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This commit is contained in:
Jakob Meier 2022-03-27 13:07:18 +02:00
parent 3fe9599c48
commit 6d04c278c3
12 changed files with 1678 additions and 1693 deletions
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2
bsp_egse/main.cpp
View File

@ -3,8 +3,8 @@
#include "InitMission.h"
#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "fsfw/version.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/version.h"
/**
* @brief This is the main program entry point for the egse (raspberry pi 4)

22
bsp_q7s/core/ObjectFactory.cpp
View File

@ -19,12 +19,6 @@
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "linux/devices/ploc/PlocMemoryDumper.h"
#include "linux/devices/ploc/PlocSupervisorHandler.h"
#include "linux/devices/ploc/PlocUpdater.h"
#include "linux/devices/ploc/PlocMPSoCHandler.h"
#include "linux/devices/ploc/PlocMPSoCHelper.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h"
#include "ccsdsConfig.h"
@ -38,7 +32,13 @@
#include "linux/csp/CspComIF.h"
#include "linux/csp/CspCookie.h"
#include "linux/devices/GPSHyperionLinuxController.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "linux/devices/ploc/PlocMPSoCHandler.h"
#include "linux/devices/ploc/PlocMPSoCHelper.h"
#include "linux/devices/ploc/PlocMemoryDumper.h"
#include "linux/devices/ploc/PlocSupervisorHandler.h"
#include "linux/devices/ploc/PlocUpdater.h"
#include "linux/devices/startracker/StarTrackerHandler.h"
#include "linux/devices/startracker/StrHelper.h"
#include "tmtc/apid.h"
@ -181,12 +181,12 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER,
q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD,
mpsoc::MAX_REPLY_SIZE);
UartCookie* plocMpsocCookie =
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER,
objects::UART_COM_IF, plocMpsocCookie, plocMpsocHelper);
PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie, plocMpsocHelper);
plocMPSoCHandler->setStartUpImmediately();
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */

20
bsp_q7s/memory/FilesystemHelper.cpp
View File

@ -1,14 +1,14 @@
#include <fstream>
#include <filesystem>
#include "FilesystemHelper.h"
#include <filesystem>
#include <fstream>
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
FilesystemHelper::FilesystemHelper() {
}
FilesystemHelper::FilesystemHelper() {}
FilesystemHelper::~FilesystemHelper() {
}
FilesystemHelper::~FilesystemHelper() {}
ReturnValue_t FilesystemHelper::checkPath(std::string path) {
SdCardManager* sdcMan = SdCardManager::instance();
@ -16,14 +16,14 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
sif::warning << "FilesystemHelper::checkPath: Invalid SD card manager" << std::endl;
return RETURN_FAILED;
}
if (path.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT))
== std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (path.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "FilesystemHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (path.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT))
== std::string(SdCardManager::SD_1_MOUNT_POINT)) {
} else if (path.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "FilesystemHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;

4
bsp_q7s/memory/FilesystemHelper.h
View File

@ -2,8 +2,9 @@
#define BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_
#include <string>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "commonClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief This class implements often used functions concerning the file system management.
@ -12,7 +13,6 @@
*/
class FilesystemHelper : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM_HELPER;
//! [EXPORT] : [COMMENT] SD card specified with path string not mounted

7
linux/devices/devicedefinitions/PlocMPSoCDefinitions.h
View File

@ -1,13 +1,12 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
#include "MPSoCReturnValuesIF.h"
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "eive/definitions.h"
#include "MPSoCReturnValuesIF.h"
#include "OBSWConfig.h"
namespace mpsoc {

30
linux/devices/ploc/PlocMPSoCHandler.h
View File

@ -2,21 +2,23 @@
#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#include <string>
#include "PlocMPSoCHelper.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "PlocMPSoCHelper.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "linux/devices/devicedefinitions/MPSoCReturnValuesIF.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
/**
* @brief This is the device handler for the MPSoC of the payload computer.
*
* @details The PLOC uses the space packet protocol for communication. On each command the PLOC
* answers with at least one acknowledgment and one execution report.
* Flight manual: https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_MPSoC
* ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_MPSoC ICD:
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
*
* @note The sequence count in the space packets must be incremented with each received and sent
* packet.
@ -25,7 +27,6 @@
*/
class PlocMPSoCHandler : public DeviceHandlerBase {
public:
PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
PlocMPSoCHelper* plocMPSoCHelper);
virtual ~PlocMPSoCHandler();
@ -40,12 +41,11 @@ protected:
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData,size_t commandDataLen) 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;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) 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;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -56,7 +56,6 @@ protected:
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
@ -71,9 +70,8 @@ private:
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected count
//! P1: Expected sequence count
//! P2: Received sequence count
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
//! count P1: Expected sequence count P2: Received sequence count
static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Received command has file string with invalid length

