merge main
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Robin Müller 2023-10-04 09:53:04 +02:00
commit 5e7f0e729b
17 changed files with 209 additions and 98 deletions

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@ -23,10 +23,26 @@ will consitute of a breaking change warranting a new major release:
- CFDP source handler, which allow file downlink using the standardized
CFDP interface.
## Changed
- Changed internals for MPSoC boot process to make the code more understandable and some
parameters better configurable. This should not affect the behaviour of the OBSW, but might
make it more reliable and fix some corner cases.
## Fixed
- Missing `nullptr` checks for PLOC Supervisor handler, which could lead to crashes.
- Host build fixes
# [v6.6.0] 2023-09-18
## Changed
- Changed the memory initialized for the PDEC Config Memory and the PDEC RAM by using `mmap`
directly and ignoring UIO. This makes the OBSW compatible to a device tree update, where those
memory segments are marked reserved and are thus not properly accessible through the UIO API
anymore. This change should be downwards compatible to older device trees.
# [v6.5.1] 2023-09-12
- Bumped `eive-tmtc` to v5.5.0.

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@ -10,8 +10,8 @@
cmake_minimum_required(VERSION 3.13)
set(OBSW_VERSION_MAJOR 6)
set(OBSW_VERSION_MINOR 5)
set(OBSW_VERSION_REVISION 1)
set(OBSW_VERSION_MINOR 6)
set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE)

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 307 translations.
* @brief Auto-generated event translation file. Contains 309 translations.
* @details
* Generated on: 2023-09-12 10:51:47
* Generated on: 2023-10-04 09:51:41
*/
#include "translateEvents.h"
@ -129,6 +129,8 @@ const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@ -563,6 +565,10 @@ const char *translateEvents(Event event) {
return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
case (11606):
return MPSOC_SHUTDOWN_FAILED_STRING;
case (11607):
return SUPV_NOT_ON_STRING;
case (11608):
return SUPV_REPLY_TIMEOUT_STRING;
case (11701):
return SELF_TEST_I2C_FAILURE_STRING;
case (11702):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 171 translations.
* Generated on: 2023-09-12 10:51:47
* Generated on: 2023-10-04 09:51:41
*/
#include "translateObjects.h"

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@ -123,6 +123,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHandler.h
11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/PlocMpsocHandler.h
11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/PlocMpsocHandler.h
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure 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/acs/ImtqHandler.h
11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. 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/acs/ImtqHandler.h
11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. 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/acs/ImtqHandler.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
123 11604 0x2d54 MPSOC_HANDLER_CRC_FAILURE LOW PLOC reply has invalid crc linux/payload/PlocMpsocHandler.h
124 11605 0x2d55 MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH LOW Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count linux/payload/PlocMpsocHandler.h
125 11606 0x2d56 MPSOC_SHUTDOWN_FAILED HIGH Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor. linux/payload/PlocMpsocHandler.h
126 11607 0x2d57 SUPV_NOT_ON LOW SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition. linux/payload/PlocMpsocHandler.h
127 11608 0x2d58 SUPV_REPLY_TIMEOUT LOW No description linux/payload/PlocMpsocHandler.h
128 11701 0x2db5 SELF_TEST_I2C_FAILURE LOW Get self test result returns I2C failure 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/acs/ImtqHandler.h
129 11702 0x2db6 SELF_TEST_SPI_FAILURE LOW Get self test result returns SPI failure. This concerns the MTM connectivity. 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/acs/ImtqHandler.h
130 11703 0x2db7 SELF_TEST_ADC_FAILURE LOW Get self test result returns failure in measurement of current and temperature. 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/acs/ImtqHandler.h

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@ -123,6 +123,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHandler.h
11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/PlocMpsocHandler.h
11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/PlocMpsocHandler.h
11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure 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/acs/ImtqHandler.h
11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. 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/acs/ImtqHandler.h
11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. 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/acs/ImtqHandler.h

