Merge pull request 'prepare patch release' (#901) from prep-patch-release into main

Reviewed-on: #901

CHANGELOG.md

@@ -16,6 +16,59 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v8.1.1] 2024-06-05
+
+## Added
+
+- PLOC SUPV MPSoC update re-try logic for the `WRITE_MEMORY` command. These packets form  > 98%
+  of all packets required for a software update, but the update mechanism is not tolerant against
+  occasional glitches on the RS485 communication to the PLOC SUPV. A simple re-try mechanism which
+  tries to re-attempt packet handling up to three times for those packets is introduced.
+
+# [v8.1.0] 2024-05-29
+
+## Fixed
+
+- Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
+  to the supervisor fails.
+- Fixed inits of arrays within the `MEKF` not being zeros.
+- Important bugfix for PLOC SUPV: The SUPV previously was able to steal packets from the special
+  communication helper, for example during software updates.
+- Corrected sigma of STR for `MEKF`.
+
+## Added
+
+- Added new command to cancel the PLOC SUPV special communication helper.
+
+# [v8.0.0] 2024-05-13
+
+- `eive-tmtc` v7.0.0
+
+## Fixed
+
+- Fixed calculation for target rotation rate during pointing modes.
+- Possible fix for MPSoC file read algorithm.
+
+## Changed
+
+- Reworked MPSoC handler to be compatible to new MPSoC software image and use
+  new device handler base class. This should increase the reliability of the communication
+  significantly.
+- MPSoC device modes IDLE, SNAPSHOT and REPLAY are now modelled using submodes.
+- Commanding a submode the device is already in will not result in a completion failure
+  anymore.
+
+## Added
+
+- Added `VERIFY_BOOT` command for MPSoC.
+- New command for MPSoC to store camera image in chunks.
+
+# [v7.8.1] 2024-04-11
+
+## Fixed
+
+- Reverted fix for wrong order in quaternion multiplication for computation of the error quaternion.
+
 # [v7.8.0] 2024-04-10
 
 ## Changed
@@ -24,7 +77,7 @@ will consitute of a breaking change warranting a new major release:
 - All pointing laws are now allowed to use the `MEKF` per default.
 - Changed limits in `PWR Controller`.
 - PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
-- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for 
+- The `GPS Controller` does not set itself to `OFF` anymore, if it has not detected a valid fix for
   some time. Instead it attempts to reset both GNSS devices once.
 - The maximum time to reach a fix is shortened from 30min to 15min.
 - The time the reset pin of the GNSS devices is pulled is prolonged from 5ms to 10s.
@@ -33,7 +86,7 @@ will consitute of a breaking change warranting a new major release:
   of the controller is changed. As arguments it now displays the new fix and the numer of fix changes
   missed.
 - The number of satellites seen and used is reset to 0, in case they are set to invalid.
-- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was 
+- Altitude, latitude and longitude messages are not checked anymore, in case the mode message was
   already invalid.
 
 ## Added
@@ -247,7 +300,7 @@ will consitute of a breaking change warranting a new major release:
 - `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing
   on to the relevant mode functions. It handles all telemetry relevant functions, which were
   always called, regardless of the mode.
- 
+
 ## Added
 
 - Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their

CMakeLists.txt

@@ -9,9 +9,9 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 7)
+set(OBSW_VERSION_MAJOR 8)
-set(OBSW_VERSION_MINOR 8)
+set(OBSW_VERSION_MINOR 1)
-set(OBSW_VERSION_REVISION 0)
+set(OBSW_VERSION_REVISION 1)
 
 # set(CMAKE_VERBOSE TRUE)
 

archive/PlocMpsocHandler.cpp

@@ -2,15 +2,15 @@
 #include <linux/payload/PlocMpsocHandler.h>
 #include <linux/payload/plocSupvDefs.h>
 
-#include <sstream>
-
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/parameters/HasParametersIF.h"
 
 PlocMpsocHandler::PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid,
-                                   CookieIF* comCookie, PlocMpsocSpecialComHelper* plocMPSoCHelper,
+                                   CookieIF* comCookie,
+                                   PlocMpsocSpecialComHelperLegacy* plocMPSoCHelper,
                                    Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
     : DeviceHandlerBase(objectId, uartComIFid, comCookie),
       hkReport(this),
@@ -54,24 +54,26 @@ ReturnValue_t PlocMpsocHandler::initialize() {
     return result;
   }
   result = manager->subscribeToEvent(
-      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_FAILED));
+      eventQueue->getId(),
+      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_WRITE_FAILED));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   result = manager->subscribeToEvent(
       eventQueue->getId(),
-      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
+      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_WRITE_SUCCESSFUL));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   result = manager->subscribeToEvent(
       eventQueue->getId(),
-      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_SUCCESSFUL));
+      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_READ_SUCCESSFUL));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   result = manager->subscribeToEvent(
-      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_FAILED));
+      eventQueue->getId(),
+      event::getEventId(PlocMpsocSpecialComHelperLegacy::MPSOC_FLASH_READ_FAILED));
   if (result != returnvalue::OK) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
@@ -139,7 +141,7 @@ ReturnValue_t PlocMpsocHandler::executeAction(ActionId_t actionId, MessageQueueI
   }
 
   if (specialComHelperExecuting) {
-    return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
+    return mpsoc::MPSOC_HELPER_EXECUTING;
   }
 
   switch (actionId) {
@@ -408,7 +410,7 @@ ReturnValue_t PlocMpsocHandler::scanForReply(const uint8_t* start, size_t remain
       sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid APID 0x" << std::hex
                  << std::setfill('0') << std::setw(2) << apid << std::dec << std::endl;
       *foundLen = remainingSize;
-      return MPSoCReturnValuesIF::INVALID_APID;
+      return mpsoc::INVALID_APID;
     }
   }
 
@@ -445,7 +447,7 @@ ReturnValue_t PlocMpsocHandler::interpretDeviceReply(DeviceCommandId_t id, const
     }
     case (mpsoc::TM_FLASH_DIRECTORY_CONTENT): {
       result = verifyPacket(packet, foundPacketLen);
-      if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+      if (result == mpsoc::CRC_FAILURE) {
         sif::warning << "PLOC MPSoC: Flash directory content reply invalid CRC" << std::endl;
       }
       /** Send data to commanding queue */
@@ -557,7 +559,7 @@ ReturnValue_t PlocMpsocHandler::prepareTcMemRead(const uint8_t* commandData,
 ReturnValue_t PlocMpsocHandler::prepareTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
   if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
-    return MPSoCReturnValuesIF::NAME_TOO_LONG;
+    return mpsoc::NAME_TOO_LONG;
   }
   ReturnValue_t result = returnvalue::OK;
   mpsoc::TcFlashDelete tcFlashDelete(spParams, sequenceCount);
@@ -718,7 +720,7 @@ ReturnValue_t PlocMpsocHandler::finishTcPrep(mpsoc::TcBase& tcBase) {
 
 ReturnValue_t PlocMpsocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
   if (CRC::crc16ccitt(start, foundLen) != 0) {
-    return MPSoCReturnValuesIF::CRC_FAILURE;
+    return mpsoc::CRC_FAILURE;
   }
   return returnvalue::OK;
 }
@@ -727,12 +729,12 @@ ReturnValue_t PlocMpsocHandler::handleAckReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
 
   result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
-  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+  if (result == mpsoc::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
     nextReplyId = mpsoc::NONE;
     replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
     triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
-    sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
+    sendFailureReport(mpsoc::ACK_REPORT, mpsoc::CRC_FAILURE);
     disableAllReplies();
     return IGNORE_REPLY_DATA;
   }
@@ -771,7 +773,7 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
 
   result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
-  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+  if (result == mpsoc::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
     nextReplyId = mpsoc::NONE;
     return result;
@@ -792,9 +794,9 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
       uint16_t status = mpsoc::getStatusFromRawData(data);
       sif::warning << "MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
       triggerEvent(EXE_FAILURE, commandId, status);
-      sendFailureReport(mpsoc::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
+      sendFailureReport(mpsoc::EXE_REPORT, mpsoc::RECEIVED_EXE_FAILURE);
       result = IGNORE_REPLY_DATA;
-      cmdDoneHandler(false, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
+      cmdDoneHandler(false, mpsoc::RECEIVED_EXE_FAILURE);
       break;
     }
     default: {
@@ -810,7 +812,7 @@ ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
 ReturnValue_t PlocMpsocHandler::handleMemoryReadReport(const uint8_t* data) {
   ReturnValue_t result = returnvalue::OK;
   result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
-  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+  if (result == mpsoc::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
                  << std::endl;
   }
@@ -1004,7 +1006,7 @@ ReturnValue_t PlocMpsocHandler::handleGetHkReport(const uint8_t* data) {
 
 ReturnValue_t PlocMpsocHandler::handleCamCmdRpt(const uint8_t* data) {
   ReturnValue_t result = verifyPacket(data, foundPacketLen);
-  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+  if (result == mpsoc::CRC_FAILURE) {
     sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
   }
   SpacePacketReader packetReader(data, foundPacketLen);

archive/PlocMpsocHandler.h

@@ -1,23 +1,19 @@
 #ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 #define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 
-#include <linux/payload/PlocMpsocSpecialComHelper.h>
+#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
-#include <linux/payload/mpsocRetvals.h>
 #include <linux/payload/plocMpsocHelpers.h>
 #include <linux/payload/plocSupvDefs.h>
 #include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
 
-#include <string>
-
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 
-static constexpr bool DEBUG_MPSOC_COMMUNICATION = false;
+static constexpr bool DEBUG_MPSOC_COMMUNICATION = true;
 
 /**
  * @brief	This is the device handler for the MPSoC of the payload computer.
@@ -48,7 +44,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
    * @param supervisorHandler   Object ID of the supervisor handler
    */
   PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                   PlocMpsocSpecialComHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
+                   PlocMpsocSpecialComHelperLegacy* plocMPSoCHelper, Gpio uartIsolatorSwitch,
                    object_id_t supervisorHandler);
   virtual ~PlocMpsocHandler();
   virtual ReturnValue_t initialize() override;
@@ -171,7 +167,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
 
   SerialComIF* uartComIf = nullptr;
 
-  PlocMpsocSpecialComHelper* specialComHelper = nullptr;
+  PlocMpsocSpecialComHelperLegacy* specialComHelper = nullptr;
   Gpio uartIsolatorSwitch;
   object_id_t supervisorHandler = 0;
   CommandActionHelper commandActionHelper;
@@ -186,7 +182,7 @@ class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
   };
 
   TmMemReadReport tmMemReadReport;
-  Countdown cmdCountdown = Countdown(10000);
+  Countdown cmdCountdown = Countdown(15000);
 
   struct TelemetryBuffer {
     uint16_t length = 0;

archive/PlocMpsocSpecialComHelperLegacy.cpp

@@ -0,0 +1,545 @@
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <linux/payload/PlocMpsocSpecialComHelperLegacy.h>
+#include <unistd.h>
+
+#include <filesystem>
+#include <fstream>
+
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/fs/FilesystemHelper.h"
+#endif
+
+#include "mission/utility/Timestamp.h"
+
+using namespace ploc;
+
+PlocMpsocSpecialComHelperLegacy::PlocMpsocSpecialComHelperLegacy(object_id_t objectId)
+    : SystemObject(objectId) {
+  spParams.buf = commandBuffer;
+  spParams.maxSize = sizeof(commandBuffer);
+}
+
+PlocMpsocSpecialComHelperLegacy::~PlocMpsocSpecialComHelperLegacy() {}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::initialize() {
+#ifdef XIPHOS_Q7S
+  sdcMan = SdCardManager::instance();
+  if (sdcMan == nullptr) {
+    sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
+    return returnvalue::FAILED;
+  }
+#endif
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::performOperation(uint8_t operationCode) {
+  ReturnValue_t result = returnvalue::OK;
+  semaphore.acquire();
+  while (true) {
+#if OBSW_THREAD_TRACING == 1
+    trace::threadTrace(opCounter, "PLOC MPSOC Helper");
+#endif
+    switch (internalState) {
+      case InternalState::IDLE: {
+        semaphore.acquire();
+        break;
+      }
+      case InternalState::FLASH_WRITE: {
+        result = performFlashWrite();
+        if (result == returnvalue::OK) {
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
+        } else {
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      case InternalState::FLASH_READ: {
+        result = performFlashRead();
+        if (result == returnvalue::OK) {
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
+        } else {
+          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      default:
+        sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
+        break;
+    }
+  }
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::setComIF(
+    DeviceCommunicationIF* communicationInterface_) {
+  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
+  if (uartComIF == nullptr) {
+    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+void PlocMpsocSpecialComHelperLegacy::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
+
+void PlocMpsocSpecialComHelperLegacy::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+  sequenceCount = sequenceCount_;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashWrite(std::string obcFile,
+                                                               std::string mpsocFile) {
+  if (internalState != InternalState::IDLE) {
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  internalState = InternalState::FLASH_WRITE;
+  return semaphore.release();
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashRead(std::string obcFile,
+                                                              std::string mpsocFile,
+                                                              size_t readFileSize) {
+  if (internalState != InternalState::IDLE) {
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  flashReadAndWrite.totalReadSize = readFileSize;
+  internalState = InternalState::FLASH_READ;
+  return semaphore.release();
+}
+
+void PlocMpsocSpecialComHelperLegacy::resetHelper() {
+  spParams.buf = commandBuffer;
+  terminate = false;
+  uartComIF->flushUartRxBuffer(comCookie);
+}
+
+void PlocMpsocSpecialComHelperLegacy::stopProcess() { terminate = true; }
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashWrite() {
+  ReturnValue_t result = returnvalue::OK;
+  std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
+  if (file.bad()) {
+    return returnvalue::FAILED;
+  }
+  result = flashfopen(mpsoc::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  // Set position of next character to end of file input stream
+  file.seekg(0, file.end);
+  // tellg returns position of character in input stream
+  size_t remainingSize = file.tellg();
+  size_t dataLength = 0;
+  size_t bytesRead = 0;
+  while (remainingSize > 0) {
+    if (terminate) {
+      return returnvalue::OK;
+    }
+    // The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
+    if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
+      dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
+    } else {
+      dataLength = remainingSize;
+    }
+    if (file.bad() or not file.is_open()) {
+      return FILE_WRITE_ERROR;
+    }
+    file.seekg(bytesRead, file.beg);
+    file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
+    bytesRead += dataLength;
+    remainingSize -= dataLength;
+    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
+    result = tc.setPayload(fileBuf.data(), dataLength);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = tc.finishPacket();
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    (*sequenceCount)++;
+    result = handlePacketTransmissionNoReply(tc);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  result = flashfclose();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::performFlashRead() {
+  std::error_code e;
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
+  if (ofile.bad()) {
+    return returnvalue::FAILED;
+  }
+  ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
+  if (result != returnvalue::OK) {
+    std::filesystem::remove(flashReadAndWrite.obcFile, e);
+    return result;
+  }
+  size_t readSoFar = 0;
+  size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
+  while (readSoFar < flashReadAndWrite.totalReadSize) {
+    if (terminate) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return returnvalue::OK;
+    }
+    nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
+    if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
+      nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
+    }
+    if (ofile.bad() or not ofile.is_open()) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return FILE_READ_ERROR;
+    }
+    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
+    result = flashReadRequest.setPayload(nextReadSize);
+    if (result != returnvalue::OK) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return result;
+    }
+    result = flashReadRequest.finishPacket();
+    if (result != returnvalue::OK) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return result;
+    }
+    (*sequenceCount)++;
+    result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
+    if (result != returnvalue::OK) {
+      std::filesystem::remove(flashReadAndWrite.obcFile, e);
+      return result;
+    }
+    readSoFar += nextReadSize;
+  }
+  result = flashfclose();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfopen(uint8_t mode) {
+  spParams.buf = commandBuffer;
+  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
+  ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = flashFopen.finishPacket();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  (*sequenceCount)++;
+  result = handlePacketTransmissionNoReply(flashFopen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::flashfclose() {
+  spParams.buf = commandBuffer;
+  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
+  ReturnValue_t result = flashFclose.finishPacket();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  (*sequenceCount)++;
+  result = handlePacketTransmissionNoReply(flashFclose);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionFlashRead(
+    mpsoc::TcFlashRead& tc, std::ofstream& ofile, size_t expectedReadLen) {
+  ReturnValue_t result = sendCommand(tc);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleTmReception();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  // We have the nominal case where the flash read report appears first, or the case where we
+  // get an EXE failure immediately.
+  if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
+    result = handleFlashReadReply(ofile, expectedReadLen);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    return handleExe();
+  } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
+    handleExeFailure();
+  } else {
+    triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
+    sif::warning << "PLOC MPSoC: Expected execution report "
+                 << "but received space packet with apid " << std::hex << spReader.getApid()
+                 << std::endl;
+  }
+  return returnvalue::FAILED;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
+  ReturnValue_t result = sendCommand(tc);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return handleExe();
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::sendCommand(ploc::SpTcBase& tc) {
+  ReturnValue_t result = returnvalue::OK;
+  result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
+  if (result != returnvalue::OK) {
+    sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
+    triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleAck() {
+  ReturnValue_t result = returnvalue::OK;
+  result = handleTmReception();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = checkReceivedTm();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  uint16_t apid = spReader.getApid();
+  if (apid != mpsoc::apid::ACK_SUCCESS) {
+    handleAckApidFailure(spReader);
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+void PlocMpsocSpecialComHelperLegacy::handleAckApidFailure(const ploc::SpTmReader& reader) {
+  uint16_t apid = reader.getApid();
+  if (apid == mpsoc::apid::ACK_FAILURE) {
+    uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
+    sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
+    triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
+  } else {
+    triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
+                 << "but received space packet with apid " << std::hex << apid << std::endl;
+  }
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleExe() {
+  ReturnValue_t result = returnvalue::OK;
+
+  result = handleTmReception();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = checkReceivedTm();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  uint16_t apid = spReader.getApid();
+  if (apid == mpsoc::apid::EXE_FAILURE) {
+    handleExeFailure();
+    return returnvalue::FAILED;
+  } else if (apid != mpsoc::apid::EXE_SUCCESS) {
+    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    sif::warning << "PLOC MPSoC: Expected execution report "
+                 << "but received space packet with apid " << std::hex << apid << std::endl;
+  }
+  return returnvalue::OK;
+}
+
+void PlocMpsocSpecialComHelperLegacy::handleExeFailure() {
+  uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
+  sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
+  triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleTmReception() {
+  ReturnValue_t result = returnvalue::OK;
+  tmCountdown.resetTimer();
+  size_t readBytes = 0;
+  size_t currentBytes = 0;
+  uint32_t usleepDelay = 5;
+  size_t fullPacketLen = 0;
+  while (true) {
+    if (tmCountdown.hasTimedOut()) {
+      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
+      return returnvalue::FAILED;
+    }
+    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
+    fullPacketLen = spReader.getFullPacketLen();
+    readBytes += currentBytes;
+    if (readBytes == 6) {
+      break;
+    }
+    usleep(usleepDelay);
+    if (usleepDelay < 200000) {
+      usleepDelay *= 4;
+    }
+  }
+  while (true) {
+    if (tmCountdown.hasTimedOut()) {
+      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
+      return returnvalue::FAILED;
+    }
+    result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
+    readBytes += currentBytes;
+    if (fullPacketLen == readBytes) {
+      break;
+    }
+    usleep(usleepDelay);
+    if (usleepDelay < 200000) {
+      usleepDelay *= 4;
+    }
+  }
+  // arrayprinter::print(tmBuf.data(), readBytes);
+  return result;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::handleFlashReadReply(std::ofstream& ofile,
+                                                                    size_t expectedReadLen) {
+  ReturnValue_t result = checkReceivedTm();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  uint16_t apid = spReader.getApid();
+  if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
+    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
+    sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
+    return result;
+  }
+  const uint8_t* packetData = spReader.getPacketData();
+  size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
+  uint32_t receivedReadLen = 0;
+  // I think this is buggy, weird stuff in the short name field.
+  //  std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
+  //  if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
+  //    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
+  //                    "received file name"
+  //                 << std::endl;
+  //    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
+  //    return returnvalue::FAILED;
+  //  }
+  packetData += 12;
+  result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
+                                         SerializeIF::Endianness::NETWORK);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (receivedReadLen != expectedReadLen) {
+    sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
+                    "received read length"
+                 << std::endl;
+    triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
+    return returnvalue::FAILED;
+  }
+  ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::fileCheck(std::string obcFile) {
+#ifdef XIPHOS_Q7S
+  ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+#elif defined(TE0720_1CFA)
+  if (not std::filesystem::exists(obcFile)) {
+    sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
+                 << std::endl;
+    return returnvalue::FAILED;
+  }
+#endif
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::startFlashReadOrWriteBase(std::string obcFile,
+                                                                         std::string mpsocFile) {
+  ReturnValue_t result = fileCheck(obcFile);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  flashReadAndWrite.obcFile = std::move(obcFile);
+  flashReadAndWrite.mpsocFile = std::move(mpsocFile);
+  resetHelper();
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::checkReceivedTm() {
+  ReturnValue_t result = spReader.checkSize();
+  if (result != returnvalue::OK) {
+    sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
+    triggerEvent(MPSOC_TM_SIZE_ERROR);
+    return result;
+  }
+  result = spReader.checkCrc();
+  if (result != returnvalue::OK) {
+    sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
+    triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
+    return result;
+  }
+  uint16_t recvSeqCnt = spReader.getSequenceCount();
+  if (recvSeqCnt != *sequenceCount) {
+    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
+    *sequenceCount = recvSeqCnt;
+  }
+  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
+  (*sequenceCount)++;
+  return returnvalue::OK;
+}
+
+ReturnValue_t PlocMpsocSpecialComHelperLegacy::receive(uint8_t* data, size_t requestBytes,
+                                                       size_t* readBytes) {
+  ReturnValue_t result = returnvalue::OK;
+  uint8_t* buffer = nullptr;
+  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
+  if (result != returnvalue::OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
+    triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
+                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
+    return returnvalue::FAILED;
+  }
+  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
+  if (result != returnvalue::OK) {
+    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
+    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
+    return returnvalue::FAILED;
+  }
+  if (*readBytes > 0) {
+    std::memcpy(data, buffer, *readBytes);
+  }
+  return result;
+}

