star tracker firmware update

generators/.run/events.run.xml

@@ -6,9 +6,9 @@
     <envs>
       <env name="PYTHONUNBUFFERED" value="1" />
     </envs>
-    <option name="SDK_HOME" value="" />
+    <option name="SDK_HOME" value="C:\Users\jakob\AppData\Local\Programs\Python\Python39\python.exe" />
     <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$" />
-    <option name="IS_MODULE_SDK" value="true" />
+    <option name="IS_MODULE_SDK" value="false" />
     <option name="ADD_CONTENT_ROOTS" value="true" />
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />

generators/bsp_q7s_events.csv

@@ -100,6 +100,7 @@
 11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;;C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h
 11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;C:\Users\jakob\eive-software\eive_obsw/mission/devices/IMTQHandler.h
 11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;C:\Users\jakob\eive-software\eive_obsw/mission/devices/RwHandler.h
+11401;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;C:\Users\jakob\eive-software\eive_obsw/linux/devices/startracker/StarTrackerHandler.h
 11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
 11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
 11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;C:\Users\jakob\eive-software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 137 translations.
+ * @brief    Auto-generated event translation file. Contains 138 translations.
  * @details
- * Generated on: 2022-02-13 15:31:27
+ * Generated on: 2022-02-22 09:46:40
  */
 #include "translateEvents.h"
 
@@ -107,6 +107,7 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
@@ -349,6 +350,8 @@ const char * translateEvents(Event event) {
 		return INVALID_ERROR_BYTE_STRING;
 	case(11301):
 		return ERROR_STATE_STRING;
+	case(11401):
+		return BOOTING_FIRMWARE_FAILED_STRING;
 	case(11501):
 		return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
 	case(11502):

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief	Auto-generated object translation file.
  * @details
  * Contains 111 translations.
- * Generated on: 2022-02-13 15:31:32
+ * Generated on: 2022-02-23 11:11:47
  */
 #include "translateObjects.h"
 

linux/devices/startracker/StarTrackerHandler.cpp

@@ -233,20 +233,14 @@ void StarTrackerHandler::performOperationHook() {
 void StarTrackerHandler::doStartUp() {
   switch (startupState) {
     case StartupState::IDLE:
-      startupState = StartupState::CHECK_BOOT_STATE;
+      startupState = StartupState::CHECK_PROGRAM;
       return;
-    case StartupState::BOOT_DELAY:
+    case StartupState::BOOT_BOOTLOADER:
-      if (bootCountdown.hasTimedOut()) {
+        // This step is required in case the star tracker is already in firmware mode to harmonize
-        startupState = StartupState::VERIFY_BOOT;
+        // the device handler's submode to the star tracker's mode
-      }
         return;
-    case StartupState::FAILED_FIRMWARE_BOOT:
-      startupState = StartupState::IDLE;
-      // Though the star tracker failed to boot the firmware the device handler will go to
-      // mode on. In bootloader mode the star tracker is still on and can e.g. perform firmware
-      // updates.
-      break;
     case StartupState::DONE:
+      submode = SUBMODE_BOOTLOADER;
       startupState = StartupState::IDLE;
       break;
     default:
@@ -258,26 +252,18 @@ void StarTrackerHandler::doStartUp() {
 void StarTrackerHandler::doShutDown() {
   // If the star tracker is shutdown also stop all running processes in the image loader task
   strHelper->stopProcess();
-  internalState = InternalState::IDLE;
-  startupState = StartupState::IDLE;
   setMode(_MODE_POWER_DOWN);
 }
 
-void StarTrackerHandler::doOffActivity() { startupState = StartupState::IDLE; }
+void StarTrackerHandler::doOffActivity() { internalState = InternalState::IDLE; }
 
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-  if (!bootCountdown.hasTimedOut()) {
+  switch (normalState) {
-    return NOTHING_TO_SEND;
+    case NormalState::TEMPERATURE_REQUEST:
-  }
-  switch (internalState) {
-    case InternalState::CHECK_PROGRAM:
-      *id = startracker::REQ_VERSION;
-      break;
-    case InternalState::TEMPERATURE_REQUEST:
       *id = startracker::REQ_TEMPERATURE;
       break;
     default:
-      sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
+      sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid normal step"
                  << std::endl;
       break;
   }
@@ -285,94 +271,103 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 }
 
 ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  if (mode == _MODE_TO_NORMAL && currentProgram != startracker::Program::FIRMWARE) {
+  switch (internalState) {
-    internalState = InternalState::CHECK_PROGRAM;
+    case InternalState::BOOT:
       *id = startracker::BOOT;
       bootCountdown.setTimeout(BOOT_TIMEOUT);
+      internalState = InternalState::BOOT_DELAY;
       return buildCommandFromCommand(*id, nullptr, 0);
-  } else if (mode != _MODE_START_UP) {
+    case InternalState::REQ_VERSION:
-    return NOTHING_TO_SEND;
+      internalState = InternalState::VERIFY_BOOT;
-  }
-  switch (startupState) {
-    case StartupState::CHECK_BOOT_STATE:
-      *id = startracker::REQ_VERSION;
-      startupState = StartupState::STARTUP_CHECK;
-      return buildCommandFromCommand(*id, nullptr, 0);
-    case StartupState::BOOT:
-      *id = startracker::BOOT;
-      bootCountdown.setTimeout(BOOT_TIMEOUT);
-      startupState = StartupState::BOOT_DELAY;
-      return buildCommandFromCommand(*id, nullptr, 0);
-    case StartupState::VERIFY_BOOT:
       // Again read program to check if firmware boot was successful
       *id = startracker::REQ_VERSION;
-      startupState = StartupState::FIRMWARE_CHECK;
       return buildCommandFromCommand(*id, nullptr, 0);
-    case StartupState::LOGLEVEL:
+    case InternalState::LOGLEVEL:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::LOGLEVEL;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::LIMITS:
+    case InternalState::LIMITS:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::LIMITS;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::TRACKING:
+    case InternalState::TRACKING:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::TRACKING;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::MOUNTING:
+    case InternalState::MOUNTING:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::MOUNTING;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::IMAGE_PROCESSOR:
+    case InternalState::IMAGE_PROCESSOR:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::IMAGE_PROCESSOR;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::CAMERA:
+    case InternalState::CAMERA:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::CAMERA;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::CENTROIDING:
+    case InternalState::CENTROIDING:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::CENTROIDING;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::LISA:
+    case InternalState::LISA:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::LISA;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::MATCHING:
+    case InternalState::MATCHING:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::MATCHING;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::VALIDATION:
+    case InternalState::VALIDATION:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::VALIDATION;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::ALGO:
+    case InternalState::ALGO:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::ALGO;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::LOG_SUBSCRIPTION:
+    case InternalState::LOG_SUBSCRIPTION:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::LOGSUBSCRIPTION;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
-    case StartupState::DEBUG_CAMERA:
+    case InternalState::DEBUG_CAMERA:
-      startupState = StartupState::WAIT_FOR_EXECUTION;
+      internalState = InternalState::WAIT_FOR_EXECUTION;
       *id = startracker::DEBUG_CAMERA;
       return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                      paramJsonFile.size());
+    case InternalState::BOOT_BOOTLOADER:
+      internalState = InternalState::BOOTLOADER_CHECK;
+      *id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    case InternalState::BOOTLOADER_CHECK:
+      *id = startracker::REQ_VERSION;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    default:
+      break;
+  }
+  switch (startupState) {
+    case StartupState::CHECK_PROGRAM:
+      startupState = StartupState::WAIT_CHECK_PROGRAM;
+      *id = startracker::REQ_VERSION;
+      return buildCommandFromCommand(*id, nullptr, 0);
+      break;
+    case StartupState::BOOT_BOOTLOADER:
+      startupState = StartupState::CHECK_PROGRAM;
+      *id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
+      return buildCommandFromCommand(*id, nullptr, 0);
+      break;
     default:
       break;
   }
@@ -409,7 +404,6 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       return RETURN_OK;
     }
     case (startracker::SWITCH_TO_BOOTLOADER_PROGRAM): {
-      currentProgram = startracker::Program::BOOTLOADER;
       prepareRebootCommand();
       return RETURN_OK;
     }
@@ -727,7 +721,7 @@ ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t
         return INVALID_SUBMODE;
       }
     case MODE_ON:
-      if (submode == SUBMODE_BOOTLOADER || submode == SUBMODE_FIRMWARE || submode == SUBMODE_NONE) {
+      if (submode == SUBMODE_BOOTLOADER || submode == SUBMODE_FIRMWARE) {
         return RETURN_OK;
       } else {
         return INVALID_SUBMODE;
@@ -737,6 +731,86 @@ ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t
   }
 }
 
