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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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147
linux/devices/startracker/StrHelper.cpp
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@ -1,10 +1,11 @@
#include "StrHelper.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include <filesystem>
#include <fstream>
#include "OBSWConfig.h"
#include "fsfw/timemanager/Countdown.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/utility/Timestamp.h"
StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
@ -184,7 +185,7 @@ ReturnValue_t StrHelper::performImageDownload() {
downloadReq.position = 0;
while (downloadReq.position < ImageDownload::LAST_POSITION) {
if (terminate) {
file.close();
file.close();
return RETURN_OK;
}
arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
@ -249,7 +250,7 @@ ReturnValue_t StrHelper::performImageUpload() {
imageSize = file.tellg();
while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
if (terminate) {
file.close();
file.close();
return RETURN_OK;
}
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
@ -257,12 +258,12 @@ ReturnValue_t StrHelper::performImageUpload() {
arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
result = sendAndRead(size, uploadReq.position);
if (result != RETURN_OK) {
file.close();
file.close();
return RETURN_FAILED;
}
result = checkActionReply();
if (result != RETURN_OK) {
file.close();
file.close();
return result;
}
#if OBSW_DEBUG_STARTRACKER == 1
@ -292,15 +293,15 @@ ReturnValue_t StrHelper::performImageUpload() {
}
ReturnValue_t StrHelper::performFirmwareUpdate() {
using namespace startracker;
ReturnValue_t result = RETURN_OK;
result = unlockAndEraseRegions(static_cast<uint32_t>(startracker::FirmwareRegions::FIRST),
static_cast<uint32_t>(startracker::FirmwareRegions::LAST));
if (result != RETURN_OK) {
return result;
}
result = performFlashWrite();
using namespace startracker;
ReturnValue_t result = RETURN_OK;
result = unlockAndEraseRegions(static_cast<uint32_t>(startracker::FirmwareRegions::FIRST),
static_cast<uint32_t>(startracker::FirmwareRegions::LAST));
if (result != RETURN_OK) {
return result;
}
result = performFlashWrite();
return result;
}
ReturnValue_t StrHelper::performFlashWrite() {
@ -318,8 +319,8 @@ ReturnValue_t StrHelper::performFlashWrite() {
file.seekg(0, file.end);
fileSize = file.tellg();
if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) {
sif::warning << "StrHelper::performFlashWrite: Invalid file" << std::endl;
return RETURN_FAILED;
sif::warning << "StrHelper::performFlashWrite: Invalid file" << std::endl;
return RETURN_FAILED;
}
uint32_t fileChunks = fileSize / CHUNK_SIZE;
bytesWritten = 0;
@ -327,36 +328,36 @@ ReturnValue_t StrHelper::performFlashWrite() {
req.length = CHUNK_SIZE;
for (uint32_t idx = 0; idx < fileChunks; idx++) {
if (terminate) {
file.close();
file.close();
return RETURN_OK;
}
file.seekg(idx * CHUNK_SIZE, file.beg);
file.read(reinterpret_cast<char*>(req.data), CHUNK_SIZE);
if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
req.region++;
bytesWritten = 0;
req.region++;
bytesWritten = 0;
}
req.address = bytesWritten;
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
file.close();
file.close();
return result;
}
result = checkFlashActionReply(req.region, req.address, req.length);
result = checkActionReply();
if (result != RETURN_OK) {
file.close();
file.close();
return result;
}
bytesWritten += CHUNK_SIZE;
}
uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
file.seekg((fileChunks - 1) * CHUNK_SIZE , file.beg);
file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg);
file.read(reinterpret_cast<char*>(req.data), remainingBytes);
file.close();
if (bytesWritten + CHUNK_SIZE > FLASH_REGION_SIZE) {
req.region++;
bytesWritten = 0;
req.region++;
bytesWritten = 0;
}
req.address = bytesWritten;
req.length = remainingBytes;
@ -365,7 +366,7 @@ ReturnValue_t StrHelper::performFlashWrite() {
if (result != RETURN_OK) {
return result;
}
result = checkFlashActionReply(req.region, req.address, req.length);
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
@ -416,7 +417,7 @@ ReturnValue_t StrHelper::performFlashRead() {
file.close();
return result;
}
result = checkFlashActionReply(req.region, req.address, req.length);
result = checkActionReply();
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
@ -435,7 +436,7 @@ ReturnValue_t StrHelper::performFlashRead() {
return RETURN_OK;
}
ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t decResult = RETURN_OK;
size_t receivedDataLen = 0;
@ -452,6 +453,10 @@ ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
}
decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
Countdown delay(delayMs);
delay.resetTimer();
while (delay.isBusy()) {
}
result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2);
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
@ -513,46 +518,6 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
return RETURN_OK;
}
ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address_,
uint16_t length_) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* data = datalinkLayer.getReply();
uint8_t region = *(data + REGION_OFFSET);
uint32_t address;
const uint8_t* addressData = data + ADDRESS_OFFSET;
size_t size = sizeof(address);
result =
SerializeAdapter::deSerialize(&address, &addressData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of address failed"
<< std::endl;
return result;
}
uint16_t length = 0;
size = sizeof(length);
const uint8_t* lengthData = data + LENGTH_OFFSET;
result =
SerializeAdapter::deSerialize(&length, lengthData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of length failed"
<< std::endl;
}
if (region != region_) {
return REGION_MISMATCH;
}
if (address != address_) {
return ADDRESS_MISMATCH;
}
if (length != length_) {
return LENGTH_MISMATCH;
}
return RETURN_OK;
}
#ifdef XIPHOS_Q7S
ReturnValue_t StrHelper::checkPath(std::string name) {
if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
@ -585,29 +550,29 @@ void StrHelper::printProgress(uint32_t itemsTransferred, uint32_t fullNumItems)
}
ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
ReturnValue_t result = RETURN_OK;
struct UnlockActionRequest unlockReq;
struct EraseActionRequest eraseReq;
uint32_t size = 0;
for (uint8_t idx = from; idx <= to; idx++) {
unlockReq.region = idx;
unlockReq.code = startracker::region_secrets::secret[idx];
arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size);
sendAndRead(size, unlockReq.region);
result = checkActionReply();
if (result != RETURN_OK) {
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
<< static_cast<unsigned int>(unlockReq.region) << std::endl;
return result;
}
eraseReq.region = idx;
arc_pack_erase_action_req(&eraseReq, commandBuffer, &size);
result = sendAndRead(size, eraseReq.region);
if (result != RETURN_OK) {
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
<< static_cast<unsigned int>(eraseReq.region) << std::endl;
return result;
}
ReturnValue_t result = RETURN_OK;
struct UnlockActionRequest unlockReq;
struct EraseActionRequest eraseReq;
uint32_t size = 0;
for (uint8_t idx = from; idx <= to; idx++) {
unlockReq.region = idx;
unlockReq.code = startracker::region_secrets::secret[idx];
arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size);
sendAndRead(size, unlockReq.region);
result = checkActionReply();
if (result != RETURN_OK) {
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
<< static_cast<unsigned int>(unlockReq.region) << std::endl;
return result;
}
return result;
eraseReq.region = idx;
arc_pack_erase_action_req(&eraseReq, commandBuffer, &size);
result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY);
if (result != RETURN_OK) {
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
<< static_cast<unsigned int>(eraseReq.region) << std::endl;
return result;
}
}
return result;
}