From fa93ca4dc0cc3a2951ef9e139db7987b24207079 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 23 Feb 2022 00:03:23 +0100
Subject: [PATCH] link libxiphos and use it for reboot

---
 bsp_q7s/CMakeLists.txt            |  1 -
 bsp_q7s/core/CoreController.cpp   | 52 +++++++++++++++++++++++++------
 cmake/Q7SCrossCompileConfig.cmake | 15 +++++++--
 3 files changed, 55 insertions(+), 13 deletions(-)

diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt
index 0a8cffe8..17e4ba2d 100644
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@@ -11,7 +11,6 @@ target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
 add_subdirectory(simple)
 
-
 target_sources(${OBSW_NAME} PUBLIC
 	main.cpp
 )
diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp
index 3d279487..47baa13e 100644
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@@ -16,6 +16,7 @@
 
 #include <fcntl.h>
 #include <unistd.h>
+#include <libxiphos.h>
 
 #include <filesystem>
 
@@ -691,7 +692,7 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
 
 ReturnValue_t CoreController::initBootCopy() {
   if (not std::filesystem::exists(CURR_COPY_FILE)) {
-    // Thils file is created by the systemd service eive-early-config so this should
+    // This file is created by the systemd service eive-early-config so this should
     // not happen normally
     std::string cmd = "xsc_boot_copy > " + std::string(CURR_COPY_FILE);
     int result = std::system(cmd.c_str());
@@ -773,7 +774,7 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
     }
     return HasActionsIF::EXECUTION_FINISHED;
   }
-  if (size < 3) {
+  if (size < 3 or (data[1] > 1 or data[2] > 1)) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -784,21 +785,52 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   // Check that the target chip and copy is writeprotected first
   generateChipStateFile();
   // If any boot copies are unprotected, protect them here
+  auto tgtChip = static_cast<Chip>(data[1]);
+  auto tgtCopy = static_cast<Copy>(data[2]);
+
   ReturnValue_t retval = setBootCopyProtection(
       static_cast<Chip>(data[1]), static_cast<Copy>(data[2]), true, protOpPerformed, false);
   if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
     sif::info << "Target slot was writeprotected before reboot" << std::endl;
   }
 
-  // The second byte in data is the target chip, the third byte is the target copy
-  std::string cmdString =
-      "xsc_boot_copy " + std::to_string(data[1]) + " " + std::to_string(data[2]);
-  int result = std::system(cmdString.c_str());
-  if (result != 0) {
-    utility::handleSystemError(result, "CoreController::executeAction");
-    return HasReturnvaluesIF::RETURN_FAILED;
+  switch(tgtChip) {
+  case(Chip::CHIP_0): {
+    switch(tgtCopy) {
+    case(Copy::COPY_0): {
+      xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
+      break;
+    }
+    case(Copy::COPY_1): {
+      xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
+      break;
+    }
+    default: {
+      break;
+    }
+    }
+    break;
   }
-  return HasActionsIF::EXECUTION_FINISHED;
+  case(Chip::CHIP_1): {
+    switch(tgtCopy) {
+    case(Copy::COPY_0): {
+      xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
+      break;
+    }
+    case(Copy::COPY_1): {
+      xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
+      break;
+    }
+    default: {
+      break;
+    }
+    }
+    break;
+  }
+  default:
+    break;
+  }
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 CoreController::~CoreController() {}
diff --git a/cmake/Q7SCrossCompileConfig.cmake b/cmake/Q7SCrossCompileConfig.cmake
index d4d05f4e..db05c8f0 100644
--- a/cmake/Q7SCrossCompileConfig.cmake
+++ b/cmake/Q7SCrossCompileConfig.cmake
@@ -81,12 +81,23 @@ set(CMAKE_PREFIX_PATH
 	# "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
 )
 
+set(C_FLAGS
+    -mcpu=cortex-a9
+    -mfpu=neon-vfpv3
+    -mfloat-abi=hard
+    ${COMMON_FLAGS}
+    -lgpiod
+    -lxiphos
+)
+
+string (REPLACE ";" " " C_FLAGS "${C_FLAGS}")
+
 set(CMAKE_C_FLAGS 
-	"-mcpu=cortex-a9 -mfpu=neon-vfpv3 -mfloat-abi=hard ${COMMON_FLAGS} -lgpiod" 
+    ${C_FLAGS}
 	CACHE STRING "C flags for Q7S"
 )
 set(CMAKE_CXX_FLAGS 
-	"${CMAKE_C_FLAGS}" 
+	"${CMAKE_C_FLAGS}"
 	CACHE STRING "CPP flags for Q7S"
 )