+   *
    * @return RETURN_OK if successful, otherwise RETURN_FAILED
    */
   ReturnValue_t performFlashWrite();
@@ -331,28 +307,17 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    */
   ReturnValue_t performFlashRead();
 
-  /**
-   * @brief   Performs the download of the FPGA image which requires to be slip over multiple
-   *          action requests.
-   */
-  ReturnValue_t performFpgaDownload();
-
-  /**
-   * @brief   Performs upload of new FPGA image. Upload sequence split over multiple commands
-   *          because one command can only transport 1024 bytes of image data.
-   */
-  ReturnValue_t performFpgaUpload();
-
   /**
    * @brief   Sends packet to the star tracker and reads reply by using the communication
    *          interface
    *
    * @param size        Size of data beforehand written to the commandBuffer
    * @param parameter   Parameter 2 of trigger event function
+   * @param delayMs     Delay in milliseconds between send and receive call
    *
    * @return  RETURN_OK if successful, otherwise RETURN_FAILED
    */
-  ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
+  ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0);
 
   /**
    * @brief   Checks the header (type id and status fields) of the action reply
@@ -370,28 +335,41 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    */
   ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
 
-  /**
+#ifdef XIPHOS_Q7S
-   * @brief   Checks the region, address and length value of a flash write or read reply.
-   *
-   * @return  RETURN_OK if values match expected values, otherwise appropriate error return
-   *          value.
-   */
-  ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
-
-  /**
-   * @brief   Checks the reply to the fpga download and upload request
-   *
-   * @param expectedPosition  The expected position value in the reply
-   * @param expectedLength    The expected length field in the reply
-   */
-  ReturnValue_t checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength);
-
   /**
    * @brief   Checks if a path points to an sd card and whether the SD card is monuted.
    *
    * @return  SD_NOT_MOUNTED id SD card is not mounted, otherwise RETURN_OK
    */
   ReturnValue_t checkPath(std::string name);
+#endif
+
+  /**
+   * @brief Prints progress of transfer which can be useful for large data transfers
+   *
+   * @param itemsTransferred          Number of items transferred
+   * @param fullNumItems              Full number of items to transfer
+   */
+  void printProgress(uint32_t itemsTransferred, uint32_t fullNumItems);
+
+  /**
+   * @brief Unlocks a range of flash regions
+   *
+   * @param from    First region in range to unlock
+   * @param to      Last region in range to unlock
+   *
+   */
+  ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
+
+  /**
+   * @brief Creates full filename either with timestamp or without
+   *
+   * @param path    Path where to create the file
+   * @param filename    Name fo the file
+   *
+   * @return    Full filename
+   */
+  std::string makeFullFilename(std::string path, std::string filename);
 };
 
 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

linux/fsfwconfig/OBSWConfig.h.in

@@ -9,6 +9,7 @@
 #cmakedefine RASPBERRY_PI
 #cmakedefine XIPHOS_Q7S
 #cmakedefine BEAGLEBONEBLACK
+#cmakedefine EGSE
 
 #ifdef RASPBERRY_PI
 #include "rpiConfig.h"
@@ -55,10 +56,16 @@ debugging. */
 #define OBSW_ADD_PL_PCDU                            0
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+#define OBSW_SYRLINKS_SIMULATED										  1
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
 #define OBSW_ENABLE_PERIODIC_HK                     0
 
 #endif
 
+#ifdef EGSE
+#define OBSW_ADD_STAR_TRACKER                      1
+#endif
+
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
 /*******************************************************************/
@@ -104,11 +111,16 @@ debugging. */
 #define OBSW_DEBUG_SYRLINKS                         0
 #define OBSW_DEBUG_IMTQ                             0
 #define OBSW_DEBUG_RW                               0
-#define OBSW_DEBUG_STARTRACKER                      0
 #define OBSW_DEBUG_PLOC_MPSOC                       0
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  0
 #define OBSW_DEBUG_PDEC_HANDLER	                    0
 
+#ifdef EGSE
+#define OBSW_DEBUG_STARTRACKER                      1
+#else
+#define OBSW_DEBUG_STARTRACKER                      0
+#endif
+
 #ifdef RASPBERRY_PI
 
 #define OBSW_ENABLE_TIMERS                          1

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 153 translations.
+ * @brief    Auto-generated event translation file. Contains 152 translations.
  * @details
- * Generated on: 2022-02-26 13:53:13
+ * Generated on: 2022-03-01 15:15:11
  */
 #include "translateEvents.h"
 
