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star tracker firmware update
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This commit is contained in:
Jakob Meier
2022-02-23 18:15:34 +01:00
parent 7d01aa463b
commit b822ee77bc
11 changed files with 294 additions and 232 deletions
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43
linux/devices/startracker/StarTrackerHandler.h
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@ -73,6 +73,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
*/
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
virtual ReturnValue_t doSendReadHook() override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
@ -142,6 +143,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
//! [EXPORT] : [COMMENT] Star tracker is in bootloader mode but must be in firmware mode to execute this command
static const ReturnValue_t STARTRACKER_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xBD);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Failed to boot firmware
static const Event BOOTING_FIRMWARE_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
static const Event BOOTING_BOOTLOADER_FAILED = MAKE_EVENT(2, severity::LOW);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
@ -163,6 +171,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static const uint32_t MUTEX_TIMEOUT = 20;
static const uint32_t BOOT_TIMEOUT = 1000;
static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
class WriteCmd {
public:
@ -303,18 +312,16 @@ class StarTrackerHandler : public DeviceHandlerBase {
#endif
#endif
enum class InternalState {
IDLE,
CHECK_PROGRAM,
TEMPERATURE_REQUEST,
enum class NormalState {
TEMPERATURE_REQUEST
};
InternalState internalState = InternalState::IDLE;
NormalState normalState = NormalState::TEMPERATURE_REQUEST;
enum class StartupState {
enum class InternalState {
IDLE,
CHECK_BOOT_STATE,
BOOT,
REQ_VERSION,
VERIFY_BOOT,
STARTUP_CHECK,
BOOT_DELAY,
@ -335,15 +342,26 @@ class StarTrackerHandler : public DeviceHandlerBase {
DEBUG_CAMERA,
WAIT_FOR_EXECUTION,
DONE,
FAILED_FIRMWARE_BOOT
FAILED_FIRMWARE_BOOT,
BOOT_BOOTLOADER,
BOOTLOADER_CHECK,
BOOTING_BOOTLOADER_FAILED
};
InternalState internalState = InternalState::IDLE;
enum class StartupState {
IDLE,
CHECK_PROGRAM,
WAIT_CHECK_PROGRAM,
BOOT_BOOTLOADER,
DONE
};
StartupState startupState = StartupState::IDLE;
bool strHelperExecuting = false;
uint8_t currentProgram = startracker::Program::BOOTLOADER;
/**
* @brief Handles internal state
*/
@ -598,6 +616,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
* @return RETURN_OK if star tracker is in valid mode, otherwise error return value
*/
ReturnValue_t checkCommand(ActionId_t actionId);
void doOnTransition(Submode_t subModeFrom);
void doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom);
void bootFirmware(Mode_t toMode);
void bootBootloader();
};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */