eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

Merge remote-tracking branch 'origin/develop' into mueller/rpi-sus-port
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source
This commit is contained in:
Robin Müller
2022-03-29 15:43:35 +02:00
parent 4447a9d4b1 2b8728fcd8
commit 9f937781b7
85 changed files with 3530 additions and 1501 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
linux/boardtest/SpiTestClass.cpp
View File

@ -339,6 +339,8 @@ void SpiTestClass::performMax1227Test() {
std::string deviceName = "";
#elif defined(EGSE)
std::string deviceName = "";
#elif defined(TE0720_1CFA)
std::string deviceName = "";
#endif
int fd = 0;
UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface");

1
linux/devices/CMakeLists.txt
View File

@ -4,4 +4,5 @@ if(EIVE_BUILD_GPSD_GPS_HANDLER)
)
endif()
add_subdirectory(ploc)
add_subdirectory(startracker)

30
linux/devices/devicedefinitions/MPSoCReturnValuesIF.h Normal file
View File

@ -0,0 +1,30 @@
#ifndef MPSOC_RETURN_VALUES_IF_H_
#define MPSOC_RETURN_VALUES_IF_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
class MPSoCReturnValuesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Received command with invalid length
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Command has invalid parameter
static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
};
#endif /* MPSOC_RETURN_VALUES_IF_H_ */

620
linux/devices/devicedefinitions/PlocMPSoCDefinitions.h Normal file
View File

@ -0,0 +1,620 @@
#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"
namespace mpsoc {
static const DeviceCommandId_t NONE = 0;
static const DeviceCommandId_t TC_MEM_WRITE = 1;
static const DeviceCommandId_t TC_MEM_READ = 2;
static const DeviceCommandId_t ACK_REPORT = 3;
static const DeviceCommandId_t EXE_REPORT = 5;
static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 6;
static const DeviceCommandId_t TC_FLASHFOPEN = 7;
static const DeviceCommandId_t TC_FLASHFCLOSE = 8;
static const DeviceCommandId_t TC_FLASHWRITE = 9;
static const DeviceCommandId_t TC_FLASHDELETE = 10;
static const DeviceCommandId_t TC_REPLAY_START = 11;
static const DeviceCommandId_t TC_REPLAY_STOP = 12;
static const DeviceCommandId_t TC_REPLAY_WRITE_SEQUENCE = 13;
static const DeviceCommandId_t TC_DOWNLINK_PWR_ON = 14;
static const DeviceCommandId_t TC_DOWNLINK_PWR_OFF = 15;
static const DeviceCommandId_t TC_MODE_REPLAY = 16;
// Will reset the sequence count of the OBSW
static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
static const uint16_t SIZE_ACK_REPORT = 14;
static const uint16_t SIZE_EXE_REPORT = 14;
static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
/**
* SpacePacket apids of PLOC telecommands and telemetry.
*/
namespace apid {
static const uint16_t TC_REPLAY_START = 0x110;
static const uint16_t TC_REPLAY_STOP = 0x111;
static const uint16_t TC_REPLAY_WRITE_SEQUENCE = 0x112;
static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
static const uint16_t TC_MEM_WRITE = 0x114;
static const uint16_t TC_MEM_READ = 0x115;
static const uint16_t TC_FLASHWRITE = 0x117;
static const uint16_t TC_FLASHFOPEN = 0x119;
static const uint16_t TC_FLASHFCLOSE = 0x11A;
static const uint16_t TC_FLASHDELETE = 0x11C;
static const uint16_t TC_MODE_REPLAY = 0x11F;
static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
static const uint16_t ACK_SUCCESS = 0x400;
static const uint16_t ACK_FAILURE = 0x401;
static const uint16_t EXE_SUCCESS = 0x402;
static const uint16_t EXE_FAILURE = 0x403;
} // namespace apid
/** Offset from first byte in space packet to first byte of data field */
static const uint8_t DATA_FIELD_OFFSET = 6;
static const size_t MEM_READ_RPT_LEN_OFFSET = 10;
static const char NULL_TERMINATOR = '\0';
/**
* The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
* 8.
*/
static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
static const size_t MAX_FILENAME_SIZE = 256;
/**
* PLOC space packet length for fixed size packets. This is the size of the whole packet data
* field. For the length field in the space packet this size will be substracted by one.
*/
static const uint16_t LENGTH_TC_MEM_WRITE = 12;
static const uint16_t LENGTH_TC_MEM_READ = 8;
static const size_t MAX_REPLY_SIZE = SpacePacket::PACKET_MAX_SIZE * 3;
static const size_t MAX_COMMAND_SIZE = SpacePacket::PACKET_MAX_SIZE;
static const size_t MAX_DATA_SIZE = 1016;
/**
* The replay write sequence command has a maximum delay for the execution report which amounts to
* 30 seconds. (80 cycles * 0.5 seconds = 40 seconds).
*/
static const uint16_t TC_WRITE_SEQ_EXECUTION_DELAY = 80;
// Requires approx. 2 seconds for execution. 8 => 4 seconds
static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
/**
* @brief Abstract base class for TC space packet of MPSoC.
*/
class TcBase : public SpacePacket, public MPSoCReturnValuesIF {
public:
// Initial length field of space packet. Will always be updated when packet is created.
static const uint16_t INIT_LENGTH = 1;
/**
* @brief Constructor
*
* @param sequenceCount Sequence count of space packet which will be incremented with each
* sent and received packets.
*/
TcBase(uint16_t apid, uint16_t sequenceCount)
: SpacePacket(INIT_LENGTH, true, apid, sequenceCount) {}
/**
* @brief Function to initialize the space packet
*
* @param commandData Pointer to command specific data
* @param commandDataLen Length of command data
*
* @return RETURN_OK if packet creation was successful, otherwise error return value
*/
virtual ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = initPacket(commandData, commandDataLen);
if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = addCrc();
if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
protected:
/**
* @brief Must be overwritten by the child class to define the command specific parameters
*
* @param commandData Pointer to received command data
* @param commandDataLen Length of received command data
*/
virtual ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
/**
* @brief Calculates and adds the CRC
*/
ReturnValue_t addCrc() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
size_t serializedSize = 0;
uint32_t full_size = getFullSize();
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
result = SerializeAdapter::serialize<uint16_t>(
&crc, this->localData.byteStream + full_size - CRC_SIZE, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "TcBase::addCrc: Failed to serialize crc field" << std::endl;
}
return result;
}
};
/**
* @brief Class for handling tm replies of the PLOC MPSoC.
*/
class TmPacket : public SpacePacket, public MPSoCReturnValuesIF {
public:
/**
* @brief Constructor creates idle packet and sets length field to maximum allowed size.
*/
TmPacket() : SpacePacket(PACKET_MAX_SIZE) {}
ReturnValue_t checkCrc() {
uint8_t* crcPtr = this->getPacketData() + this->getPacketDataLength() - 1;
uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1);
uint16_t recalculatedCrc =
CRC::crc16ccitt(this->localData.byteStream, this->getFullSize() - CRC_SIZE);
if (recalculatedCrc != receivedCrc) {
return CRC_FAILURE;
}
return HasReturnvaluesIF::RETURN_OK;
}
};
/**
* @brief This class helps to build the memory read command for the PLOC.
*/
class TcMemRead : public TcBase {
public:
/**
* @brief Constructor
*/
TcMemRead(uint16_t sequenceCount) : TcBase(apid::TC_MEM_READ, sequenceCount) {
this->setPacketDataLength(PACKET_LENGTH);
}
uint16_t getMemLen() const { return memLen; }
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = lengthCheck(commandDataLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::memcpy(this->localData.fields.buffer, commandData, MEM_ADDRESS_SIZE);
std::memcpy(this->localData.fields.buffer + MEM_ADDRESS_SIZE, commandData + MEM_ADDRESS_SIZE,
MEM_LEN_SIZE);
size_t size = sizeof(memLen);
const uint8_t* memLenPtr = commandData + MEM_ADDRESS_SIZE;
result =
SerializeAdapter::deSerialize(&memLen, &memLenPtr, &size, SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
private:
static const size_t COMMAND_LENGTH = 6;
static const size_t MEM_ADDRESS_SIZE = 4;
static const size_t MEM_LEN_SIZE = 2;
static const uint16_t PACKET_LENGTH = 7;
uint16_t memLen = 0;
ReturnValue_t lengthCheck(size_t commandDataLen) {
if (commandDataLen != COMMAND_LENGTH) {
return INVALID_LENGTH;
}
return HasReturnvaluesIF::RETURN_OK;
}
};
/**
* @brief This class helps to generate the space packet to write data to a memory address within
* the PLOC.
*/
class TcMemWrite : public TcBase {
public:
/**
* @brief Constructor
*/
TcMemWrite(uint16_t sequenceCount) : TcBase(apid::TC_MEM_WRITE, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = lengthCheck(commandDataLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
uint16_t memLen =
*(commandData + MEM_ADDRESS_SIZE) << 8 | *(commandData + MEM_ADDRESS_SIZE + 1);
this->setPacketDataLength(memLen * 4 + FIX_LENGTH - 1);
return result;
}
private:
// Min length consists of 4 byte address, 2 byte mem length field, 4 byte data (1 word)
static const size_t MIN_COMMAND_DATA_LENGTH = 10;
static const size_t MEM_ADDRESS_SIZE = 4;
static const size_t FIX_LENGTH = 8;
ReturnValue_t lengthCheck(size_t commandDataLen) {
if (commandDataLen < MIN_COMMAND_DATA_LENGTH) {
sif::warning << "TcMemWrite: Command has invalid length " << commandDataLen << std::endl;
return INVALID_LENGTH;
}
return HasReturnvaluesIF::RETURN_OK;
}
};
/**
* @brief Class to help creation of flash fopen command.
*/
class FlashFopen : public TcBase {
public:
FlashFopen(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFOPEN, sequenceCount) {}
static const char APPEND = 'a';
static const char WRITE = 'w';
static const char READ = 'r';
ReturnValue_t createPacket(std::string filename, char accessMode_) {
accessMode = accessMode_;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
size_t nameSize = filename.size();
std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
*(this->getPacketData() + nameSize) = NULL_TERMINATOR;
std::memcpy(this->getPacketData() + nameSize + sizeof(NULL_TERMINATOR), &accessMode,
sizeof(accessMode));
this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE -
1);
result = addCrc();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
private:
char accessMode = APPEND;
};
/**
* @brief Class to help creation of flash fclose command.
*/
class FlashFclose : public TcBase {
public:
FlashFclose(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFCLOSE, sequenceCount) {}
ReturnValue_t createPacket(std::string filename) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
size_t nameSize = filename.size();
std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
*(this->getPacketData() + nameSize) = NULL_TERMINATOR;
this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
result = addCrc();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
};
/**
* @brief Class to build flash write space packet.
*/
class TcFlashWrite : public TcBase {
public:
TcFlashWrite(uint16_t sequenceCount) : TcBase(apid::TC_FLASHWRITE, sequenceCount) {}
ReturnValue_t createPacket(const uint8_t* writeData, uint32_t writeLen_) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
writeLen = writeLen_;
if (writeLen > MAX_DATA_SIZE) {
sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
size_t serializedSize = 0;
result =
SerializeAdapter::serialize<uint32_t>(&writeLen, this->getPacketData(), &serializedSize,
sizeof(writeLen), SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::memcpy(this->getPacketData() + sizeof(writeLen), writeData, writeLen);
this->setPacketDataLength(static_cast<uint16_t>(writeLen + CRC_SIZE - 1));
result = addCrc();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
private:
uint32_t writeLen = 0;
};
/**
* @brief Class to help creation of flash delete command.
*/
class TcFlashDelete : public TcBase {
public:
TcFlashDelete(uint16_t sequenceCount) : TcBase(apid::TC_FLASHDELETE, sequenceCount) {}
ReturnValue_t createPacket(std::string filename) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
size_t nameSize = filename.size();
std::memcpy(this->getPacketData(), filename.c_str(), nameSize);
*(this->getPacketData() + nameSize) = NULL_TERMINATOR;
this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
result = addCrc();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
};
/**
* @brief Class to build replay stop space packet.
*/
class TcReplayStop : public TcBase {
public:
TcReplayStop(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_STOP, sequenceCount) {}
ReturnValue_t createPacket() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = addCrc();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
return HasReturnvaluesIF::RETURN_OK;
}
};
/**
* @brief This class helps to build the replay start command.
*/
class TcReplayStart : public TcBase {
public:
/**
* @brief Constructor
*/
TcReplayStart(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_START, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = lengthCheck(commandDataLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = checkData(*commandData);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
this->setPacketDataLength(commandDataLen + CRC_SIZE - 1);
return result;
}
private:
static const size_t COMMAND_DATA_LENGTH = 1;
static const uint8_t REPEATING = 0;
static const uint8_t ONCE = 1;
ReturnValue_t lengthCheck(size_t commandDataLen) {
if (commandDataLen != COMMAND_DATA_LENGTH) {
sif::warning << "TcReplayStart: Command has invalid length " << commandDataLen << std::endl;
return INVALID_LENGTH;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t checkData(uint8_t replay) {
if (replay != REPEATING && replay != ONCE) {
sif::warning << "TcReplayStart::checkData: Invalid replay value" << std::endl;
return INVALID_PARAMETER;
}
return HasReturnvaluesIF::RETURN_OK;
}
};
/**
* @brief This class helps to build downlink power on command.
*/
class TcDownlinkPwrOn : public TcBase {
public:
/**
* @brief Constructor
*/
TcDownlinkPwrOn(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_ON, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = lengthCheck(commandDataLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = modeCheck(*commandData);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = laneRateCheck(*(commandData + 1));
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
std::memcpy(this->localData.fields.buffer + commandDataLen, &MAX_AMPLITUDE,
sizeof(MAX_AMPLITUDE));
this->setPacketDataLength(commandDataLen + sizeof(MAX_AMPLITUDE) + CRC_SIZE - 1);
return result;
}
private:
static const uint8_t INTERFACE_ID = CLASS_ID::DWLPWRON_CMD;
//! [EXPORT] : [COMMENT] Received command has invalid JESD mode (valid modes are 0 - 5)
static const ReturnValue_t INVALID_MODE = MAKE_RETURN_CODE(0xE0);
//! [EXPORT] : [COMMENT] Received command has invalid lane rate (valid lane rate are 0 - 9)
static const ReturnValue_t INVALID_LANE_RATE = MAKE_RETURN_CODE(0xE1);
static const size_t COMMAND_DATA_LENGTH = 2;
static const uint8_t MAX_MODE = 5;
static const uint8_t MAX_LANE_RATE = 9;
static const uint16_t MAX_AMPLITUDE = 0;
ReturnValue_t lengthCheck(size_t commandDataLen) {
if (commandDataLen != COMMAND_DATA_LENGTH) {
sif::warning << "TcDownlinkPwrOn: Command has invalid length " << commandDataLen << std::endl;
return INVALID_LENGTH;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t modeCheck(uint8_t mode) {
if (mode > MAX_MODE) {
sif::warning << "TcDwonlinkPwrOn::modeCheck: Invalid JESD mode" << std::endl;
return INVALID_MODE;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t laneRateCheck(uint8_t laneRate) {
if (laneRate > MAX_LANE_RATE) {
sif::warning << "TcReplayStart::laneRateCheck: Invalid lane rate" << std::endl;
return INVALID_LANE_RATE;
}
return HasReturnvaluesIF::RETURN_OK;
}
};
/**
* @brief Class to build replay stop space packet.
*/
class TcDownlinkPwrOff : public TcBase {
public:
TcDownlinkPwrOff(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_OFF, sequenceCount) {}
ReturnValue_t createPacket() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = addCrc();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
return HasReturnvaluesIF::RETURN_OK;
}
};
/**
* @brief This class helps to build the replay start command.
*/
class TcReplayWriteSeq : public TcBase {
public:
/**
* @brief Constructor
*/
TcReplayWriteSeq(uint16_t sequenceCount)
: TcBase(apid::TC_REPLAY_WRITE_SEQUENCE, sequenceCount) {}
protected:
ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = lengthCheck(commandDataLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
*(this->localData.fields.buffer + commandDataLen) = NULL_TERMINATOR;
this->setPacketDataLength(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1);
return result;
}
private:
static const size_t USE_DECODING_LENGTH = 1;
ReturnValue_t lengthCheck(size_t commandDataLen) {
if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE) {
sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
<< std::endl;
return INVALID_LENGTH;
}
return HasReturnvaluesIF::RETURN_OK;
}
};
class FlashWritePusCmd : public MPSoCReturnValuesIF {
public:
FlashWritePusCmd(){};
ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
return INVALID_LENGTH;
}
obcFile = std::string(reinterpret_cast<const char*>(commandData));
if (obcFile.size() > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
return FILENAME_TOO_LONG;
}
mpsocFile = std::string(
reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR));
if (mpsocFile.size() > MAX_FILENAME_SIZE) {
return MPSOC_FILENAME_TOO_LONG;
}
return HasReturnvaluesIF::RETURN_OK;
}
std::string getObcFile() { return obcFile; }
std::string getMPSoCFile() { return mpsocFile; }
private:
static const size_t SIZE_NULL_TERMINATOR = 1;
std::string obcFile = "";
std::string mpsocFile = "";
};
/**
* @brief Class to build replay stop space packet.
*/
class TcModeReplay : public TcBase {
public:
TcModeReplay(uint16_t sequenceCount) : TcBase(apid::TC_MODE_REPLAY, sequenceCount) {}
ReturnValue_t createPacket() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = addCrc();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
return HasReturnvaluesIF::RETURN_OK;
}
};
} // namespace mpsoc
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

28
linux/devices/devicedefinitions/PlocMemDumpDefinitions.h Normal file
View File

@ -0,0 +1,28 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_
#include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h>
class MemoryParams : public SerialLinkedListAdapter<SerializeIF> {
public:
/**
* @brief Constructor
* @param startAddress Start of address range to dump
* @param endAddress End of address range to dump
*/
MemoryParams(uint32_t startAddress, uint32_t endAddress)
: startAddress(startAddress), endAddress(endAddress) {
setLinks();
}
private:
void setLinks() {
setStart(&startAddress);
startAddress.setNext(&endAddress);
}
SerializeElement<uint32_t> startAddress;
SerializeElement<uint32_t> endAddress;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

1546
linux/devices/devicedefinitions/PlocSupervisorDefinitions.h Normal file
View File

File diff suppressed because it is too large Load Diff

7
linux/devices/ploc/CMakeLists.txt Normal file
View File

@ -0,0 +1,7 @@
target_sources(${OBSW_NAME} PRIVATE
PlocSupervisorHandler.cpp
PlocUpdater.cpp
PlocMemoryDumper.cpp
PlocMPSoCHandler.cpp
PlocMPSoCHelper.cpp
)

766
linux/devices/ploc/PlocMPSoCHandler.cpp Normal file
View File

@ -0,0 +1,766 @@
#include "PlocMPSoCHandler.h"
#include "OBSWConfig.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/CRC.h"
PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper,
Gpio uartIsolatorSwitch)
: DeviceHandlerBase(objectId, uartComIFid, comCookie),
plocMPSoCHelper(plocMPSoCHelper),
uartIsolatorSwitch(uartIsolatorSwitch) {
if (comCookie == nullptr) {
sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}
PlocMPSoCHandler::~PlocMPSoCHandler() {}
ReturnValue_t PlocMPSoCHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
if (uartComIf == nullptr) {
sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
;
}
result = manager->registerListener(eventQueue->getId());
if (result != RETURN_OK) {
return result;
}
result = manager->subscribeToEventRange(
eventQueue->getId(), event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_FAILED),
event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PlocMPSoCHandler::initialize: Failed to subscribe to events from "
" ploc mpsoc helper"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = plocMPSoCHelper->setComIF(communicationInterface);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
plocMPSoCHelper->setComCookie(comCookie);
plocMPSoCHelper->setSequenceCount(&sequenceCount);
return result;
}
void PlocMPSoCHandler::performOperationHook() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "PlocMPSoCHandler::performOperationHook: Did not subscribe to this event"
<< " message" << std::endl;
break;
}
}
}
ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_OK;
if (plocMPSoCHelperExecuting) {
return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
}
switch (actionId) {
case mpsoc::TC_FLASHWRITE: {
if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return MPSoCReturnValuesIF::FILENAME_TOO_LONG;
}
mpsoc::FlashWritePusCmd flashWritePusCmd;
result = flashWritePusCmd.extractFields(data, size);
if (result != RETURN_OK) {
return result;
}
result = plocMPSoCHelper->startFlashWrite(flashWritePusCmd.getObcFile(),
flashWritePusCmd.getMPSoCFile());
if (result != RETURN_OK) {
return result;
}
plocMPSoCHelperExecuting = true;
return EXECUTION_FINISHED;
}
case (mpsoc::OBSW_RESET_SEQ_COUNT): {
sequenceCount = 0;
return EXECUTION_FINISHED;
}
default:
break;
}
return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
}
void PlocMPSoCHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
uartIsolatorSwitch.pullHigh();
}
void PlocMPSoCHandler::doShutDown() {
uartIsolatorSwitch.pullLow();
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
switch (deviceCommand) {
case (mpsoc::TC_MEM_WRITE): {
result = prepareTcMemWrite(commandData, commandDataLen);
break;
}
case (mpsoc::TC_MEM_READ): {
result = prepareTcMemRead(commandData, commandDataLen);
break;
}
case (mpsoc::TC_FLASHDELETE): {
result = prepareTcFlashDelete(commandData, commandDataLen);
break;
}
case (mpsoc::TC_REPLAY_START): {
result = prepareTcReplayStart(commandData, commandDataLen);
break;
}
case (mpsoc::TC_REPLAY_STOP): {
result = prepareTcReplayStop();
break;
}
case (mpsoc::TC_DOWNLINK_PWR_ON): {
result = prepareTcDownlinkPwrOn(commandData, commandDataLen);
break;
}
case (mpsoc::TC_DOWNLINK_PWR_OFF): {
result = prepareTcDownlinkPwrOff();
break;
}
case (mpsoc::TC_REPLAY_WRITE_SEQUENCE): {
result = prepareTcReplayWriteSequence(commandData, commandDataLen);
break;
}
case (mpsoc::TC_MODE_REPLAY): {
result = prepareTcModeReplay();
break;
}
default:
sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;
result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
break;
}
if (result == RETURN_OK) {
/**
* Flushing the receive buffer to make sure there are no data left from a faulty reply.
*/
uartComIf->flushUartRxBuffer(comCookie);
}
return result;
}
void PlocMPSoCHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(mpsoc::TC_MEM_WRITE);
this->insertInCommandMap(mpsoc::TC_MEM_READ);
this->insertInCommandMap(mpsoc::TC_FLASHDELETE);
this->insertInCommandMap(mpsoc::TC_REPLAY_START);
this->insertInCommandMap(mpsoc::TC_REPLAY_STOP);
this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_ON);
this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_OFF);
this->insertInCommandMap(mpsoc::TC_REPLAY_WRITE_SEQUENCE);
this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
this->insertInReplyMap(mpsoc::ACK_REPORT, 1, nullptr, mpsoc::SIZE_ACK_REPORT);
this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
}
ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
ReturnValue_t result = RETURN_OK;
uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
switch (apid) {
case (mpsoc::apid::ACK_SUCCESS):
*foundLen = mpsoc::SIZE_ACK_REPORT;
*foundId = mpsoc::ACK_REPORT;
break;
case (mpsoc::apid::ACK_FAILURE):
*foundLen = mpsoc::SIZE_ACK_REPORT;
*foundId = mpsoc::ACK_REPORT;
break;
case (mpsoc::apid::TM_MEMORY_READ_REPORT):
*foundLen = tmMemReadReport.rememberRequestedSize;
*foundId = mpsoc::TM_MEMORY_READ_REPORT;
break;
case (mpsoc::apid::EXE_SUCCESS):
*foundLen = mpsoc::SIZE_EXE_REPORT;
*foundId = mpsoc::EXE_REPORT;
break;
case (mpsoc::apid::EXE_FAILURE):
*foundLen = mpsoc::SIZE_EXE_REPORT;
*foundId = mpsoc::EXE_REPORT;
break;
default: {
sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
*foundLen = remainingSize;
return MPSoCReturnValuesIF::INVALID_APID;
}
}
sequenceCount++;
uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
if (recvSeqCnt != sequenceCount) {
triggerEvent(MPSOC_HANDLER_SEQ_CNT_MISMATCH, sequenceCount, recvSeqCnt);
sequenceCount = recvSeqCnt;
}
return result;
}
ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
case mpsoc::ACK_REPORT: {
result = handleAckReport(packet);
break;
}
case (mpsoc::TM_MEMORY_READ_REPORT): {
result = handleMemoryReadReport(packet);
break;
}
case (mpsoc::EXE_REPORT): {
result = handleExecutionReport(packet);
break;
}
default: {
sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return result;
}
void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {}
uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
void PlocMPSoCHandler::handleEvent(EventMessage* eventMessage) {
object_id_t objectId = eventMessage->getReporter();
switch (objectId) {
case objects::PLOC_MPSOC_HELPER: {
plocMPSoCHelperExecuting = false;
break;
}
default:
sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
break;
}
}
ReturnValue_t PlocMPSoCHandler::prepareTcMemWrite(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcMemWrite tcMemWrite(sequenceCount);
result = tcMemWrite.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcMemWrite);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcMemRead(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcMemRead tcMemRead(sequenceCount);
result = tcMemRead.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcMemRead);
tmMemReadReport.rememberRequestedSize = tcMemRead.getMemLen() * 4 + TmMemReadReport::FIX_SIZE;
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData,
size_t commandDataLen) {
if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return NAME_TOO_LONG;
}
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcFlashDelete tcFlashDelete(sequenceCount);
result = tcFlashDelete.createPacket(
std::string(reinterpret_cast<const char*>(commandData), commandDataLen));
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcFlashDelete);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcReplayStart(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcReplayStart tcReplayStart(sequenceCount);
result = tcReplayStart.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcReplayStart);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcReplayStop() {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcReplayStop tcReplayStop(sequenceCount);
result = tcReplayStop.createPacket();
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcReplayStop);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOn(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(sequenceCount);
result = tcDownlinkPwrOn.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcDownlinkPwrOn);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOff() {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(sequenceCount);
result = tcDownlinkPwrOff.createPacket();
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcDownlinkPwrOff);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcReplayWriteSequence(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcReplayWriteSeq tcReplayWriteSeq(sequenceCount);
result = tcReplayWriteSeq.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcReplayWriteSeq);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcModeReplay tcModeReplay(sequenceCount);
result = tcModeReplay.createPacket();
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
memcpy(commandBuffer, tcModeReplay.getWholeData(), tcModeReplay.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcModeReplay.getFullSize();
nextReplyId = mpsoc::ACK_REPORT;
return RETURN_OK;
}
void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
if (tc == nullptr) {
sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
}
memcpy(commandBuffer, tc->getWholeData(), tc->getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tc->getFullSize();
nextReplyId = mpsoc::ACK_REPORT;
}
ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
if (receivedCrc != recalculatedCrc) {
return MPSoCReturnValuesIF::CRC_FAILURE;
}
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = mpsoc::NONE;
replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
disableAllReplies();
return IGNORE_REPLY_DATA;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case mpsoc::apid::ACK_FAILURE: {
// TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
DeviceCommandId_t commandId = getPendingCommand();
uint16_t status = getStatus(data);
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(ACK_FAILURE, commandId, status);
}
sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::RECEIVED_ACK_FAILURE);
disableAllReplies();
nextReplyId = mpsoc::NONE;
result = IGNORE_REPLY_DATA;
break;
}
case mpsoc::apid::ACK_SUCCESS: {
setNextReplyId();
break;
}
default: {
sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
result = RETURN_FAILED;
break;
}
}
return result;
}
ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = mpsoc::NONE;
return result;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case (mpsoc::apid::EXE_SUCCESS): {
break;
}
case (mpsoc::apid::EXE_FAILURE): {
// TODO: Interpretation of status field in execution report
sif::warning << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
uint16_t status = getStatus(data);
triggerEvent(EXE_FAILURE, commandId, status);
} else {
sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
}
printStatus(data);
sendFailureReport(mpsoc::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
disableExeReportReply();
result = IGNORE_REPLY_DATA;
break;
}
default: {
sif::warning << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
result = RETURN_FAILED;
break;
}
}
nextReplyId = mpsoc::NONE;
return result;
}
ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
<< std::endl;
}
uint16_t memLen =
*(data + mpsoc::MEM_READ_RPT_LEN_OFFSET) << 8 | *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET + 1);
/** Send data to commanding queue */
handleDeviceTM(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_RPT_FIX + memLen * 4,
mpsoc::TM_MEMORY_READ_REPORT);
nextReplyId = mpsoc::EXE_REPORT;
return result;
}
ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
switch (command->first) {
case mpsoc::TC_MEM_WRITE:
case mpsoc::TC_FLASHDELETE:
case mpsoc::TC_REPLAY_START:
case mpsoc::TC_REPLAY_STOP:
case mpsoc::TC_DOWNLINK_PWR_ON:
case mpsoc::TC_DOWNLINK_PWR_OFF:
case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
case mpsoc::TC_MODE_REPLAY:
enabledReplies = 2;
break;
case mpsoc::TC_MEM_READ: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
mpsoc::TM_MEMORY_READ_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
}
break;
}
case mpsoc::OBSW_RESET_SEQ_COUNT:
break;
default:
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
/**
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::ACK_REPORT
<< " not in replyMap" << std::endl;
}
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::EXE_REPORT
<< " not in replyMap" << std::endl;
}
switch (command->first) {
case mpsoc::TC_REPLAY_WRITE_SEQUENCE: {
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
// Overwrite delay cycles because replay write sequence command can required up to
// 30 seconds for execution
iter->second.delayCycles = mpsoc::TC_WRITE_SEQ_EXECUTION_DELAY;
break;
}
case mpsoc::TC_DOWNLINK_PWR_ON: {
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
//
iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON;
break;
}
default:
break;
}
return RETURN_OK;
}
void PlocMPSoCHandler::setNextReplyId() {
switch (getPendingCommand()) {
case mpsoc::TC_MEM_READ:
nextReplyId = mpsoc::TM_MEMORY_READ_REPORT;
break;
default:
/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = mpsoc::EXE_REPORT;
break;
}
}
size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
if (nextReplyId == mpsoc::NONE) {
return replyLen;
}
DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles == 0) {
/* Reply inactive */
return replyLen;
}
switch (nextReplyId) {
case mpsoc::TM_MEMORY_READ_REPORT: {
replyLen = tmMemReadReport.rememberRequestedSize;
break;
}
default: {
replyLen = iter->second.replyLen;
break;
}
}
} else {
sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
return replyLen;
}
void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}
void PlocMPSoCHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
iter = deviceReplyMap.find(mpsoc::ACK_REPORT);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
DeviceCommandId_t commandId = getPendingCommand();
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case mpsoc::TC_MEM_WRITE:
break;
case mpsoc::TC_MEM_READ: {
iter = deviceReplyMap.find(mpsoc::TM_MEMORY_READ_REPORT);
info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
break;
}
default: {
sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
<< std::endl;
break;
}
}
/* We must always disable the execution report reply here */
disableExeReportReply();
nextReplyId = mpsoc::NONE;
}
void PlocMPSoCHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
return;
}
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply has no active command" << std::endl;
return;
}
if (info->sendReplyTo != NO_COMMANDER) {
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
}
void PlocMPSoCHandler::disableExeReportReply() {
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
/* Expected replies is set to one here. The value will be set to 0 in replyToReply() */
info->command->second.expectedReplies = 0;
}
void PlocMPSoCHandler::printStatus(const uint8_t* data) {
uint16_t status = *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
sif::info << "Verification report status: 0x" << std::hex << status << std::endl;
}
uint16_t PlocMPSoCHandler::getStatus(const uint8_t* data) {
return *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
}