@@ -107,12 +107,14 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
+const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
-const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
-const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_HW_STRING = "REBOOT_HW";
 const char *UPDATE_FILE_NOT_EXISTS_STRING = "UPDATE_FILE_NOT_EXISTS";
 const char *ACTION_COMMANDING_FAILED_STRING = "ACTION_COMMANDING_FAILED";
@@ -133,12 +135,9 @@ const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
 const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
 const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
 const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
-const char *FLASH_WRITE_FAILED_STRING = "FLASH_WRITE_FAILED";
 const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
-const char *FPGA_DOWNLOAD_SUCCESSFUL_STRING = "FPGA_DOWNLOAD_SUCCESSFUL";
+const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL";
-const char *FPGA_DOWNLOAD_FAILED_STRING = "FPGA_DOWNLOAD_FAILED";
+const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED";
-const char *FPGA_UPLOAD_SUCCESSFUL_STRING = "FPGA_UPLOAD_SUCCESSFUL";
-const char *FPGA_UPLOAD_FAILED_STRING = "FPGA_UPLOAD_FAILED";
 const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
 const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
 const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
@@ -365,6 +364,10 @@ const char *translateEvents(Event event) {
       return INVALID_ERROR_BYTE_STRING;
     case (11301):
       return ERROR_STATE_STRING;
+    case (11401):
+      return BOOTING_FIRMWARE_FAILED_STRING;
+    case (11402):
+      return BOOTING_BOOTLOADER_FAILED_STRING;
     case (11501):
       return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
     case (11502):
@@ -374,9 +377,9 @@ const char *translateEvents(Event event) {
     case (11504):
       return SUPV_CRC_FAILURE_EVENT_STRING;
     case (11600):
-      return SANITIZATION_FAILED_STRING;
+      return ALLOC_FAILURE_STRING;
     case (11601):
-      return MOUNTED_SD_CARD_STRING;
+      return REBOOT_SW_STRING;
     case (11603):
       return REBOOT_HW_STRING;
     case (11700):
@@ -418,32 +421,26 @@ const char *translateEvents(Event event) {
     case (12005):
       return FLASH_READ_SUCCESSFUL_STRING;
     case (12006):
-      return FLASH_WRITE_FAILED_STRING;
-    case (12007):
       return FLASH_READ_FAILED_STRING;
+    case (12007):
+      return FIRMWARE_UPDATE_SUCCESSFUL_STRING;
     case (12008):
-      return FPGA_DOWNLOAD_SUCCESSFUL_STRING;
+      return FIRMWARE_UPDATE_FAILED_STRING;
     case (12009):
-      return FPGA_DOWNLOAD_FAILED_STRING;
-    case (12010):
-      return FPGA_UPLOAD_SUCCESSFUL_STRING;
-    case (12011):
-      return FPGA_UPLOAD_FAILED_STRING;
-    case (12012):
       return STR_HELPER_READING_REPLY_FAILED_STRING;
-    case (12013):
+    case (12010):
       return STR_HELPER_COM_ERROR_STRING;
-    case (12014):
+    case (12011):
       return STR_HELPER_NO_REPLY_STRING;
-    case (12015):
+    case (12012):
       return STR_HELPER_DEC_ERROR_STRING;
-    case (12016):
+    case (12013):
       return POSITION_MISMATCH_STRING;
-    case (12017):
+    case (12014):
       return STR_HELPER_FILE_NOT_EXISTS_STRING;
-    case (12018):
+    case (12015):
       return STR_HELPER_SENDING_PACKET_FAILED_STRING;
-    case (12019):
+    case (12016):
       return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
     case (12101):
       return NEG_V_OUT_OF_BOUNDS_STRING;

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 112 translations.
- * Generated on: 2022-02-26 14:03:55
+ * Generated on: 2022-03-01 15:15:27
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -454,6 +454,7 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
+  static_cast<void>(length);
   if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "I2C PST initialization failed" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -476,9 +477,11 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
+#ifdef XIPHOS_Q7S
   thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
+#endif
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
@@ -507,7 +510,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
   thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
-
+  static_cast<void>(length);
   if (uartPstEmpty) {
     return HasReturnvaluesIF::RETURN_OK;
   }

scripts/apply-clang-format.sh

@@ -8,4 +8,5 @@ find ./linux -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --sty
 find ./bsp_q7s -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
 find ./bsp_linux_board -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
 find ./bsp_hosted -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
+find ./bsp_egse -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
 find ./test -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

scripts/egse-port.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+echo "-L 1534:localhost:1534 pi@192.168.18.31 portforwarding for tcf agent"
+echo "-L 1537:localhost:7301 pi@192.168.18.31 for TMTC commanding using the TCP/IP IF"
+
+ssh -L 1534:localhost:1534 \
+		-L 1537:localhost:7301 pi@192.168.18.31

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit 5d5e46b09bbd5208176c68d94c798493e705a2ee
+Subproject commit b1594df9303056456604726592635d8a1c987e75

tmtc

@@ -1 +1 @@
-Subproject commit 1238df03834b0b9ddbe2a59565de493661f5476e
+Subproject commit 56d414d9fc0d6b05f967c47a0bd124fc06de2ad3