1 Event ID (dec) Event ID (hex) Name Severity Description File Path
123 11604 0x2d54 MPSOC_HANDLER_CRC_FAILURE LOW PLOC reply has invalid crc linux/payload/PlocMpsocHandler.h
124 11605 0x2d55 MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH LOW Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count linux/payload/PlocMpsocHandler.h
125 11606 0x2d56 MPSOC_SHUTDOWN_FAILED HIGH Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor. linux/payload/PlocMpsocHandler.h
126 11607 0x2d57 SUPV_NOT_ON LOW SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition. linux/payload/PlocMpsocHandler.h
127 11608 0x2d58 SUPV_REPLY_TIMEOUT LOW No description linux/payload/PlocMpsocHandler.h
128 11701 0x2db5 SELF_TEST_I2C_FAILURE LOW Get self test result returns I2C failure 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/acs/ImtqHandler.h
129 11702 0x2db6 SELF_TEST_SPI_FAILURE LOW Get self test result returns SPI failure. This concerns the MTM connectivity. 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/acs/ImtqHandler.h
130 11703 0x2db7 SELF_TEST_ADC_FAILURE LOW Get self test result returns failure in measurement of current and temperature. 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/acs/ImtqHandler.h

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 307 translations.
* @brief Auto-generated event translation file. Contains 309 translations.
* @details
* Generated on: 2023-09-12 10:51:47
* Generated on: 2023-10-04 09:51:41
*/
#include "translateEvents.h"
@ -129,6 +129,8 @@ const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@ -563,6 +565,10 @@ const char *translateEvents(Event event) {
return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
case (11606):
return MPSOC_SHUTDOWN_FAILED_STRING;
case (11607):
return SUPV_NOT_ON_STRING;
case (11608):
return SUPV_REPLY_TIMEOUT_STRING;
case (11701):
return SELF_TEST_I2C_FAILURE_STRING;
case (11702):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-09-12 10:51:47
* Generated on: 2023-10-04 09:51:41
*/
#include "translateObjects.h"

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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 307 translations.
* @brief Auto-generated event translation file. Contains 309 translations.
* @details
* Generated on: 2023-09-12 10:51:47
* Generated on: 2023-10-04 09:51:41
*/
#include "translateEvents.h"
@ -129,6 +129,8 @@ const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@ -563,6 +565,10 @@ const char *translateEvents(Event event) {
return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
case (11606):
return MPSOC_SHUTDOWN_FAILED_STRING;
case (11607):
return SUPV_NOT_ON_STRING;
case (11608):
return SUPV_REPLY_TIMEOUT_STRING;
case (11701):
return SELF_TEST_I2C_FAILURE_STRING;
case (11702):

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@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 175 translations.
* Generated on: 2023-09-12 10:51:47
* Generated on: 2023-10-04 09:51:41
*/
#include "translateObjects.h"

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@ -53,23 +53,30 @@ ReturnValue_t PdecHandler::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ReturnValue_t result = returnvalue::OK;
UioMapper regMapper(uioNames.registers);
result = regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
ReturnValue_t result =
regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
UioMapper configMemMapper(uioNames.configMemory);
result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
int fd = 0;
if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) == -1) {
sif::error << "PdecHandler::initialize: Opening /dev/mem failed" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
};
memoryBaseAddress = static_cast<uint32_t*>(
mmap(0, PDEC_CFG_MEM_SIZE, static_cast<int>(UioMapper::Permissions::READ_WRITE), MAP_SHARED,
fd, PDEC_CFG_MEM_PHY_ADDR));
if (memoryBaseAddress == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
} else {
pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
}
UioMapper ramMapper(uioNames.ramMemory);
result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
pdecConfig.setMemoryBaseAddress(memoryBaseAddress);
ramBaseAddress = static_cast<uint32_t*>(mmap(0, PDEC_RAM_SIZE,
static_cast<int>(UioMapper::Permissions::READ_WRITE),
MAP_SHARED, fd, PDEC_RAM_PHY_ADDR));
if (ramBaseAddress == nullptr) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}