217
linux/devices/ploc/PlocMPSoCHandler.h Normal file
View File

@ -0,0 +1,217 @@
#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#include <string>
#include "PlocMPSoCHelper.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "fsfw_hal/linux/gpio/Gpio.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. Each command will be
* answered 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
*
* @note The sequence count in the space packets must be incremented with each received and sent
* packet otherwise the MPSoC will reply with an acknowledgment failure report.
*
* @author J. Meier
*/
class PlocMPSoCHandler : public DeviceHandlerBase {
public:
PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch);
virtual ~PlocMPSoCHandler();
virtual ReturnValue_t initialize() override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
void performOperationHook() override;
protected:
void doStartUp() override;
void doShutDown() override;
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;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
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
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
//! P1: Command Id which leads the acknowledgment failure report
//! P2: The status field inserted by the MPSoC into the data field
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive execution failure report
//! P1: Command Id which leads the execution failure report
//! P2: The status field inserted by the MPSoC into the data field
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
static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Received command has file string with invalid length
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xD0);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
static const uint8_t STATUS_OFFSET = 10;
MessageQueueIF* eventQueue = nullptr;
SourceSequenceCounter sequenceCount;
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = mpsoc::NONE;
UartComIF* uartComIf = nullptr;
PlocMPSoCHelper* plocMPSoCHelper = nullptr;
Gpio uartIsolatorSwitch;
// Used to block incoming commands when MPSoC helper class is currently executing a command
bool plocMPSoCHelperExecuting = false;
class TmMemReadReport {
public:
static const uint8_t FIX_SIZE = 14;
size_t rememberRequestedSize = 0;
};
TmMemReadReport tmMemReadReport;
/**
* @brief Handles events received from the PLOC MPSoC helper
*/
void handleEvent(EventMessage* eventMessage);
ReturnValue_t prepareTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcMemRead(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayStop();
ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkPwrOff();
ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Copies space packet into command buffer
*/
void copyToCommandBuffer(mpsoc::TcBase* tc);
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the memory read report.
*
* @param data Pointer to the data buffer holding the memory read report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an
* active command.
*/
void disableAllReplies();
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
void printStatus(const uint8_t* data);
ReturnValue_t prepareTcModeReplay();
uint16_t getStatus(const uint8_t* data);
};
#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

321
linux/devices/ploc/PlocMPSoCHelper.cpp Normal file
View File

@ -0,0 +1,321 @@
#include "PlocMPSoCHelper.h"
#include <filesystem>
#include <fstream>
#include "OBSWConfig.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/memory/FilesystemHelper.h"
#endif
#include "mission/utility/Timestamp.h"
PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {}
PlocMPSoCHelper::~PlocMPSoCHelper() {}
ReturnValue_t PlocMPSoCHelper::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
return RETURN_FAILED;
}
#endif
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
semaphore.acquire();
while (true) {
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == RETURN_OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
sequenceCount = sequenceCount_;
}
ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
ReturnValue_t result = RETURN_OK;
#ifdef XIPHOS_Q7S
result = FilesystemHelper::checkPath(obcFile);
if (result != RETURN_OK) {
return result;
}
result = FilesystemHelper::fileExists(mpsocFile);
if (result != RETURN_OK) {
return result;
}
#endif
#ifdef TE0720_1CFA
if (not std::filesystem::exists(obcFile)) {
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
<< std::endl;
return RETURN_FAILED;
}
#endif
flashWrite.obcFile = obcFile;
flashWrite.mpsocFile = mpsocFile;
internalState = InternalState::FLASH_WRITE;
result = resetHelper();
if (result != RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::resetHelper() {
ReturnValue_t result = RETURN_OK;
semaphore.release();
terminate = false;
result = uartComIF->flushUartRxBuffer(comCookie);
return result;
}
void PlocMPSoCHelper::stopProcess() { terminate = true; }
ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
ReturnValue_t result = RETURN_OK;
result = flashfopen();
if (result != RETURN_OK) {
return result;
}
uint8_t tempData[mpsoc::MAX_DATA_SIZE];
std::ifstream file(flashWrite.obcFile, std::ifstream::binary);
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
size_t remainingSize = file.tellg();
size_t dataLength = 0;
size_t bytesRead = 0;
while (remainingSize > 0) {
if (terminate) {
return RETURN_OK;
}
if (remainingSize > mpsoc::MAX_DATA_SIZE) {
dataLength = mpsoc::MAX_DATA_SIZE;
} else {
dataLength = remainingSize;
}
if (file.is_open()) {
file.seekg(bytesRead, file.beg);
file.read(reinterpret_cast<char*>(tempData), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
} else {
return FILE_CLOSED_ACCIDENTALLY;
}
(*sequenceCount)++;
mpsoc::TcFlashWrite tc(*sequenceCount);
tc.createPacket(tempData, dataLength);
result = handlePacketTransmission(tc);
if (result != RETURN_OK) {
return result;
}
}
result = flashfclose();
if (result != RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::flashfopen() {
ReturnValue_t result = RETURN_OK;
(*sequenceCount)++;
mpsoc::FlashFopen flashFopen(*sequenceCount);
result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND);
if (result != RETURN_OK) {
return result;
}
result = handlePacketTransmission(flashFopen);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHelper::flashfclose() {
ReturnValue_t result = RETURN_OK;
(*sequenceCount)++;
mpsoc::FlashFclose flashFclose(*sequenceCount);
result = flashFclose.createPacket(flashWrite.mpsocFile);
if (result != RETURN_OK) {
return result;
}
result = handlePacketTransmission(flashFclose);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(mpsoc::TcBase& tc) {
ReturnValue_t result = RETURN_OK;
result = sendCommand(tc);
if (result != RETURN_OK) {
return result;
}
result = handleAck();
if (result != RETURN_OK) {
return result;
}
result = handleExe();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase& tc) {
ReturnValue_t result = RETURN_OK;
result = uartComIF->sendMessage(comCookie, tc.getWholeData(), tc.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::handleAck() {
ReturnValue_t result = RETURN_OK;
mpsoc::TmPacket tmPacket;
result = handleTmReception(&tmPacket, mpsoc::SIZE_ACK_REPORT);
if (result != RETURN_OK) {
return result;
}
uint16_t apid = tmPacket.getAPID();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(apid);
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::ACK_FAILURE) {
triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
<< "report" << std::endl;
} else {
triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMPSoCHelper::handleExe() {
ReturnValue_t result = RETURN_OK;
mpsoc::TmPacket tmPacket;
result = handleTmReception(&tmPacket, mpsoc::SIZE_EXE_REPORT);
if (result != RETURN_OK) {
return result;
}
uint16_t apid = tmPacket.getAPID();
if (apid != mpsoc::apid::EXE_SUCCESS) {
handleExeApidFailure(apid);
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::EXE_FAILURE) {
triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
<< "report" << std::endl;
} else {
triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes) {
ReturnValue_t result = RETURN_OK;
size_t readBytes = 0;
size_t currentBytes = 0;
for (int retries = 0; retries < RETRIES; retries++) {
result = receive(tmPacket->getWholeData() + readBytes, &currentBytes, remainingBytes);
if (result != RETURN_OK) {
return result;
}
readBytes += currentBytes;
remainingBytes = remainingBytes - currentBytes;
if (remainingBytes == 0) {
break;
}
}
if (remainingBytes != 0) {
sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
return RETURN_FAILED;
}
result = tmPacket->checkCrc();
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
return result;
}
(*sequenceCount)++;
uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
ReturnValue_t result = RETURN_OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return RETURN_FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
return RETURN_FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
}
return result;
}