archive/PlocMpsocSpecialComHelperLegacy.h

@@ -0,0 +1,200 @@
+#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
+#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
+
+#include <linux/payload/plocMpsocHelpers.h>
+#include <mission/utility/trace.h>
+
+#include <string>
+
+#include "OBSWConfig.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/osal/linux/BinarySemaphore.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcservices/SourceSequenceCounter.h"
+#include "fsfw_hal/linux/serial/SerialComIF.h"
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/fs/SdCardManager.h"
+#endif
+
+/**
+ * @brief   Helper class for MPSoC of PLOC intended to accelerate large data transfers between
+ *          MPSoC and OBC.
+ * @author  J. Meier
+ */
+class PlocMpsocSpecialComHelperLegacy : public SystemObject, public ExecutableObjectIF {
+ public:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
+
+  //! [EXPORT] : [COMMENT] Flash write fails
+  static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
+  //! [EXPORT] : [COMMENT] Flash write successful
+  static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO);
+  //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
+  //! to the MPSoC
+  //! P1: Return value returned by the communication interface sendMessage function
+  //! P2: Internal state of MPSoC helper
+  static const Event MPSOC_SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
+  //! P1: Return value returned by the communication interface requestReceiveMessage function
+  //! P2: Internal state of MPSoC helper
+  static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
+  //! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
+  //! P1: Return value returned by the communication interface readingReceivedMessage function
+  //! P2: Internal state of MPSoC helper
+  static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] Did not receive acknowledgment report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of MPSoC helper
+  static const Event MPSOC_MISSING_ACK = MAKE_EVENT(5, severity::LOW);
+  //! [EXPORT] : [COMMENT] Did not receive execution report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of MPSoC helper
+  static const Event MPSOC_MISSING_EXE = MAKE_EVENT(6, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received acknowledgment failure report
+  //! P1: Internal state of MPSoC
+  static const Event MPSOC_ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received execution failure report
+  //! P1: Internal state of MPSoC
+  static const Event MPSOC_EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
+  //! [EXPORT] : [COMMENT] Expected acknowledgment report but received space packet with other apid
+  //! P1: Apid of received space packet
+  //! P2: Internal state of MPSoC
+  static const Event MPSOC_ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
+  //! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
+  //! P1: Apid of received space packet
+  //! P2: Internal state of MPSoC
+  static const Event MPSOC_EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
+  //! P1: Expected sequence count
+  //! P2: Received sequence count
+  static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
+  static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW);
+  static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW);
+  static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
+  static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
+  static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
+  static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
+
+  enum FlashReadErrorType : uint32_t {
+    FLASH_READ_APID_ERROR = 0,
+    FLASH_READ_FILENAME_ERROR = 1,
+    FLASH_READ_READLEN_ERROR = 2
+  };
+
+  PlocMpsocSpecialComHelperLegacy(object_id_t objectId);
+  virtual ~PlocMpsocSpecialComHelperLegacy();
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
+  void setComCookie(CookieIF* comCookie_);
+
+  /**
+   * @brief   Starts flash write sequence
+   *
+   * @param obcFile   File where to read from the data
+   * @param mpsocFile The file of the MPSoC where should be written to
+   *
+   * @return  returnvalue::OK if successful, otherwise error return value
+   */
+  ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile);
+  /**
+   *
+   * @param obcFile Full target file name on OBC
+   * @param mpsocFile The file on the MPSoC which should be copied ot the OBC
+   * @param readFileSize The size of the file on the MPSoC.
+   * @return
+   */
+  ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize);
+
+  /**
+   * @brief   Can be used to interrupt a running data transfer.
+   */
+  void stopProcess();
+
+  /**
+   * @brief   Sets the sequence count object responsible for the sequence count handling
+   */
+  void setSequenceCount(SourceSequenceCounter* sequenceCount_);
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
+
+  //! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC.
+  static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC.
+  static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1);
+
+  // Maximum number of times the communication interface retries polling data from the reply
+  // buffer
+  static const int RETRIES = 10000;
+
+  struct FlashInfo {
+    std::string obcFile;
+    std::string mpsocFile;
+  };
+
+  struct FlashRead : public FlashInfo {
+    size_t totalReadSize = 0;
+  };
+
+  struct FlashRead flashReadAndWrite;
+#if OBSW_THREAD_TRACING == 1
+  uint32_t opCounter = 0;
+#endif
+
+  enum class InternalState { IDLE, FLASH_WRITE, FLASH_READ };
+
+  InternalState internalState = InternalState::IDLE;
+
+  BinarySemaphore semaphore;
+#ifdef XIPHOS_Q7S
+  SdCardManager* sdcMan = nullptr;
+#endif
+  uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
+  SpacePacketCreator creator;
+  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
+
+  Countdown tmCountdown = Countdown(5000);
+
+  std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
+  std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
+
+  bool terminate = false;
+
+  /**
+   * Communication interface of MPSoC responsible for low level access. Must be set by the
+   * MPSoC Handler.
+   */
+  SerialComIF* uartComIF = nullptr;
+  // Communication cookie. Must be set by the MPSoC Handler
+  CookieIF* comCookie = nullptr;
+  // Sequence count, must be set by Ploc MPSoC Handler
+  SourceSequenceCounter* sequenceCount = nullptr;
+  ploc::SpTmReader spReader;
+
+  void resetHelper();
+  ReturnValue_t performFlashWrite();
+  ReturnValue_t performFlashRead();
+  ReturnValue_t flashfopen(uint8_t accessMode);
+  ReturnValue_t flashfclose();
+  ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
+  ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
+                                                  size_t expectedReadLen);
+  ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
+  ReturnValue_t sendCommand(ploc::SpTcBase& tc);
+  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
+  ReturnValue_t handleAck();
+  ReturnValue_t handleExe();
+  ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
+  ReturnValue_t fileCheck(std::string obcFile);
+  void handleAckApidFailure(const ploc::SpTmReader& reader);
+  void handleExeFailure();
+  ReturnValue_t handleTmReception();
+  ReturnValue_t checkReceivedTm();
+};
+
+#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */

bsp_hosted/OBSWConfig.h.in

@@ -48,6 +48,7 @@
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 
+#define OBSW_MPSOC_JTAG_BOOT                        0
 #define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_TEST_TASK                          0

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
  * @details
- * Generated on: 2024-04-10 11:49:35
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateEvents.h"
 
@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
       return SUPV_NOT_ON_STRING;
     case (11608):
       return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 175 translations.
+ * Contains 176 translations.
- * Generated on: 2024-04-10 11:49:35
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateObjects.h"
 
@@ -65,6 +65,7 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
+const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
 const char *SCEX_STRING = "SCEX";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
@@ -302,6 +303,8 @@ const char *translateObject(object_id_t object) {
       return PLOC_SUPERVISOR_HANDLER_STRING;
     case 0x44330017:
       return PLOC_SUPERVISOR_HELPER_STRING;
+    case 0x44330018:
+      return PLOC_MPSOC_COMMUNICATION_STRING;
     case 0x44330032:
       return SCEX_STRING;
     case 0x444100A2:

bsp_hosted/objectFactory.cpp

@@ -39,8 +39,6 @@
 #include "devices/gpioIds.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "linux/payload/FreshSupvHandler.h"
-#include "linux/payload/PlocMpsocHandler.h"
-#include "linux/payload/PlocMpsocSpecialComHelper.h"
 #include "linux/payload/PlocSupvUartMan.h"
 #include "test/gpio/DummyGpioIF.h"
 #endif
@@ -79,7 +77,10 @@ void ObjectFactory::produce(void* args) {
     switcherList.emplace_back(initVal);
   }
   dummySwitcher->setInitialSwitcherList(switcherList);
+
 #ifdef PLATFORM_UNIX
+  // Obsolete dev handler..
+  /*
   new SerialComIF(objects::UART_COM_IF);
 #if OBSW_ADD_PLOC_MPSOC == 1
   std::string mpscoDev = "";
@@ -90,7 +91,8 @@ void ObjectFactory::produce(void* args) {
   new PlocMpsocHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
                        plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF),
                        objects::PLOC_SUPERVISOR_HANDLER);
-#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+#endif // OBSW_ADD_PLOC_MPSOC == 1
+  */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   std::string plocSupvString = "/dev/ploc_supv";
   auto supervisorCookie =