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@ -51,6 +51,10 @@ class PdecHandler : public SystemObject,
public ReceivesParameterMessagesIF {
public:
static constexpr dur_millis_t IRQ_TIMEOUT_MS = 500;
static constexpr uint32_t PDEC_CFG_MEM_SIZE = 0x1000;
static constexpr uint32_t PDEC_CFG_MEM_PHY_ADDR = 0x24000000;
static constexpr uint32_t PDEC_RAM_SIZE = 0x10000;
static constexpr uint32_t PDEC_RAM_PHY_ADDR = 0x26000000;
enum class Modes { POLLED, IRQ };

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@ -188,72 +188,27 @@ void PlocMpsocHandler::doStartUp() {
startupState = StartupState::HW_INIT;
}
if (startupState == StartupState::HW_INIT) {
#ifdef XIPHOS_Q7S
#if not OBSW_MPSOC_JTAG_BOOT == 1
switch (powerState) {
case PowerState::OFF:
commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
powerState = PowerState::BOOTING;
return;
case PowerState::ON:
uartIsolatorSwitch.pullHigh();
startupState = StartupState::WAIT_CYCLES;
break;
default:
return;
}
#else
uartIsolatorSwitch.pullHigh();
startupState = StartupState::WAIT_CYCLES;
#endif /* not MSPOC_JTAG_BOOT == 1 */
#else
startupState = StartupState::WAIT_CYCLES;
powerState = PowerState::ON;
#endif /* XIPHOS_Q7S */
}
// Need to wait, MPSoC still not booted properly, requesting HK without these wait cycles does
// not work, no replies..
if (startupState == StartupState::WAIT_CYCLES) {
waitCycles++;
if (waitCycles >= 8) {
if (handleHwStartup()) {
startupState = StartupState::DONE;
waitCycles = 0;
}
}
if (startupState == StartupState::DONE) {
setMode(_MODE_TO_ON);
hkReport.setReportingEnabled(true);
powerState = PowerState::IDLE;
startupState = StartupState::IDLE;
}
}
void PlocMpsocHandler::doShutDown() {
#ifdef XIPHOS_Q7S
#if not OBSW_MPSOC_JTAG_BOOT == 1
if (powerState == PowerState::ON) {
uartIsolatorSwitch.pullLow();
commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
powerState = PowerState::SHUTDOWN;
return;
} else if (powerState == PowerState::SHUTDOWN) {
// Wait till power state is OFF.
return;
if (handleHwShutdown()) {
hkReport.setReportingEnabled(false);
setMode(_MODE_POWER_DOWN);
commandIsPending = false;
sequenceCount = 0;
powerState = PowerState::IDLE;
startupState = StartupState::IDLE;
}
#else
uartIsolatorSwitch.pullLow();
powerState = PowerState::OFF;
#endif
#endif
if (specialComHelper != nullptr) {
specialComHelper->stopProcess();
}
hkReport.setReportingEnabled(false);
setMode(_MODE_POWER_DOWN);
commandIsPending = false;
sequenceCount = 0;
specialComHelperExecuting = false;
startupState = StartupState::IDLE;
}
ReturnValue_t PlocMpsocHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@ -1247,15 +1202,11 @@ void PlocMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
switch (actionId) {
case supv::START_MPSOC: {
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
// This usually happens when the supervisor handler is in off mode
powerState = PowerState::OFF;
setMode(MODE_OFF);
break;
}
case supv::SHUTDOWN_MPSOC: {
triggerEvent(MPSOC_SHUTDOWN_FAILED);
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
powerState = PowerState::OFF;
break;
}
default:
@ -1263,6 +1214,7 @@ void PlocMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
<< std::endl;
break;
}
powerState = PowerState::SUPV_FAILED;
}
void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
@ -1270,18 +1222,24 @@ void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, ui
}
void PlocMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
if (actionId != supv::EXE_REPORT) {
sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
<< "ID" << std::endl;
if (actionId == supv::ACK_REPORT) {
sif::warning