153
linux/devices/ploc/PlocMPSoCHelper.h Normal file
View File

@ -0,0 +1,153 @@
#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
#include <string>
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/memory/SdCardManager.h"
#endif
/**
* @brief Helper class for MPSoC of PLOC intended to accelerate large data transfers between
* MPSoC and OBC.
* @author J. Meier
*/
class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] Flash write fails
static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Flash write successful
static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
//! ot the PLOC
//! P1: Return value returned by the communication interface sendMessage function
//! P2: Internal state of MPSoC helper
static const Event SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Request receive message of communication interface failed
//! P1: Return value returned by the communication interface requestReceiveMessage function
//! P2: Internal state of MPSoC helper
static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
//! P1: Return value returned by the communication interface readingReceivedMessage function
//! P2: Internal state of MPSoC helper
static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Did not receive acknowledgement report
//! P1: Number of bytes missing
//! P2: Internal state of MPSoC helper
static const Event MISSING_ACK = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Did not receive execution report
//! P1: Number of bytes missing
//! P2: Internal state of MPSoC helper
static const Event MISSING_EXE = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Received acknowledgement failure report
//! P1: Internal state of MPSoC
static const Event ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Received execution failure report
//! P1: Internal state of MPSoC
static const Event EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Expected acknowledgement report but received space packet with other apid
//! P1: Apid of received space packet
//! P2: Internal state of MPSoC
static const Event ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
//! P1: Apid of received space packet
//! P2: Internal state of MPSoC
static const Event EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
//! P1: Expected sequence count
//! P2: Received sequence count
static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
PlocMPSoCHelper(object_id_t objectId);
virtual ~PlocMPSoCHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
/**
* @brief Starts flash write sequence
*
* @param obcFile File where to read from the data
* @param mpsocFile The file of the MPSoC where should be written to
*
* @return RETURN_OK if successful, otherwise error return value
*/
ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
/**
* @brief Sets the sequence count object responsible for the sequence count handling
*/
void setSequenceCount(SourceSequenceCounter* sequenceCount_);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] File accidentally close
static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
// Maximum number of times the communication interface retries polling data from the reply
// buffer
static const int RETRIES = 10000;
struct FlashWrite {
std::string obcFile;
std::string mpsocFile;
};
struct FlashWrite flashWrite;
enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
InternalState internalState = InternalState::IDLE;
BinarySemaphore semaphore;
#ifdef XIPHOS_Q7S
SdCardManager* sdcMan = nullptr;
#endif
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
bool terminate = false;
/**
* Communication interface of MPSoC responsible for low level access. Must be set by the
* MPSoC Handler.
*/
UartComIF* uartComIF = nullptr;
// Communication cookie. Must be set by the MPSoC Handler
CookieIF* comCookie = nullptr;
// Sequence count, must be set by Ploc MPSoC Handler
SourceSequenceCounter* sequenceCount;
ReturnValue_t resetHelper();
ReturnValue_t performFlashWrite();
ReturnValue_t flashfopen();
ReturnValue_t flashfclose();
ReturnValue_t handlePacketTransmission(mpsoc::TcBase& tc);
ReturnValue_t sendCommand(mpsoc::TcBase& tc);
ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
ReturnValue_t handleAck();
ReturnValue_t handleExe();
void handleAckApidFailure(uint16_t apid);
void handleExeApidFailure(uint16_t apid);
ReturnValue_t handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes);
};
#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */

194
linux/devices/ploc/PlocMemoryDumper.cpp Normal file
View File

@ -0,0 +1,194 @@
#include "PlocMemoryDumper.h"
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include <filesystem>
#include <fstream>
#include <string>
#include "fsfw/ipc/QueueFactory.h"
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
auto mqArgs = MqArgs(this->getObjectId());
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PlocMemoryDumper::~PlocMemoryDumper() {}
ReturnValue_t PlocMemoryDumper::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
readCommandQueue();
doStateMachine();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
if (state != State::IDLE) {
return IS_BUSY;
}
switch (actionId) {
case DUMP_MRAM: {
size_t deserializeSize = sizeof(mram.startAddress) + sizeof(mram.endAddress);
SerializeAdapter::deSerialize(&mram.startAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&mram.endAddress, &data, &deserializeSize,
SerializeIF::Endianness::BIG);
if (mram.endAddress > MAX_MRAM_ADDRESS) {
return MRAM_ADDRESS_TOO_HIGH;
}
if (mram.endAddress <= mram.startAddress) {
return MRAM_INVALID_ADDRESS_COMBINATION;
}
state = State::COMMAND_FIRST_MRAM_DUMP;
break;
}
default: {
sif::warning << "PlocMemoryDumper::executeAction: Received command with invalid action id"
<< std::endl;
return INVALID_ACTION_ID;
}
}
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocMemoryDumper::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() { return commandQueue; }
void PlocMemoryDumper::readCommandQueue() {
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) {
continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocMemoryDumper::readCommandQueue: Received message with invalid format"
<< std::endl;
}
}
void PlocMemoryDumper::doStateMachine() {
switch (state) {
case State::IDLE:
break;
case State::COMMAND_FIRST_MRAM_DUMP:
commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
break;
case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
break;
case State::EXECUTING_MRAM_DUMP:
break;
default:
sif::debug << "PlocMemoryDumper::doStateMachine: Invalid state" << std::endl;
break;
}
}
void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {}
void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
if (mram.endAddress == mram.startAddress) {
triggerEvent(MRAM_DUMP_FINISHED);
state = State::IDLE;
} else {
state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
}
break;
default:
sif::debug << "PlocMemoryDumper::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE;
break;
}
}
void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::FIRST_MRAM_DUMP):
case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
break;
default:
sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command "
<< std::endl;
break;
}
state = State::IDLE;
}
void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
ReturnValue_t result = RETURN_OK;
uint32_t tempStartAddress = 0;
uint32_t tempEndAddress = 0;
if (mram.endAddress - mram.startAddress > MAX_MRAM_DUMP_SIZE) {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
mram.startAddress += MAX_MRAM_DUMP_SIZE;
mram.lastStartAddress = tempStartAddress;
} else {
tempStartAddress = mram.startAddress;
tempEndAddress = mram.endAddress;
mram.startAddress = mram.endAddress;
}
MemoryParams params(tempStartAddress, tempEndAddress);
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, dumpCommand, &params);
if (result != RETURN_OK) {
sif::warning << "PlocMemoryDumper::commandNextMramDump: Failed to send mram dump command "
<< "with start address " << tempStartAddress << " and end address "
<< tempEndAddress << std::endl;
triggerEvent(SEND_MRAM_DUMP_FAILED, result, tempStartAddress);
state = State::IDLE;
pendingCommand = NONE;
return;
}
state = State::EXECUTING_MRAM_DUMP;
pendingCommand = dumpCommand;
return;
}

