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Unlock STR second firmware slot

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This commit is contained in:
Robin Müller
2024-02-19 17:16:08 +01:00
parent 77527c631c
commit dbb530e27b
7 changed files with 158 additions and 56 deletions
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124
mission/acs/str/StarTrackerHandler.cpp
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@ -5,7 +5,11 @@
#include <mission/acs/str/strHelpers.h>
#include <mission/acs/str/strJsonCommands.h>
#include <string>
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "mission/memory/SdCardMountedIF.h"
extern "C" {
#include <sagitta/client/actionreq.h>
@ -16,7 +20,6 @@ extern "C" {
}
#include <atomic>
#include <fstream>
#include <thread>
#include "OBSWConfig.h"
@ -27,7 +30,8 @@ std::atomic_bool JCFG_DONE(false);
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
StrComHandler* strHelper, power::Switch_t powerSwitch,
startracker::SdCardConfigPathGetter& cfgPathGetter)
startracker::SdCardConfigPathGetter& cfgPathGetter,
SdCardMountedIF& sdCardIF)
: DeviceHandlerBase(objectId, comIF, comCookie),
temperatureSet(this),
versionSet(this),
@ -60,6 +64,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
contrastSet(this),
strHelper(strHelper),
powerSwitch(powerSwitch),
sdCardIF(sdCardIF),
cfgPathGetter(cfgPathGetter) {
if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
@ -138,6 +143,9 @@ ReturnValue_t StarTrackerHandler::initialize() {
// delay whole satellite boot process.
reloadJsonCfgFile();
// Default firmware target is always initialized from persistent file.
loadTargetFirmwareFromPersistentCfg();
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -165,6 +173,19 @@ ReturnValue_t StarTrackerHandler::initialize() {
return returnvalue::OK;
}
void StarTrackerHandler::loadTargetFirmwareFromPersistentCfg() {
const char* prefix = sdCardIF.getCurrentMountPrefix();
std::filesystem::path path = std::filesystem::path(prefix) / startracker::FW_TARGET_CFG_PATH;
std::ifstream ifile(path);
if (ifile.is_open()) {
std::string targetStr;
std::getline(ifile, targetStr);
if (targetStr == "backup\n") {
firmwareTargetRaw = static_cast<uint8_t>(startracker::FirmwareTarget::BACKUP);
}
}
}
bool StarTrackerHandler::reloadJsonCfgFile() {
jcfgCountdown.resetTimer();
auto strCfgPath = cfgPathGetter.getCfgPath();
@ -307,21 +328,11 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
strHelper->setFlashReadFilename(std::string(reinterpret_cast<const char*>(data), size));
return EXECUTION_FINISHED;
}
case (startracker::FIRMWARE_UPDATE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != returnvalue::OK) {
return result;
}
if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return FILE_PATH_TOO_LONG;
}
result =
strHelper->startFirmwareUpdate(std::string(reinterpret_cast<const char*>(data), size));
if (result != returnvalue::OK) {
return result;
}
strHelperHandlingSpecialRequest = true;
return EXECUTION_FINISHED;
case (startracker::FIRMWARE_UPDATE_MAIN): {
return handleFirmwareUpdateCommand(data, size, startracker::FirmwareTarget::MAIN);
}
case (startracker::FIRMWARE_UPDATE_BACKUP): {
return handleFirmwareUpdateCommand(data, size, startracker::FirmwareTarget::BACKUP);
}
default:
break;
@ -330,6 +341,23 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
reinitNextSetParam = true;
return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
}
ReturnValue_t StarTrackerHandler::handleFirmwareUpdateCommand(const uint8_t* data, size_t size,
startracker::FirmwareTarget target) {
ReturnValue_t result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != returnvalue::OK) {
return result;
}
if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return FILE_PATH_TOO_LONG;
}
result = strHelper->startFirmwareUpdate(std::string(reinterpret_cast<const char*>(data), size),
target);
if (result != returnvalue::OK) {
return result;
}
strHelperHandlingSpecialRequest = true;