+void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  switch (mode) {
+    case _MODE_TO_ON:
+      doOnTransition(subModeFrom);
+      break;
+    case _MODE_TO_RAW:
+      setMode(MODE_RAW);
+      break;
+    case _MODE_TO_NORMAL:
+      doNormalTransition(modeFrom, subModeFrom);
+      break;
+    case _MODE_POWER_DOWN:
+      internalState = InternalState::IDLE;
+      startupState = StartupState::IDLE;
+      break;
+    default:
+      break;
+  }
+}
+
+void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
+  if (submode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_FIRMWARE) {
+    bootBootloader();
+  } else if (submode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_FIRMWARE) {
+    setMode(MODE_ON);
+  } else if (submode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_BOOTLOADER) {
+    bootFirmware(MODE_ON);
+  } else if (submode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_BOOTLOADER) {
+    setMode(MODE_ON);
+  } else if (submode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_NONE) {
+    setMode(MODE_ON);
+  } else if (submode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_NONE) {
+    setMode(MODE_ON);
+  }
+}
+
+void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  if (subModeFrom == SUBMODE_FIRMWARE) {
+    setMode(MODE_NORMAL);
+  } else if (subModeFrom == SUBMODE_BOOTLOADER) {
+    bootFirmware(MODE_NORMAL);
+  } else if (modeFrom == MODE_NORMAL && subModeFrom == SUBMODE_NONE){
+    // Device handler already in mode normal
+    setMode(MODE_NORMAL);
+  }
+}
+
+void StarTrackerHandler::bootFirmware(Mode_t toMode) {
+  switch (internalState) {
+    case InternalState::IDLE:
+      internalState = InternalState::BOOT;
+      break;
+    case InternalState::BOOT_DELAY:
+      if (bootCountdown.hasTimedOut()) {
+        internalState = InternalState::REQ_VERSION;
+      }
+      break;
+    case InternalState::FAILED_FIRMWARE_BOOT:
+      internalState = InternalState::IDLE;
+      break;
+    case InternalState::DONE:
+      setMode(toMode);
+      internalState = InternalState::IDLE;
+      break;
+    default:
+      return;
+  }
+}
+
+void StarTrackerHandler::bootBootloader() {
+  if (internalState == InternalState::IDLE) {
+    internalState = InternalState::BOOT_BOOTLOADER;
+  } else if (internalState == InternalState::BOOTING_BOOTLOADER_FAILED) {
+    internalState = InternalState::IDLE;
+  } else if (internalState == InternalState::DONE) {
+    internalState = InternalState::IDLE;
+    setMode(MODE_ON);
+  }
+}
+
 ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = RETURN_OK;
@@ -955,7 +1029,14 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {}
 
-uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 20000; }
+uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+//  if (modeTo == MODE_ON && (submode == SUBMODE_NONE || submode == SUBMODE_BOOTLOADER)) {
+//    return BOOTLOADER_TRANSITION_DELAY;
+//  } else if (modeTo == MODE_ON && submode == SUBMODE_FIRMWARE && modeFrom == MODE_) {
+//    return FIRMWARE_TRANSITION_DELAY;
+//  }
+  return DEFAULT_TRANSITION_DELAY;
+}
 
 ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                           LocalDataPoolManager& poolManager) {
@@ -2161,12 +2242,12 @@ ReturnValue_t StarTrackerHandler::handleSetParamReply() {
     sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
                     " command with parameter ID"
                  << static_cast<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl;
-    if (startupState != StartupState::IDLE) {
+    if (internalState != InternalState::IDLE) {
-      startupState = StartupState::IDLE;
+      internalState = InternalState::IDLE;
     }
     return SET_PARAM_FAILED;
   }
-  if (startupState != StartupState::IDLE) {
+  if (internalState != InternalState::IDLE) {
     handleStartup(reply + PARAMETER_ID_OFFSET);
   }
   return RETURN_OK;
@@ -2293,30 +2374,27 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
   PoolReadGuard pg(&versionSet);
   switch (versionSet.program.value) {
     case startracker::Program::BOOTLOADER:
-      // Star tracker currently in bootloader program. Need to send boot command to switch to
+      if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
-      // firmware program
+        startupState = StartupState::DONE;
-      currentProgram = startracker::Program::BOOTLOADER;
-      if (startupState == StartupState::STARTUP_CHECK) {
-          startupState = StartupState::BOOT;
-      } else if (startupState == StartupState::FIRMWARE_CHECK) {
-        startupState = StartupState::FAILED_FIRMWARE_BOOT;
       }
-      if (internalState == InternalState::CHECK_PROGRAM) {
+      if (internalState == InternalState::VERIFY_BOOT) {
-        // Firmware boot failed when trying to switch to normal mode
+        sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
-        internalState = InternalState::IDLE;
+        // Device handler will run into timeout and fall back to transition source mode
-        sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware when "
+        triggerEvent(BOOTING_FIRMWARE_FAILED);
-                     << "trying to switch to normal mode" << std::endl;
+        internalState = InternalState::FAILED_FIRMWARE_BOOT;
-        setMode(_MODE_TO_ON);
+      } else if (internalState == InternalState::BOOTLOADER_CHECK) {
+        internalState = InternalState::DONE;
       }
       break;
     case startracker::Program::FIRMWARE:
-      // Firmware already booted
+      if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
-      currentProgram = startracker::Program::FIRMWARE;
+        startupState = StartupState::BOOT_BOOTLOADER;
-      if (startupState == StartupState::FIRMWARE_CHECK) {
-        startupState = StartupState::LOGLEVEL;
       }
-      if (internalState == InternalState::CHECK_PROGRAM) {
+      if (internalState == InternalState::VERIFY_BOOT) {
-        internalState = InternalState::TEMPERATURE_REQUEST;
+        internalState = InternalState::LOGLEVEL;
+      } else if (internalState == InternalState::BOOTLOADER_CHECK) {
+        triggerEvent(BOOTING_BOOTLOADER_FAILED);
+        internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
       }
       break;
     default:
@@ -2390,55 +2468,55 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
 void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
   switch (*parameterId) {
     case (startracker::ID::LOG_LEVEL): {
-      startupState = StartupState::LIMITS;
+      internalState = InternalState::LIMITS;
       break;
     }
     case (startracker::ID::LIMITS): {
-      startupState = StartupState::TRACKING;
+      internalState = InternalState::TRACKING;
       break;
     }
     case (startracker::ID::TRACKING): {
-      startupState = StartupState::MOUNTING;
+      internalState = InternalState::MOUNTING;
       break;
     }
     case (startracker::ID::MOUNTING): {
-      startupState = StartupState::IMAGE_PROCESSOR;
+      internalState = InternalState::IMAGE_PROCESSOR;
       break;
     }
     case (startracker::ID::IMAGE_PROCESSOR): {
-      startupState = StartupState::CAMERA;
+      internalState = InternalState::CAMERA;
       break;
     }
     case (startracker::ID::CAMERA): {
-      startupState = StartupState::CENTROIDING;
+      internalState = InternalState::CENTROIDING;
       break;
     }
     case (startracker::ID::CENTROIDING): {
-      startupState = StartupState::LISA;
+      internalState = InternalState::LISA;
       break;
     }
     case (startracker::ID::LISA): {
-      startupState = StartupState::MATCHING;
+      internalState = InternalState::MATCHING;
       break;
     }
     case (startracker::ID::MATCHING): {
-      startupState = StartupState::VALIDATION;
+      internalState = InternalState::VALIDATION;
       break;
     }
     case (startracker::ID::VALIDATION): {
-      startupState = StartupState::ALGO;
+      internalState = InternalState::ALGO;
       break;
     }
     case (startracker::ID::ALGO): {
-      startupState = StartupState::LOG_SUBSCRIPTION;
+      internalState = InternalState::LOG_SUBSCRIPTION;
       break;
     }
     case (startracker::ID::LOG_SUBSCRIPTION): {
-      startupState = StartupState::DEBUG_CAMERA;
+      internalState = InternalState::DEBUG_CAMERA;
       break;
     }
     case (startracker::ID::DEBUG_CAMERA): {
-      startupState = StartupState::DONE;
+      internalState = InternalState::DONE;
       break;
     }
     default: {
@@ -2451,11 +2529,6 @@ void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
 
 ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
   switch (actionId) {
-    case startracker::BOOT:
-      if (currentProgram != startracker::Program::BOOTLOADER) {
-        return STARTRACKER_ALREADY_BOOTED;
-      }
-      break;
     case startracker::REQ_INTERFACE:
     case startracker::REQ_TIME:
     case startracker::SWITCH_TO_BOOTLOADER_PROGRAM:
@@ -2472,12 +2545,12 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
     case startracker::DOWNLOAD_MATCHED_STAR:
     case startracker::DOWNLOAD_DBIMAGE:
     case startracker::DOWNLOAD_BLOBPIXEL:
-      if (currentProgram != startracker::Program::FIRMWARE) {
+      if (!(mode == MODE_ON && submode == startracker::Program::FIRMWARE)) {
         return STARTRACKER_RUNNING_BOOTLOADER;
       }
       break;
     case startracker::FIRMWARE_UPDATE:
-      if (currentProgram != startracker::Program::BOOTLOADER) {
+      if (!(mode == MODE_ON && submode == startracker::Program::BOOTLOADER)) {
         return STARTRACKER_RUNNING_FIRMWARE;
       }
       break;

linux/devices/startracker/StarTrackerHandler.h

@@ -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 {
+  enum class NormalState {
-      IDLE,
+      TEMPERATURE_REQUEST
-      CHECK_PROGRAM,
-      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_ */

linux/devices/startracker/StrHelper.cpp

@@ -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) {}
@@ -343,7 +344,7 @@ ReturnValue_t StrHelper::performFlashWrite() {
       file.close();
       return result;
     }
-    result = checkFlashActionReply(req.region, req.address, req.length);
+    result = checkActionReply();
     if (result != RETURN_OK) {
       file.close();
       return result;
@@ -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)) ==
@@ -602,7 +567,7 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
     }
     eraseReq.region = idx;
     arc_pack_erase_action_req(&eraseReq, commandBuffer, &size);
-        result = sendAndRead(size, eraseReq.region);
+    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;

linux/devices/startracker/StrHelper.h

@@ -181,7 +181,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   static const uint8_t ADDRESS_OFFSET = 3;
   static const uint8_t LENGTH_OFFSET = 7;
   static const size_t CHUNK_SIZE = 1024;
-  static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
+  static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 2000;
+  static const uint32_t FLASH_ERASE_DELAY = 500;
 
   enum class InternalState {
     IDLE,
@@ -307,10 +308,11 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    *
    * @param size        Size of data beforehand written to the commandBuffer
    * @param parameter   Parameter 2 of trigger event function
+   * @param delayMs     Delay in milliseconds between send and receive call
    *
    * @return  RETURN_OK if successful, otherwise RETURN_FAILED
    */
-  ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
+  ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0);
 
   /**
    * @brief   Checks the header (type id and status fields) of the action reply
@@ -328,14 +330,6 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    */
   ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
 
-  /**
-   * @brief   Checks the region, address and length value of a flash write or read reply.
-   *
-   * @return  RETURN_OK if values match expected values, otherwise appropriate error return
-   *          value.
-   */
-  ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
-
 #ifdef XIPHOS_Q7S
   /**
    * @brief   Checks if a path points to an sd card and whether the SD card is monuted.

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 137 translations.
+ * @brief    Auto-generated event translation file. Contains 138 translations.
  * @details
- * Generated on: 2022-02-13 15:31:27
+ * Generated on: 2022-02-22 09:46:40
  */
 #include "translateEvents.h"
 
@@ -107,6 +107,7 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
@@ -349,6 +350,8 @@ const char * translateEvents(Event event) {
 		return INVALID_ERROR_BYTE_STRING;
 	case(11301):
 		return ERROR_STATE_STRING;
+	case(11401):
+		return BOOTING_FIRMWARE_FAILED_STRING;
 	case(11501):
 		return SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING;
 	case(11502):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief	Auto-generated object translation file.
  * @details
  * Contains 111 translations.
- * Generated on: 2022-02-13 15:31:32
+ * Generated on: 2022-02-23 11:11:47
  */
 #include "translateObjects.h"