114
linux/devices/ploc/PlocMemoryDumper.h Normal file
View File

@ -0,0 +1,114 @@
#ifndef MISSION_DEVICES_PLOCMEMORYDUMPER_H_
#define MISSION_DEVICES_PLOCMEMORYDUMPER_H_
#include <linux/devices/devicedefinitions/PlocMemDumpDefinitions.h>
#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "OBSWConfig.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
/**
* @brief Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is
* created to perform large dumps of PLOC memories.
*
* @details Currently the PLOC supervisor only implements the functionality to dump the MRAM.
*
* @author J. Meier
*/
class PlocMemoryDumper : public SystemObject,
public HasActionsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
static const ActionId_t NONE = 0;
static const ActionId_t DUMP_MRAM = 1;
PlocMemoryDumper(object_id_t objectId);
virtual ~PlocMemoryDumper();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint32_t QUEUE_SIZE = 10;
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
//! not be higher than 0x7d000.
static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] The specified end address is lower than the start address
static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MEMORY_DUMPER;
//! [EXPORT] : [COMMENT] Failed to send mram dump command to supervisor handler
//! P1: Return value of commandAction function
//! P2: Start address of MRAM to dump with this command
static const Event SEND_MRAM_DUMP_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Received completion failure report form PLOC supervisor handler
//! P1: MRAM start address of failing dump command
static const Event MRAM_DUMP_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] MRAM dump finished successfully
static const Event MRAM_DUMP_FINISHED = MAKE_EVENT(2, severity::LOW);
// Maximum size of mram dump which can be retrieved with one command
static const uint32_t MAX_MRAM_DUMP_SIZE = 100000;
static const uint32_t MAX_MRAM_ADDRESS = 0x7d000;
MessageQueueIF* commandQueue = nullptr;
CommandActionHelper commandActionHelper;
ActionHelper actionHelper;
enum class State : uint8_t {
IDLE,
COMMAND_FIRST_MRAM_DUMP,
COMMAND_CONSECUTIVE_MRAM_DUMP,
EXECUTING_MRAM_DUMP
};
State state = State::IDLE;
ActionId_t pendingCommand = NONE;
typedef struct MemoryInfo {
// Stores the start address of the next memory range to dump
uint32_t startAddress;
uint32_t endAddress;
// Stores the start address of the last sent dump command
uint32_t lastStartAddress;
} MemoryInfo_t;
MemoryInfo_t mram = {0, 0, 0};
void readCommandQueue();
void doStateMachine();
/**
* @brief Sends the next mram dump command to the PLOC supervisor handler.
*/
void commandNextMramDump(ActionId_t dumpCommand);
};
#endif /* MISSION_DEVICES_PLOCMEMORYDUMPER_H_ */

1514
linux/devices/ploc/PlocSupervisorHandler.cpp Normal file
View File

File diff suppressed because it is too large Load Diff

353
linux/devices/ploc/PlocSupervisorHandler.h Normal file
View File

@ -0,0 +1,353 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include "OBSWConfig.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "devices/powerSwitcherList.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
/**
* @brief This is the device handler for the supervisor of the PLOC which is programmed by
* Thales.
*
* @details The PLOC uses the space packet protocol for communication. To 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_Commands
* ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
* @author J. Meier
*/
class PlocSupervisorHandler : public DeviceHandlerBase {
public:
PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
Gpio uartIsolatorSwitch);
virtual ~PlocSupervisorHandler();
virtual ReturnValue_t initialize() override;
protected:
void doStartUp() override;
void doShutDown() override;
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;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
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
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
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
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.
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.
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.
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)
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.
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.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC received execution failure report
static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
UartComIF* uartComIf = nullptr;
LinuxLibgpioIF* gpioComIF = nullptr;
Gpio uartIsolatorSwitch;
PLOC_SPV::HkSet hkset;
PLOC_SPV::BootStatusReport bootStatusReport;
PLOC_SPV::LatchupStatusReport latchupStatusReport;
const power::Switch_t powerSwitch = pcduSwitches::PDU1_CH6_PLOC_12V;
/** Number of expected replies following the MRAM dump command */
uint32_t expectedMramDumpPackets = 0;
uint32_t receivedMramDumpPackets = 0;
/** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
bool packetInBuffer = false;
/** Points to the next free position in the space packet buffer */
uint16_t bufferTop = 0;
/** This buffer is used to concatenate space packets received in two different read steps */
uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
#ifdef TE0720_1CFA
SdCardManager* sdcMan = nullptr;
#endif /* BOARD_TE0720 == 0 */
/** Path to PLOC specific files on SD card */
std::string plocFilePath = "ploc";
std::string activeMramFile;
/** Setting this variable to true will enable direct downlink of MRAM packets */
bool downlinkMramDump = false;
ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches);
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the housekeeping report. This means verifying the CRC of the
* reply and filling the appropriate dataset.
*
* @param data Pointer to the data buffer holding the housekeeping read report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleHkReport(const uint8_t* data);
/**
* @brief This function calls the function to check the CRC of the received boot status report
* and fills the associated dataset with the boot status information.
*/
ReturnValue_t handleBootStatusReport(const uint8_t* data);
ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief This function prepares a space packet which does not transport any data in the
* packet data field apart from the crc.
*/
void prepareEmptyCmd(uint16_t apid);
/**
* @brief This function initializes the space packet to select the boot image of the MPSoC.
*/
void prepareSelBootImageCmd(const uint8_t* commandData);
void prepareDisableHk();
/**
* @brief This function fills the commandBuffer with the data to update the time of the
* PLOC supervisor.
*/
ReturnValue_t prepareSetTimeRefCmd();
/**
* @brief This function fills the commandBuffer with the data to change the boot timeout
* value in the PLOC supervisor.
*/
void prepareSetBootTimeoutCmd(const uint8_t* commandData);
void prepareRestartTriesCmd(const uint8_t* commandData);
/**
* @brief This function fills the command buffer with the packet to enable or disable the
* watchdogs on the PLOC.
*/
void prepareWatchdogsEnableCmd(const uint8_t* commandData);
/**
* @brief This function fills the command buffer with the packet to set the watchdog timer
* of one of the three watchdogs (PS, PL, INT).
*/
ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);
ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
DeviceCommandId_t deviceCommand);
ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
void prepareSetAdcThresholdCmd(const uint8_t* commandData);
void prepareEnableNvmsCmd(const uint8_t* commandData);
void prepareSelectNvmCmd(const uint8_t* commandData);
ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
void preparePrintCpuStatsCmd(const uint8_t* commandData);
void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
void prepareSetGpioCmd(const uint8_t* commandData);
void prepareReadGpioCmd(const uint8_t* commandData);
/**
* @brief Copies the content of a space packet to the command buffer.
*/
void packetToOutBuffer(uint8_t* packetData, size_t fullSize);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an
* active command.
*/
void disableAllReplies();
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
/**
* @brief Function is called in scanForReply and fills the spacePacketBuffer with the read
* data until a full packet has been received.
*/
ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
/**
* @brief This function generates the Service 8 packets for the MRAM dump data.
*/
ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);
/**
* @brief With this function the number of expected replies following an MRAM dump command
* will be increased. This is necessary to release the command in case not all replies
* have been received.
*/
void increaseExpectedMramReplies(DeviceCommandId_t id);
/**
* @brief Function checks if the packet written to the space packet buffer is really a
* MRAM dump packet.
*/
ReturnValue_t checkMramPacketApid();
/**
* @brief Writes the data of the MRAM dump to a file. The file will be created when receiving
* the first packet.
*/
ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);
/**
* @brief Extracts the length field of a spacePacket referenced by the spacePacket pointer.
*
* @param spacePacket Pointer to the buffer holding the space packet.
*
* @return The value stored in the length field of the data field.
*/
uint16_t readSpacePacketLength(uint8_t* spacePacket);
/**
* @brief Extracts the sequence flags from a space packet referenced by the spacePacket
* pointer.
*
* @param spacePacket Pointer to the buffer holding the space packet.
*
* @return uint8_t where the two least significant bits hold the sequence flags.
*/
uint8_t readSequenceFlags(uint8_t* spacePacket);
ReturnValue_t createMramDumpFile();
ReturnValue_t getTimeStampString(std::string& timeStamp);
};
#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