bsp_q7s/objectFactory.cpp

@@ -10,8 +10,9 @@
 #include <linux/acs/RwPollingTask.h>
 #include <linux/acs/StrComHandler.h>
 #include <linux/com/SyrlinksComHandler.h>
+#include <linux/payload/FreshMpsocHandler.h>
+#include <linux/payload/MpsocCommunication.h>
 #include <linux/payload/PlocMemoryDumper.h>
-#include <linux/payload/PlocMpsocHandler.h>
 #include <linux/payload/PlocMpsocSpecialComHelper.h>
 #include <linux/payload/ScexUartReader.h>
 #include <linux/payload/plocMpsocHelpers.h>
@@ -47,6 +48,7 @@
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
 #include "eive/definitions.h"
+#include "eive/objects.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
 #include "linux/boardtest/I2cTestClass.h"
@@ -59,7 +61,11 @@
 #include "linux/ipcore/Ptme.h"
 #include "linux/ipcore/PtmeConfig.h"
 #include "linux/payload/FreshSupvHandler.h"
+#include "linux/payload/MpsocCommunication.h"
+#include "linux/payload/PlocMpsocSpecialComHelper.h"
+#include "linux/payload/SerialConfig.h"
 #include "mission/config/configfile.h"
+#include "mission/power/defs.h"
 #include "mission/system/acs/AcsBoardFdir.h"
 #include "mission/system/acs/AcsSubsystem.h"
 #include "mission/system/acs/RwAssembly.h"
@@ -67,7 +73,7 @@
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/SyrlinksFdir.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/power/GomspacePowerFdir.h"
 #include "mission/system/tcs/RtdFdir.h"
 #include "mission/system/tcs/TcsBoardAssembly.h"
@@ -624,14 +630,15 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
   auto mpsocGpioCookie = new GpioCookie;
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
   gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
-  auto mpsocCookie =
+  SerialConfig serialCfg(q7s::UART_PLOC_MPSOC_DEV, serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE,
-      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                         UartModes::NON_CANONICAL);
-                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  auto mpsocCommunication = new MpsocCommunication(objects::PLOC_MPSOC_COMMUNICATION, serialCfg);
-  mpsocCookie->setNoFixedSizeReply();
+  auto specialComHelper =
-  auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
+      new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER, *mpsocCommunication);
-  auto* mpsocHandler = new PlocMpsocHandler(
+  DhbConfig dhbConf(objects::PLOC_MPSOC_HANDLER);
-      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
+  auto* mpsocHandler = new FreshMpsocHandler(
-      Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
+      dhbConf, *mpsocCommunication, *specialComHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
+      objects::PLOC_SUPERVISOR_HANDLER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
   mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
@@ -650,7 +657,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
                        supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
   new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
-  DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
+  dhbConf = DhbConfig(objects::PLOC_SUPERVISOR_HANDLER);
   auto* supvHandler =
       new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
                            pwrSwitcher, power::PDU1_CH6_PLOC_12V);

common/config/eive/objects.h

@@ -77,6 +77,7 @@ enum commonObjects : uint32_t {
   PLOC_MPSOC_HANDLER = 0x44330015,
   PLOC_SUPERVISOR_HANDLER = 0x44330016,
   PLOC_SUPERVISOR_HELPER = 0x44330017,
+  PLOC_MPSOC_COMMUNICATION = 0x44330018,
   SCEX = 0x44330032,
   SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
   HEATER_HANDLER = 0x444100A4,

common/config/eive/resultClassIds.h

@@ -42,6 +42,7 @@ enum commonClassIds : uint8_t {
   PERSISTENT_TM_STORE,      // PTM
   TM_SINK,                  // TMS
   VIRTUAL_CHANNEL,          // VCS
+  PLOC_MPSOC_COM,           // PLMPCOM
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 }

dummies/helperFactory.cpp

@@ -40,7 +40,7 @@
 #include "mission/genericFactory.h"
 #include "mission/system/acs/acsModeTree.h"
 #include "mission/system/com/comModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "mission/tcs/defs.h"
 

fsfw

@@ -1 +1 @@
-Subproject commit 8b21dd276de72b46b41bc7080d6646180bfa0662
+Subproject commit 42867ad0cba088ab1cb6cb672d001f991f7e4a60

generators/bsp_hosted_events.csv

@@ -128,14 +128,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/SolarArrayDeploymentHandler.h
-11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/PlocMpsocHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/plocMpsocHelpers.h
-11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/plocMpsocHelpers.h
-11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
-11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/PlocMpsocHandler.h
+11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
-11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/PlocMpsocHandler.h
+11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
+11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h

generators/bsp_hosted_objects.csv

@@ -57,6 +57,7 @@
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
+0x44330018;PLOC_MPSOC_COMMUNICATION
 0x44330032;SCEX
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER

generators/bsp_q7s_events.csv

@@ -128,14 +128,15 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11506;0x2cf2;DEPL_SA1_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11507;0x2cf3;DEPL_SA2_GPIO_SWTICH_OFF_FAILED;HIGH;No description;mission/SolarArrayDeploymentHandler.h
 11508;0x2cf4;AUTONOMOUS_DEPLOYMENT_COMPLETED;INFO;No description;mission/SolarArrayDeploymentHandler.h
-11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/PlocMpsocHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/payload/plocMpsocHelpers.h
-11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/PlocMpsocHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/payload/plocMpsocHelpers.h
-11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/PlocMpsocHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/payload/plocMpsocHelpers.h
-11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/PlocMpsocHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/payload/plocMpsocHelpers.h
-11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/PlocMpsocHandler.h
+11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/payload/plocMpsocHelpers.h
-11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/PlocMpsocHandler.h
+11607;0x2d57;SUPV_NOT_ON;LOW;SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for ON transition.;linux/payload/plocMpsocHelpers.h
-11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;No description;linux/payload/PlocMpsocHandler.h
+11608;0x2d58;SUPV_REPLY_TIMEOUT;LOW;SUPV reply timeout.;linux/payload/plocMpsocHelpers.h
+11609;0x2d59;CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE;LOW;Camera must be commanded on first.;linux/payload/plocMpsocHelpers.h
 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h
 11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/acs/ImtqHandler.h

generators/bsp_q7s_objects.csv

@@ -56,6 +56,7 @@
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
+0x44330018;PLOC_MPSOC_COMMUNICATION
 0x44330032;SCEX
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
 0x444100A4;HEATER_HANDLER