<< "PlocMpsocHandler::completionSuccessfulReceived: Only received ACK report. Consider "
"increasing the MPSoC boot timer."
<< std::endl;
} else if (actionId != supv::EXE_REPORT) {
sif::warning << "PlocMpsocHandler::completionSuccessfulReceived: Did not expect the action "
<< "ID " << actionId << std::endl;
return;
}
switch (powerState) {
case PowerState::BOOTING: {
powerState = PowerState::ON;
case PowerState::PENDING_STARTUP: {
mpsocBootTransitionCd.resetTimer();
powerState = PowerState::DONE;
break;
}
case PowerState::SHUTDOWN: {
powerState = PowerState::OFF;
case PowerState::PENDING_SHUTDOWN: {
powerState = PowerState::DONE;
break;
}
default: {
@ -1409,36 +1367,117 @@ void PlocMpsocHandler::disableExeReportReply() {
info->command->second.expectedReplies = 0;
}
void PlocMpsocHandler::stopSpecialComHelper() {
if (specialComHelper != nullptr) {
specialComHelper->stopProcess();
}
specialComHelperExecuting = false;
}
bool PlocMpsocHandler::handleHwStartup() {
#if OBSW_MPSOC_JTAG_BOOT == 1
uartIsolatorSwitch.pullHigh();
startupState = StartupState::WAIT_CYCLES;
return true;
#endif
if (powerState == PowerState::IDLE) {
if (supv::SUPV_ON) {
commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
supvTransitionCd.resetTimer();
powerState = PowerState::PENDING_STARTUP;
} else {
triggerEvent(SUPV_NOT_ON, 1);
// Set back to OFF for now, failing the transition.
setMode(MODE_OFF);
}
}
if (powerState == PowerState::SUPV_FAILED) {
setMode(MODE_OFF);
powerState = PowerState::IDLE;
return false;
}
if (powerState == PowerState::PENDING_STARTUP) {
if (supvTransitionCd.hasTimedOut()) {
// Process with transition nonetheless..
triggerEvent(SUPV_REPLY_TIMEOUT);
powerState = PowerState::DONE;
} else {
return false;
}
}
if (powerState == PowerState::DONE) {
if (mpsocBootTransitionCd.hasTimedOut()) {
// Wait a bit for the MPSoC to fully boot.
uartIsolatorSwitch.pullHigh();
powerState = PowerState::IDLE;
} else {
return false;
}
}
return true;
}
bool PlocMpsocHandler::handleHwShutdown() {
stopSpecialComHelper();
uartIsolatorSwitch.pullLow();
#if OBSW_MPSOC_JTAG_BOOT == 1
powerState = PowerState::DONE;
return true;
#endif
if (powerState == PowerState::IDLE) {
if (supv::SUPV_ON) {
commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
supvTransitionCd.resetTimer();
powerState = PowerState::PENDING_SHUTDOWN;
} else {
triggerEvent(SUPV_NOT_ON, 0);
powerState = PowerState::DONE;
}
}
if (powerState == PowerState::PENDING_SHUTDOWN) {
if (supvTransitionCd.hasTimedOut()) {
powerState = PowerState::DONE;
// Process with transition nonetheless..
triggerEvent(SUPV_REPLY_TIMEOUT);
return true;
} else {
// Wait till power state is OFF.
return false;
}
}
return true;
}
void PlocMpsocHandler::handleActionCommandFailure(ActionId_t actionId) {
switch (actionId) {
case supv::ACK_REPORT:
case supv::EXE_REPORT:
break;
default:
sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
<< std::endl;
sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect the action ID "
<< actionId << std::endl;
return;
}
switch (powerState) {
case PowerState::BOOTING: {
case PowerState::PENDING_STARTUP: {
sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
<< std::endl;
// This is commonly the case when the MPSoC is already operational. Thus the power state is
// set to on here
powerState = PowerState::ON;
break;
}
case PowerState::SHUTDOWN: {
case PowerState::PENDING_SHUTDOWN: {
// FDIR will intercept event and switch PLOC power off
triggerEvent(MPSOC_SHUTDOWN_FAILED);
sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
<< std::endl;
powerState = PowerState::OFF;
break;
}
default:
break;
}
powerState = PowerState::SUPV_FAILED;
return;
}