395
linux/devices/ploc/PlocUpdater.cpp Normal file
View File

@ -0,0 +1,395 @@
#include "PlocUpdater.h"
#include <filesystem>
#include <fstream>
#include <string>
#include "fsfw/ipc/QueueFactory.h"
PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
auto mqArgs = MqArgs(this->getObjectId());
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PlocUpdater::~PlocUpdater() {}
ReturnValue_t PlocUpdater::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
#endif
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
readCommandQueue();
doStateMachine();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED;
if (state != State::IDLE) {
return IS_BUSY;
}
if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG;
}
switch (actionId) {
case UPDATE_A_UBOOT:
image = Image::A;
partition = Partition::UBOOT;
break;
case UPDATE_A_BITSTREAM:
image = Image::A;
partition = Partition::BITSTREAM;
break;
case UPDATE_A_LINUX:
image = Image::A;
partition = Partition::LINUX_OS;
break;
case UPDATE_A_APP_SW:
image = Image::A;
partition = Partition::APP_SW;
break;
case UPDATE_B_UBOOT:
image = Image::B;
partition = Partition::UBOOT;
break;
case UPDATE_B_BITSTREAM:
image = Image::B;
partition = Partition::BITSTREAM;
break;
case UPDATE_B_LINUX:
image = Image::B;
partition = Partition::LINUX_OS;
break;
case UPDATE_B_APP_SW:
image = Image::B;
partition = Partition::APP_SW;
break;
default:
return INVALID_ACTION_ID;
}
result = getImageLocation(data, size);
if (result != RETURN_OK) {
return result;
}
state = State::UPDATE_AVAILABLE;
return EXECUTION_FINISHED;
}
MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
void PlocUpdater::readCommandQueue() {
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
if (result != RETURN_OK) {
continue;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
<< std::endl;
}
}
void PlocUpdater::doStateMachine() {
switch (state) {
case State::IDLE:
break;
case State::UPDATE_AVAILABLE:
commandUpdateAvailable();
break;
case State::UPDATE_TRANSFER:
commandUpdatePacket();
break;
case State::UPDATE_VERIFY:
commandUpdateVerify();
break;
case State::COMMAND_EXECUTING:
break;
default:
sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
break;
}
}
ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
if (size > MAX_PLOC_UPDATE_PATH) {
return NAME_TOO_LONG;
}
return RETURN_OK;
}
ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
ReturnValue_t result = checkNameLength(size);
if (result != RETURN_OK) {
return result;
}
#ifdef XIPHOS_Q7S
// Check if file is stored on SD card and if associated SD card is mounted
if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else {
// update image not stored on SD card
}
#endif /* BOARD_TE0720 == 0 */
updateFile = std::string(reinterpret_cast<const char*>(data), size);
// Check if file exists
if (not std::filesystem::exists(updateFile)) {
return FILE_NOT_EXISTS;
}
return RETURN_OK;
}
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
switch (pendingCommand) {
case (PLOC_SPV::UPDATE_AVAILABLE):
state = State::UPDATE_TRANSFER;
break;
case (PLOC_SPV::UPDATE_IMAGE_DATA):
if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY;
} else {
state = State::UPDATE_TRANSFER;
}
break;
case (PLOC_SPV::UPDATE_VERIFY):
triggerEvent(UPDATE_FINISHED);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
break;
default:
sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
<< std::endl;
state = State::IDLE;
break;
}
}
void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
switch (pendingCommand) {
case (PLOC_SPV::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED);
break;
}
case (PLOC_SPV::UPDATE_IMAGE_DATA): {
triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
break;
}
case (PLOC_SPV::UPDATE_VERIFY): {
triggerEvent(UPDATE_VERIFY_FAILED);
break;
}
default:
sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
break;
}
state = State::IDLE;
}
void PlocUpdater::commandUpdateAvailable() {
ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
imageSize = static_cast<size_t>(file.tellg());
file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA;
if (imageSize % MAX_SP_DATA) {
numOfUpdatePackets++;
}
remainingPackets = numOfUpdatePackets;
packetsSent = 0;
calcImageCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
state = State::COMMAND_EXECUTING;
return;
}
void PlocUpdater::commandUpdatePacket() {
ReturnValue_t result = RETURN_OK;
uint16_t payloadLength = 0;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(packetsSent * MAX_SP_DATA, file.beg);
if (remainingPackets == 1) {
payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
} else {
payloadLength = MAX_SP_DATA;
}
PLOC_SPV::UpdatePacket packet(payloadLength);
file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
file.close();
// sequence count of first packet is 1
packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
if (numOfUpdatePackets > 1) {
adjustSequenceFlags(packet);
}
packet.makeCrc();
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
remainingPackets--;
packetsSent++;
pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
state = State::COMMAND_EXECUTING;
}
void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK;
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
static_cast<uint8_t>(partition), imageSize, imageCrc,
numOfUpdatePackets);
result =
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
packet.getWholeData(), packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
state = State::IDLE;
pendingCommand = PLOC_SPV::NONE;
return;
}
state = State::COMMAND_EXECUTING;
pendingCommand = PLOC_SPV::UPDATE_VERIFY;
return;
}
void PlocUpdater::calcImageCrc() {
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
uint32_t count;
uint32_t bit;
uint32_t remainder = INITIAL_REMAINDER_32;
char input;
for (count = 0; count < imageSize; count++) {
file.seekg(count, file.beg);
file.read(&input, 1);
remainder ^= (input << 16);
for (bit = 8; bit > 0; --bit) {
if (remainder & TOPBIT_32) {
remainder = (remainder << 1) ^ POLYNOMIAL_32;
} else {
remainder = (remainder << 1);
}
}
}
file.close();
imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
}
void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
if (packetsSent == 0) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
} else if (remainingPackets == 1) {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
} else {
packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
}
}

174
linux/devices/ploc/PlocUpdater.h Normal file
View File

@ -0,0 +1,174 @@
#ifndef MISSION_DEVICES_PLOCUPDATER_H_
#define MISSION_DEVICES_PLOCUPDATER_H_
#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "OBSWConfig.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "eive/definitions.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#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"
/**
* @brief An object of this class can be used to perform the software updates of the PLOC. The
* software update will be read from one of the SD cards, split into multiple space
* packets and sent to the PlocSupervisorHandler.
*
* @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
* A and Partition B)
*
* @author J. Meier
*/
class PlocUpdater : public SystemObject,
public HasActionsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
static const ActionId_t UPDATE_A_UBOOT = 0;
static const ActionId_t UPDATE_A_BITSTREAM = 1;
static const ActionId_t UPDATE_A_LINUX = 2;
static const ActionId_t UPDATE_A_APP_SW = 3;
static const ActionId_t UPDATE_B_UBOOT = 4;
static const ActionId_t UPDATE_B_BITSTREAM = 5;
static const ActionId_t UPDATE_B_LINUX = 6;
static const ActionId_t UPDATE_B_APP_SW = 7;
PlocUpdater(object_id_t objectId);
virtual ~PlocUpdater();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
//! [EXPORT] : [COMMENT] Updater is already performing an update
static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
//! mounted.
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Update file received with update command does not exist.
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;
//! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
//! P1: Indicates in which state the file read fails
//! P2: During the update transfer the second parameter gives information about the number of
//! already sent packets
static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
//! P1: Return value of CommandActionHelper::commandAction
//! P2: Action ID of command to send
static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
//! failure of the update available command
static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
//! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] MPSoC update successful completed
static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
static const size_t MAX_PLOC_UPDATE_PATH = 50;
static const size_t SD_PREFIX_LENGTH = 8;
// Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
static const size_t MAX_SP_DATA = 1016;
static const uint32_t TOPBIT_32 = (1 << 31);
static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
MessageQueueIF* commandQueue = nullptr;
#ifdef XIPHOS_Q7S
SdCardManager* sdcMan = nullptr;
#endif
CommandActionHelper commandActionHelper;
ActionHelper actionHelper;
enum class State : uint8_t {
IDLE,
UPDATE_AVAILABLE,
UPDATE_TRANSFER,
UPDATE_VERIFY,
COMMAND_EXECUTING
};
State state = State::IDLE;
ActionId_t pendingCommand = PLOC_SPV::NONE;
enum class Image : uint8_t { NONE, A, B };
Image image = Image::NONE;
enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
Partition partition = Partition::NONE;
uint32_t packetsSent = 0;
uint32_t remainingPackets = 0;
// Number of packets required to transfer the update image
uint32_t numOfUpdatePackets = 0;
std::string updateFile;
uint32_t imageSize = 0;
uint32_t imageCrc = 0;
void readCommandQueue();
void doStateMachine();
/**
* @brief Extracts the path and name of the update image from the service 8 command data.
*/
ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
ReturnValue_t checkNameLength(size_t size);
/**
* @brief Prepares and sends update available command to PLOC supervisor handler.
*/
void commandUpdateAvailable();
/**
* @brief Prepares and sends and update packet to the PLOC supervisor handler.
*/
void commandUpdatePacket();
/**
* @brief Prepares and sends the update verification packet to the PLOC supervisor handler.
*/
void commandUpdateVerify();
void calcImageCrc();
void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
};
#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

65
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -10,6 +10,7 @@
#cmakedefine XIPHOS_Q7S
#cmakedefine BEAGLEBONEBLACK
#cmakedefine EGSE
#cmakedefine TE0720_1CFA
#include "commonConfig.h"
#include "OBSWVersion.h"
@ -17,9 +18,7 @@
/* These defines should be disabled for mission code but are useful for
debugging. */
#define OBSW_VERBOSE_LEVEL 1
//! Board defines
#define BOARD_TE0720 0
#define Q7S_EM 0
/*******************************************************************/
@ -30,6 +29,8 @@ debugging. */
//! All of this should be enabled for mission code!
#if defined XIPHOS_Q7S
#define Q7S_EM 0
#define OBSW_USE_CCSDS_IP_CORE 1
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 0
@ -64,6 +65,37 @@ debugging. */
#define OBSW_INITIALIZE_SWITCHES 0
#define OBSW_ENABLE_PERIODIC_HK 0
#ifdef TE0720_1CFA
#define OBSW_USE_CCSDS_IP_CORE 0
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 0
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 0
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_MGT 0
#define OBSW_ADD_BPX_BATTERY_HANDLER 0
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 1
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 1
#define OBSW_ADD_ACS_HANDLERS 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#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
#define OBSW_PRINT_CORE_HK 0
#define OBSW_INITIALIZE_SWITCHES 0
#endif
/*******************************************************************/
/** All of the following flags should be disabled for mission code */
/*******************************************************************/
@ -113,10 +145,21 @@ debugging. */
#define OBSW_DEBUG_SYRLINKS 0
#define OBSW_DEBUG_IMTQ 0
#define OBSW_DEBUG_RW 0
#define OBSW_DEBUG_PLOC_MPSOC 0
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
#define OBSW_DEBUG_PDEC_HANDLER 0
#define OBSW_DEBUG_STARTRACKER @OBSW_DEBUG_STARTRACKER@
#ifdef TE0720_1CFA
#define OBSW_DEBUG_PLOC_SUPERVISOR 1
#define OBSW_DEBUG_PLOC_MPSOC 1
#else
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
#define OBSW_DEBUG_PLOC_MPSOC 0
#endif
#ifdef EGSE
#define OBSW_DEBUG_STARTRACKER 1
#else
#define OBSW_DEBUG_STARTRACKER 0
#endif
#ifdef RASPBERRY_PI
@ -141,6 +184,11 @@ debugging. */
#endif // RASPBERRY_PI
#define TCP_SERVER_WIRETAPPING 0
/*******************************************************************/
/** CMake Defines */
/*******************************************************************/
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
#ifdef RASPBERRY_PI
@ -155,11 +203,6 @@ debugging. */
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
namespace config {
#endif
#ifdef __cplusplus
}
#endif
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