return EXECUTION_FINISHED;
}
void StarTrackerHandler::performOperationHook() {
EventMessage event;
@ -569,7 +597,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
return returnvalue::OK;
}
case (startracker::BOOT): {
prepareBootCommand();
prepareBootCommand(static_cast<startracker::FirmwareTarget>(firmwareTargetRaw));
return returnvalue::OK;
}
case (startracker::REQ_VERSION): {
@ -1659,7 +1687,8 @@ ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
case startracker::UPLOAD_IMAGE:
case startracker::DOWNLOAD_IMAGE:
case startracker::FLASH_READ:
case startracker::FIRMWARE_UPDATE: {
case startracker::FIRMWARE_UPDATE_BACKUP:
case startracker::FIRMWARE_UPDATE_MAIN: {
return DeviceHandlerBase::acceptExternalDeviceCommands();
default:
break;
@ -1956,9 +1985,9 @@ ReturnValue_t StarTrackerHandler::executeFlashReadCommand(const uint8_t* command
return result;
}
void StarTrackerHandler::prepareBootCommand() {
void StarTrackerHandler::prepareBootCommand(startracker::FirmwareTarget target) {
uint32_t length = 0;
struct BootActionRequest bootRequest = {BOOT_REGION_ID};
struct BootActionRequest bootRequest = {static_cast<uint8_t>(target)};
arc_pack_boot_action_req(&bootRequest, commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
@ -2389,7 +2418,8 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
internalState = InternalState::DONE;
}
break;
case startracker::Program::FIRMWARE:
case startracker::Program::FIRMWARE_BACKUP:
case startracker::Program::FIRMWARE_MAIN: {
if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
startupState = StartupState::BOOT_BOOTLOADER;
}
@ -2400,9 +2430,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
internalState = InternalState::FAILED_BOOTLOADER_BOOT;
}
break;
}
default:
sif::warning << "StarTrackerHandler::checkProgram: Version set has invalid program ID"
<< std::endl;
sif::warning << "StarTrackerHandler::checkProgram: Version set has invalid program ID "
<< (int)versionSet.program.value << std::endl;
return INVALID_PROGRAM;
}
return returnvalue::OK;
@ -2865,12 +2896,13 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
case startracker::REQ_CENTROID:
case startracker::REQ_CENTROIDS:
case startracker::REQ_CONTRAST: {
if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE_MAIN) {
return STARTRACKER_NOT_RUNNING_FIRMWARE;
}
break;
}
case startracker::FIRMWARE_UPDATE:
case startracker::FIRMWARE_UPDATE_MAIN:
case startracker::FIRMWARE_UPDATE_BACKUP:
case startracker::FLASH_READ:
if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) {
return STARTRACKER_NOT_RUNNING_BOOTLOADER;
@ -2883,3 +2915,43 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
}
ReturnValue_t StarTrackerHandler::acceptExternalDeviceCommands() { return returnvalue::OK; }
ReturnValue_t StarTrackerHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
uint16_t startAtIndex) {
auto firmwareTargetUpdate = [&](bool persistent) {
uint8_t value = 0;
newValues->getElement(&value);
if (value != static_cast<uint8_t>(startracker::FirmwareTarget::MAIN) &&
value != static_cast<uint8_t>(startracker::FirmwareTarget::BACKUP)) {
return HasParametersIF::INVALID_VALUE;
}
parameterWrapper->set(firmwareTargetRaw);
if (persistent) {
if (sdCardIF.isSdCardUsable(std::nullopt)) {
const char* prefix = sdCardIF.getCurrentMountPrefix();
std::filesystem::path path =
std::filesystem::path(prefix) / startracker::FW_TARGET_CFG_PATH;
std::ofstream of(path, std::ofstream::out | std::ofstream::trunc);
if (value == static_cast<uint8_t>(startracker::FirmwareTarget::MAIN)) {
of << "main\n";
} else {
of << "backup\n";
}
} else {
sif::warning << "SD card not usable" << std::endl;
return returnvalue::FAILED;
}
};
return returnvalue::OK;
};
if (uniqueId == startracker::ParamId::FIRMWARE_TARGET) {
return firmwareTargetUpdate(false);
}
if (uniqueId == startracker::ParamId::FIRMWARE_TARGET_PERSISTENT) {
return firmwareTargetUpdate(true);
}
return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
startAtIndex);
}