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@ -103,11 +103,17 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
//! thus also to shutdown the supervisor.
static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
//! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
//! ON transition.
static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
mpsoc::HkReport hkReport;
Countdown mpsocBootTransitionCd = Countdown(6500);
Countdown supvTransitionCd = Countdown(3000);
MessageQueueIF* eventQueue = nullptr;
MessageQueueIF* commandActionHelperQueue = nullptr;
@ -186,12 +192,11 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
size_t foundPacketLen = 0;
TelemetryBuffer tmBuffer;
uint32_t waitCycles = 0;
enum class StartupState { IDLE, HW_INIT, WAIT_CYCLES, DONE } startupState = StartupState::IDLE;
enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
PowerState powerState = PowerState::OFF;
PowerState powerState = PowerState::IDLE;
/**
* @brief Handles events received from the PLOC MPSoC helper
@ -299,6 +304,9 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
ReturnValue_t prepareTcModeReplay();
void cmdDoneHandler(bool success, ReturnValue_t result);
bool handleHwStartup();
bool handleHwShutdown();
void stopSpecialComHelper();
void handleActionCommandFailure(ActionId_t actionId);
};

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@ -19,6 +19,8 @@
using namespace supv;
using namespace returnvalue;
std::atomic_bool supv::SUPV_ON = false;
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie,
Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
PlocSupvUartManager& supvHelper)
@ -156,6 +158,7 @@ void PlocSupervisorHandler::doStartUp() {
}
if (startupState == StartupState::ON) {
hkset.setReportingEnabled(true);
supv::SUPV_ON = true;
setMode(_MODE_TO_ON);
}
}
@ -169,6 +172,7 @@ void PlocSupervisorHandler::doShutDown() {
nextReplyId = supv::NONE;
uartManager.stop();
uartIsolatorSwitch.pullLow();
supv::SUPV_ON = false;
startupState = StartupState::OFF;
}
@ -202,11 +206,13 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d
break;
}
case START_MPSOC: {
sif::info << "PLOC SUPV: Starting MPSoC" << std::endl;
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::START_MPSOC));
result = returnvalue::OK;
break;
}
case SHUTDOWN_MPSOC: {
sif::info << "PLOC SUPV: Shutting down MPSoC" << std::endl;
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC));
result = returnvalue::OK;
break;
@ -1527,7 +1533,13 @@ void PlocSupervisorHandler::disableAllReplies() {
/* Disable ack reply */
iter = deviceReplyMap.find(ACK_REPORT);
if (iter == deviceReplyMap.end()) {
return;
}
DeviceReplyInfo* info = &(iter->second);
if (info == nullptr) {
return;
}
info->delayCycles = 0;
info->command = deviceCommandMap.end();

View File

@ -10,12 +10,15 @@
#include <fsfw/tmtcpacket/ccsds/SpacePacketReader.h>
#include <mission/payload/plocSpBase.h>
#include <atomic>
#include <optional>
#include "eive/resultClassIds.h"
namespace supv {
extern std::atomic_bool SUPV_ON;
namespace result {
static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;

2
tmtc

@ -1 +1 @@
Subproject commit bf399c3d910a034112121f3bfb08494f40d46bf2
Subproject commit 0c4762712b9f568943b77373efb3ca3814f78c52