generators/bsp_q7s_returnvalues.csv

@@ -561,16 +561,17 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
-0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x6810;MPSOCRTVIF_CommandTimeout;Command has timed out.;16;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a3;MPSOCRTVIF_InvalidApid;Received space packet with invalid APID from PLOC;163;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a4;MPSOCRTVIF_InvalidLength;Received command with invalid length;164;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a5;MPSOCRTVIF_FilenameTooLong;Filename of file in OBC filesystem is too long;165;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a6;MPSOCRTVIF_MpsocHelperExecuting;MPSoC helper is currently executing a command;166;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a7;MPSOCRTVIF_MpsocFilenameTooLong;Filename of MPSoC file is to long (max. 256 bytes);167;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
-0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/mpsocRetvals.h
+0x68a8;MPSOCRTVIF_InvalidParameter;Command has invalid parameter;168;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
+0x68a9;MPSOCRTVIF_NameTooLong;Received command has file string with invalid length;169;MPSOC_RETURN_VALUES_IF;linux/payload/plocMpsocHelpers.h
 0x69a0;SPVRTVIF_CrcFailure;Space Packet received from PLOC supervisor has invalid CRC;160;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69a1;SPVRTVIF_InvalidServiceId;No description;161;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69a2;SPVRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC supervisor;162;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
@@ -626,4 +627,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6f02;TMS_NoWriteActive;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x6f03;TMS_Timeout;No description;3;TM_SINK;mission/tmtc/DirectTmSinkIF.h
 0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h
-0x7200;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x7100;PLMPCOM_PacketReceived;No description;0;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
+0x7101;PLMPCOM_FaultyPacketSize;No description;1;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
+0x7102;PLMPCOM_CrcCheckFailed;No description;2;PLOC_MPSOC_COM;linux/payload/MpsocCommunication.h
+0x7300;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
  * @details
- * Generated on: 2024-04-10 11:49:35
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateEvents.h"
 
@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
       return SUPV_NOT_ON_STRING;
     case (11608):
       return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 179 translations.
+ * Contains 180 translations.
- * Generated on: 2024-04-10 11:49:35
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateObjects.h"
 
@@ -64,6 +64,7 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
+const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
 const char *SCEX_STRING = "SCEX";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
@@ -304,6 +305,8 @@ const char *translateObject(object_id_t object) {
       return PLOC_SUPERVISOR_HANDLER_STRING;
     case 0x44330017:
       return PLOC_SUPERVISOR_HELPER_STRING;
+    case 0x44330018:
+      return PLOC_MPSOC_COMMUNICATION_STRING;
     case 0x44330032:
       return SCEX_STRING;
     case 0x444100A2:

linux/ObjectFactory.cpp

@@ -26,7 +26,7 @@
 #include "devConf.h"
 #include "devices/gpioIds.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 324 translations.
+ * @brief    Auto-generated event translation file. Contains 325 translations.
  * @details
- * Generated on: 2024-04-10 11:49:35
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateEvents.h"
 
@@ -142,6 +142,7 @@ const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUEN
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SUPV_NOT_ON_STRING = "SUPV_NOT_ON";
 const char *SUPV_REPLY_TIMEOUT_STRING = "SUPV_REPLY_TIMEOUT";
+const char *CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING = "CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
 const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
@@ -606,6 +607,8 @@ const char *translateEvents(Event event) {
       return SUPV_NOT_ON_STRING;
     case (11608):
       return SUPV_REPLY_TIMEOUT_STRING;
+    case (11609):
+      return CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE_STRING;
     case (11701):
       return SELF_TEST_I2C_FAILURE_STRING;
     case (11702):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 179 translations.
+ * Contains 180 translations.
- * Generated on: 2024-04-10 11:49:35
+ * Generated on: 2024-05-06 13:47:38
  */
 #include "translateObjects.h"
 
@@ -64,6 +64,7 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
+const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
 const char *SCEX_STRING = "SCEX";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
@@ -304,6 +305,8 @@ const char *translateObject(object_id_t object) {
       return PLOC_SUPERVISOR_HANDLER_STRING;
     case 0x44330017:
       return PLOC_SUPERVISOR_HELPER_STRING;
+    case 0x44330018:
+      return PLOC_MPSOC_COMMUNICATION_STRING;
     case 0x44330032:
       return SCEX_STRING;
     case 0x444100A2:

linux/payload/CMakeLists.txt

@@ -1,7 +1,9 @@
 target_sources(
   ${OBSW_NAME}
   PUBLIC PlocMemoryDumper.cpp
-         PlocMpsocHandler.cpp
+         MpsocCommunication.cpp
+         SerialCommunicationHelper.cpp
+         FreshMpsocHandler.cpp
          FreshSupvHandler.cpp
          PlocMpsocSpecialComHelper.cpp
          plocMpsocHelpers.cpp