204
linux/devices/ploc/PlocSupervisorHandler.cpp
View File

@ -1,24 +1,28 @@
#include <sstream>
#include <string>
#include <fstream>
#include <filesystem>
#include "PlocSupervisorHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/timemanager/Clock.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include <string>
#include "OBSWConfig.h"
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this), bootStatusReport(this), latchupStatusReport(
this) {
CookieIF* comCookie)
: DeviceHandlerBase(objectId, uartComIFid, comCookie),
hkset(this),
bootStatusReport(this),
latchupStatusReport(this) {
if (comCookie == NULL) {
sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
}
PlocSupervisorHandler::~PlocSupervisorHandler() {
}
PlocSupervisorHandler::~PlocSupervisorHandler() {}
ReturnValue_t PlocSupervisorHandler::initialize() {
ReturnValue_t result = RETURN_OK;
@ -37,7 +41,6 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
return result;
}
void PlocSupervisorHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
@ -46,22 +49,18 @@ void PlocSupervisorHandler::doStartUp(){
#endif
}
void PlocSupervisorHandler::doShutDown(){
setMode(_MODE_POWER_DOWN);
}
void PlocSupervisorHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_FAILED;
switch (deviceCommand) {
@ -326,14 +325,12 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
}
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP) {
*foundId = PLOC_SPV::FIRST_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
} else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
*foundId = PLOC_SPV::CONSECUTIVE_MRAM_DUMP;
return parseMramPackets(start, remainingSize, foundLen);
}
@ -383,7 +380,6 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
@ -412,7 +408,8 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
default: {
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
@ -420,17 +417,12 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
return result;
}
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid(){
void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid() {}
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(PLOC_SPV::NUM_TMS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(PLOC_SPV::TEMP_PL, new PoolEntry<uint32_t>({0}));
@ -474,9 +466,9 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
uint8_t expectedReplies,
bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
@ -581,15 +573,15 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::ACK_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::ACK_REPORT << " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::EXE_REPORT);
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::EXE_REPORT << " not in replyMap" << std::endl;
@ -608,7 +600,6 @@ ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t f
}
ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_ACK_REPORT);
@ -627,7 +618,8 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
switch (apid) {
case PLOC_SPV::APID_ACK_FAILURE: {
// TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report" << std::endl;
sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_ACK_FAILURE, commandId);
@ -643,7 +635,8 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
break;
}
default: {
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report"
<< std::endl;
result = RETURN_FAILED;
break;
}
@ -653,7 +646,6 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_EXE_REPORT);
@ -671,14 +663,15 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
}
case (PLOC_SPV::APID_EXE_FAILURE): {
// TODO: Interpretation of status field in execution report
sif::error << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
sif::error
<< "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_EXE_FAILURE, commandId);
}
else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id" << std::endl;
} else {
sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id"
<< std::endl;
}
sendFailureReport(PLOC_SPV::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
@ -698,43 +691,41 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_HK_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc"
<< std::endl;
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
}
uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
| *(data + offset + 3);
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.nvm0_1_state = *(data + offset);
offset += 1;
@ -753,7 +744,8 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap
<< std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
@ -772,14 +764,14 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
}
ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
" crc" << std::endl;
" crc"
<< std::endl;
return result;
}
@ -827,7 +819,6 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
}
ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
@ -913,8 +904,8 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
<< latchupStatusReport.timeYear << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
<< latchupStatusReport.timeMsec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x"
<< std::hex << latchupStatusReport.timeMsec << std::dec << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x" << std::hex
<< latchupStatusReport.timeMsec << std::dec << std::endl;
#endif
return result;
@ -945,15 +936,13 @@ void PlocSupervisorHandler::setNextReplyId() {
}
size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
if (nextReplyId == PLOC_SPV::NONE) {
return replyLen;
}
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP
|| nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP || nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
/**
* Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
* next doSendRead call. The command will be as long active as the packet with the sequence
@ -970,8 +959,7 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
replyLen = iter->second.replyLen;
}
else {
} else {
sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
@ -979,8 +967,8 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
return replyLen;
}
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
@ -1035,8 +1023,8 @@ void PlocSupervisorHandler::prepareDisableHk() {
}
void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) {
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetBootTimeout packet(timeout);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
@ -1065,8 +1053,8 @@ ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint
if (watchdog > 2) {
return INVALID_WATCHDOG;
}
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (timeout < 1000 || timeout > 360000) {
return INVALID_WATCHDOG_TIMEOUT;
}
@ -1107,8 +1095,8 @@ ReturnValue_t PlocSupervisorHandler::prepareAutoCalibrateAlertCmd(const uint8_t*
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1133,8 +1121,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return INVALID_LATCHUP_ID;
}
@ -1144,8 +1132,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcSweetPeriodCmd(const uint8_t* commandData) {
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
if (sweepPeriod < 21) {
return SWEEP_PERIOD_TOO_SMALL;
}
@ -1170,8 +1158,8 @@ void PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* comma
}
void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
PLOC_SPV::SetAdcThreshold packet(threshold);
packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}
@ -1267,7 +1255,6 @@ void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSi
}
void PlocSupervisorHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
@ -1297,7 +1284,6 @@ void PlocSupervisorHandler::disableAllReplies() {
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
@ -1308,7 +1294,8 @@ void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnV
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command" << std::endl;
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command"
<< std::endl;
return;
}
@ -1359,7 +1346,6 @@ ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t *packet, siz
}
ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id) {
ReturnValue_t result = RETURN_FAILED;
// Prepare packet for downlink
@ -1372,8 +1358,7 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
}
handleMramDumpFile(id);
if (downlinkMramDump == true) {
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1,
id);
handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1, id);
}
packetInBuffer = false;
receivedMramDumpPackets++;
@ -1418,16 +1403,15 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
return;
}
uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)
&& (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT) &&
(sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
// Command expects at least one MRAM packet more and the execution report
info->expectedReplies = 2;
// Wait maximum of 2 cycles for next MRAM packet
mramReplyInfo->delayCycles = 2;
// Also adapting delay cycles for execution report
exeReplyInfo->delayCycles = 3;
}
else {
} else {
// Command expects the execution report
info->expectedReplies = 1;
mramReplyInfo->delayCycles = 0;
@ -1448,8 +1432,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
if (id == PLOC_SPV::FIRST_MRAM_DUMP) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)
|| (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT) ||
(sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
result = createMramDumpFile();
if (result != RETURN_OK) {
return result;
@ -1515,8 +1499,8 @@ ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp)
<< std::endl;
return GET_TIME_FAILURE;
}
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-"
+ std::to_string(time.day) + "--" + std::to_string(time.hour) + "-"
+ std::to_string(time.minute) + "-" + std::to_string(time.second);
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
std::to_string(time.minute) + "-" + std::to_string(time.second);
return RETURN_OK;
}