79
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 168 translations.
* @brief Auto-generated event translation file. Contains 181 translations.
* @details
* Generated on: 2022-03-22 20:43:04
* Generated on: 2022-03-28 12:48:26
*/
#include "translateEvents.h"
@ -100,7 +100,8 @@ const char *DEPL_SA2_GPIO_SWTICH_ON_FAILED_STRING = "DEPL_SA2_GPIO_SWTICH_ON_FAI
const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
const char *ACK_FAILURE_STRING = "ACK_FAILURE";
const char *EXE_FAILURE_STRING = "EXE_FAILURE";
const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH";
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";
@ -148,6 +149,18 @@ const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
const char *SENDING_COMMAND_FAILED_STRING = "SENDING_COMMAND_FAILED";
const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
const char *MISSING_ACK_STRING = "MISSING_ACK";
const char *MISSING_EXE_STRING = "MISSING_EXE";
const char *ACK_FAILURE_REPORT_STRING = "ACK_FAILURE_REPORT";
const char *EXE_FAILURE_REPORT_STRING = "EXE_FAILURE_REPORT";
const char *ACK_INVALID_APID_STRING = "ACK_INVALID_APID";
const char *EXE_INVALID_APID_STRING = "EXE_INVALID_APID";
const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
const char *U_DRO_OUT_OF_BOUNDS_STRING = "U_DRO_OUT_OF_BOUNDS";
@ -363,7 +376,9 @@ const char *translateEvents(Event event) {
case (11103):
return EXE_FAILURE_STRING;
case (11104):
return CRC_FAILURE_EVENT_STRING;
return MPSOC_HANDLER_CRC_FAILURE_STRING;
case (11105):
return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING;
case (11201):
return SELF_TEST_I2C_FAILURE_STRING;
case (11202):
@ -459,38 +474,62 @@ const char *translateEvents(Event event) {
case (12016):
return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
case (12100):
return TRANSITION_BACK_TO_OFF_STRING;
return MPSOC_FLASH_WRITE_FAILED_STRING;
case (12101):
return NEG_V_OUT_OF_BOUNDS_STRING;
return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
case (12102):
return U_DRO_OUT_OF_BOUNDS_STRING;
return SENDING_COMMAND_FAILED_STRING;
case (12103):
return I_DRO_OUT_OF_BOUNDS_STRING;
return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
case (12104):
return U_X8_OUT_OF_BOUNDS_STRING;
return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
case (12105):
return I_X8_OUT_OF_BOUNDS_STRING;
return MISSING_ACK_STRING;
case (12106):
return U_TX_OUT_OF_BOUNDS_STRING;
return MISSING_EXE_STRING;
case (12107):
return I_TX_OUT_OF_BOUNDS_STRING;
return ACK_FAILURE_REPORT_STRING;
case (12108):
return U_MPA_OUT_OF_BOUNDS_STRING;
return EXE_FAILURE_REPORT_STRING;
case (12109):
return I_MPA_OUT_OF_BOUNDS_STRING;
return ACK_INVALID_APID_STRING;
case (12110):
return U_HPA_OUT_OF_BOUNDS_STRING;
return EXE_INVALID_APID_STRING;
case (12111):
return I_HPA_OUT_OF_BOUNDS_STRING;
return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
case (12200):
return TRANSITION_OTHER_SIDE_FAILED_STRING;
return TRANSITION_BACK_TO_OFF_STRING;
case (12201):
return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
return NEG_V_OUT_OF_BOUNDS_STRING;
case (12202):
return POWER_STATE_MACHINE_TIMEOUT_STRING;
return U_DRO_OUT_OF_BOUNDS_STRING;
case (12203):
return I_DRO_OUT_OF_BOUNDS_STRING;
case (12204):
return U_X8_OUT_OF_BOUNDS_STRING;
case (12205):
return I_X8_OUT_OF_BOUNDS_STRING;
case (12206):
return U_TX_OUT_OF_BOUNDS_STRING;
case (12207):
return I_TX_OUT_OF_BOUNDS_STRING;
case (12208):
return U_MPA_OUT_OF_BOUNDS_STRING;
case (12209):
return I_MPA_OUT_OF_BOUNDS_STRING;
case (12210):
return U_HPA_OUT_OF_BOUNDS_STRING;
case (12211):
return I_HPA_OUT_OF_BOUNDS_STRING;
case (12300):
return TRANSITION_OTHER_SIDE_FAILED_STRING;
case (12301):
return NOT_ENOUGH_DEVICES_DUAL_MODE_STRING;
case (12302):
return POWER_STATE_MACHINE_TIMEOUT_STRING;
case (12303):
return SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING;
case (12400):
case (12500):
return CHILDREN_LOST_MODE_STRING;
case (13600):
return ALLOC_FAILURE_STRING;

10
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 115 translations.
* Generated on: 2022-03-22 20:43:04
* Contains 117 translations.
* Generated on: 2022-03-28 12:48:33
*/
#include "translateObjects.h"
@ -48,8 +48,10 @@ const char *RAD_SENSOR_STRING = "RAD_SENSOR";
const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
const char *STR_HELPER_STRING = "STR_HELPER";
const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
@ -208,10 +210,14 @@ const char *translateObject(object_id_t object) {
return PLOC_MEMORY_DUMPER_STRING;
case 0x44330002:
return STR_HELPER_STRING;
case 0x44330003:
return PLOC_MPSOC_HELPER_STRING;
case 0x44330015:
return PLOC_MPSOC_HANDLER_STRING;
case 0x44330016:
return PLOC_SUPERVISOR_HANDLER_STRING;
case 0x44330017:
return PLOC_SUPERVISOR_HELPER_STRING;
case 0x444100A2:
return SOLAR_ARRAY_DEPL_HANDLER_STRING;
case 0x444100A4:

68
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -517,6 +517,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
#ifndef TE0720_1CFA
#if Q7S_EM != 1
// PCDU handlers receives two messages and both must be handled
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -551,6 +552,7 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
return HasReturnvaluesIF::RETURN_FAILED;
}
#endif /* Q7S_EM == 0 */
#endif
static_cast<void>(length);
return HasReturnvaluesIF::RETURN_OK;
}
@ -590,69 +592,3 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
}
return HasReturnvaluesIF::RETURN_OK;
}
#if BOARD_TE0720 == 1
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
#if TEST_PLOC_MPSOC_HANDLER == 1
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_TEST_RAD_SENSOR == 1
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_TEST_SUS == 1
/* Write setup */
thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.903, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.904, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1, length * 0.905, DeviceHandlerIF::GET_READ);
/* Start conversion*/
thisSequence->addSlot(objects::SUS_1, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1, length * 0.907, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.908, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.909, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1, length * 0.91, DeviceHandlerIF::GET_READ);
/* Read conversions */
thisSequence->addSlot(objects::SUS_1, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1, length * 0.912, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.913, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.914, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1, length * 0.915, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of TE0720 PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
#endif /* BOARD_TE0720 == 1 */

8
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -54,14 +54,6 @@ ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
* @return
*/
ReturnValue_t pstTest(FixedTimeslotTaskIF* thisSequence);
#if BOARD_TE0720 == 1
/**
* @brief This polling sequence will be created when the software is compiled for the TE0720.
*/
ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence);
#endif
} // namespace pst
#endif /* POLLINGSEQUENCEINIT_H_ */

4
linux/obc/PdecHandler.h
View File

@ -153,7 +153,7 @@ class PdecHandler : public SystemObject,
static const uint32_t PDEC_SLEN_OFFSET = 0xA26;
static const uint32_t PDEC_MON_OFFSET = 0xA27;
#if BOARD_TE0720 == 1
#ifdef TE0720_1CFA
static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
static const int RAM_MAP_SIZE = 0x4000;
static const int REGISTER_MAP_SIZE = 0x10000;
@ -169,7 +169,7 @@ class PdecHandler : public SystemObject,
static const size_t MAX_TC_SEGMENT_SIZE = 1017;
static const uint8_t MAP_ID_MASK = 0x3F;
#if BOARD_TE0720 == 1
#ifdef TE0720_1CFA
static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x32000000;
#else
static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x26000000;