40
linux/devices/ploc/PlocSupervisorHandler.h
View File

@ -1,11 +1,12 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include "OBSWConfig.h"
#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include <bsp_q7s/memory/SdCardManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/uart/UartComIF.h>
#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "OBSWConfig.h"
/**
* @brief This is the device handler for the supervisor of the PLOC which is programmed by
@ -21,7 +22,6 @@
*/
class PlocSupervisorHandler : public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
virtual ~PlocSupervisorHandler();
@ -33,12 +33,11 @@ protected:
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData,size_t commandDataLen) 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;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) 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;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -49,7 +48,6 @@ protected:
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
@ -62,25 +60,32 @@ private:
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Failed to read current system time
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
//! for PS, 1 for PL and 2 for INT
static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
//! timeouts must be in the range between 1000 and 360000 ms.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be larger than 21.
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
//! larger than 21.
static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1 and 2.
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
//! and 2.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe commands are invalid (e.g. start address bigger than stop address)
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe
//! commands are invalid (e.g. start address bigger than stop address)
static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with other apid.
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
//! other apid.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
//! been created with the reception of the first dump packet.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
@ -256,7 +261,6 @@ private:
void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData);
/**
* @brief Copies the content of a space packet to the command buffer.
*/

6
linux/devices/ploc/PlocUpdater.h
View File

@ -1,11 +1,10 @@
#ifndef MISSION_DEVICES_PLOCUPDATER_H_
#define MISSION_DEVICES_PLOCUPDATER_H_
#include "OBSWConfig.h"
#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "fsfw/action/CommandActionHelper.h"
#include "OBSWConfig.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
#include "eive/definitions.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/CommandActionHelper.h"
@ -15,6 +14,7 @@
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/**