linux/payload/FreshMpsocHandler.h

@@ -0,0 +1,212 @@
+#include "fsfw/action/ActionMessage.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/modes/ModeMessage.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/power/definitions.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw_hal/linux/gpio/Gpio.h"
+#include "linux/payload/MpsocCommunication.h"
+#include "linux/payload/PlocMpsocSpecialComHelper.h"
+#include "linux/payload/plocMpsocHelpers.h"
+
+class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
+ public:
+  enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
+  static constexpr uint32_t MPSOC_MODE_CMD_TIMEOUT_MS = 120000;
+
+  FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
+                    PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
+                    object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
+                    power::Switch_t camSwitchId);
+
+  /**
+   * Periodic helper executed function, implemented by child class.
+   */
+  void performDeviceOperation(uint8_t opCode) override;
+
+  void performDefaultDeviceOperation();
+
+  /**
+   * Implemented by child class. Handle all command messages which are
+   * not health, mode, action or housekeeping messages.
+   * @param message
+   * @return
+   */
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+
+  ReturnValue_t initialize() override;
+
+ private:
+  enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
+  enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
+
+  enum TransitionState { NONE, TO_ON, TO_OFF, SUBMODE } transitionState = TransitionState::NONE;
+  MpsocCommunication& comInterface;
+  PlocMpsocSpecialComHelper& specialComHelper;
+  MessageQueueIF* eventQueue = nullptr;
+  SourceSequenceCounter commandSequenceCount = SourceSequenceCounter(0);
+  MessageQueueIF* commandActionHelperQueue = nullptr;
+  CommandActionHelper commandActionHelper;
+  Gpio uartIsolatorSwitch;
+  mpsoc::HkReport hkReport;
+  object_id_t supervisorHandler;
+
+  Countdown mpsocBootTransitionCd = Countdown(6500);
+  Countdown supvTransitionCd = Countdown(3000);
+
+  PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
+  PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
+  PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
+  PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
+  PoolEntry<float> peSysmonTemp = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
+  PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
+  PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
+  PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
+  PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
+  PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
+  PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
+  PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
+  PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
+  PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
+  PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
+  PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
+
+  PowerState powerState;
+  bool specialComHelperExecuting = false;
+
+  struct ActionCommandInfo {
+    Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
+    bool pending = false;
+    MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
+    DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
+    uint16_t pendingCmdMpsocApid = 0;
+
+    void reset() {
+      pending = false;
+      commandedBy = MessageQueueIF::NO_QUEUE;
+      pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
+    }
+
+    void start(DeviceCommandId_t commandId, MessageQueueId_t commandedBy) {
+      pending = true;
+      cmdCountdown.resetTimer();
+      pendingCmd = commandId;
+      this->commandedBy = commandedBy;
+    }
+  } activeCmdInfo;
+
+  uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
+  SpacePacketCreator creator;
+  ploc::SpTcParams spParams = ploc::SpTcParams(creator);
+  Mode_t targetMode = HasModesIF::MODE_UNDEFINED;
+  Submode_t targetSubmode = 0;
+
+  struct TmMemReadReport {
+    static const uint8_t FIX_SIZE = 14;
+    size_t rememberRequestedSize = 0;
+  };
+
+  TmMemReadReport tmMemReadReport;
+  uint32_t lastReplySequenceCount = 0;
+  uint8_t skipSupvCommandingToOn = false;
+  PowerSwitchIF& powerSwitcher;
+  power::Switch_t camSwitchId;
+
+  // HK manager abstract functions.
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+
+  // Mode abstract functions
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  // Action override. Forward to user.
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+
+  /**
+   * @overload
+   * @param submode
+   */
+  void startTransition(Mode_t newMode, Submode_t submode) override;
+
+  ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
+
+  // CommandsActionsIF overrides.
+  MessageQueueIF* getCommandQueuePtr() override;
+
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
+
+  void handleActionCommandFailure(ActionId_t actionId, ReturnValue_t returnCode);
+  ReturnValue_t executeRegularCmd(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                  const uint8_t* data, size_t dataLen);
+  void handleTransitionToOn();
+  void handleTransitionToOff();
+
+  ReturnValue_t commandTcModeReplay();
+  ReturnValue_t commandTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcMemRead(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcReplayStop();
+  ReturnValue_t commandTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcDownlinkPwrOff();
+  ReturnValue_t commandTcGetHkReport();
+  ReturnValue_t commandTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcModeIdle();
+  ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t commandTcModeSnapshot();
+
+  ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
+                                uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
+  void handleEvent(EventMessage* eventMessage);
+  void cmdDoneHandler(bool success, ReturnValue_t result);
+  ReturnValue_t handleDeviceReply();
+  ReturnValue_t handleAckReport();
+  ReturnValue_t handleExecutionReport();
+  void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
+  ReturnValue_t reportReplyData(DeviceCommandId_t tmId);
+  ReturnValue_t handleGetHkReport();
+  bool handleHwStartup();
+  bool handleHwShutdown();
+
+  void stopSpecialComHelper();
+  void commandSubmodeTransition();
+  void commonSpecialComInit();
+  void commonSpecialComStop();
+  void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
+};

linux/payload/FreshSupvHandler.cpp

@@ -241,6 +241,10 @@ ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueI
       uartManager->initiateUpdateContinuation();
       return EXECUTION_FINISHED;
     }
+    case ABORT_LONGER_REQUEST: {
+      uartManager->stop();
+      return EXECUTION_FINISHED;
+    }
     case MEMORY_CHECK_WITH_FILE: {
       UpdateParams params;
       result = extractBaseParams(&data, size, params);
@@ -849,6 +853,10 @@ ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, s
 ReturnValue_t FreshSupvHandler::parseTmPackets() {
   uint8_t* receivedData = nullptr;
   size_t receivedSize = 0;
+  // We do not want to steal packets from the long request handler.
+  if (uartManager->longerRequestActive()) {
+    return returnvalue::OK;
+  }
   while (true) {
     ReturnValue_t result =
         uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);
@@ -1299,7 +1307,7 @@ void FreshSupvHandler::handleExecutionFailureReport(ActiveCmdInfo& info, Executi
     triggerEvent(SUPV_EXE_FAILURE, info.commandId, static_cast<uint32_t>(report.getStatusCode()));
   }
   if (info.commandedBy) {
-    actionHelper.finish(false, info.commandedBy, info.commandId, report.getStatusCode());
+    actionHelper.finish(false, info.commandedBy, info.commandId, result::RECEIVED_EXE_FAILURE);
   }
   info.isPending = false;
 }

linux/payload/MpsocCommunication.cpp

@@ -0,0 +1,75 @@
+#include "MpsocCommunication.h"
+
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "fsfw/tmtcpacket/ccsds/header.h"
+#include "linux/payload/plocMpsocHelpers.h"
+#include "unistd.h"
+
+MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
+    : SystemObject(objectId), readRingBuf(4096, true), helper(cfg) {}
+
+ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }
+
+ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
+  if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
+  }
+  return helper.send(data, dataLen);
+}
+
+ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
+  // We do not have a data link layer, so this whole thing is a mess in any case..
+  // But basically, we try to parse space packets from the internal ring buffer and trasnfer
+  // them to the higher level device handler. The CRC check is performed here as well, with
+  // few other ways to detect if we even have a valid packet.
+  size_t availableReadData = readRingBuf.getAvailableReadData();
+  // Minimum valid size for a space packet header.
+  if (availableReadData < ccsds::HEADER_LEN + 1) {
+    return returnvalue::OK;
+  }
+  readRingBuf.readData(readBuf, availableReadData);
+  spReader.setReadOnlyData(readBuf, sizeof(readBuf));
+  auto res = spReader.checkSize();
+  if (res != returnvalue::OK) {
+    return res;
+  }
+  // The packet might be garbage, with no way to recover without a data link layer.
+  if (spReader.getFullPacketLen() > 4096) {
+    readRingBuf.clear();
+    // TODO: Maybe we should also clear the serial input buffer in Linux?
+    return FAULTY_PACKET_SIZE;
+  }
+  if (availableReadData < spReader.getFullPacketLen()) {
+    // Might be split packet where the rest still has to be read.
+    return returnvalue::OK;
+  }
+  if (CRC::crc16ccitt(readBuf, spReader.getFullPacketLen()) != 0) {
+    // Possibly invalid packet. We can not even trust the detected packet length.
+    // Just clear the whole read buffer as well.
+    readRingBuf.clear();
+    triggerEvent(mpsoc::CRC_FAILURE);
+    return CRC_CHECK_FAILED;
+  }
+  readRingBuf.deleteData(spReader.getFullPacketLen());
+  return PACKET_RECEIVED;
+}
+
+ReturnValue_t MpsocCommunication::readSerialInterface() {
+  int bytesRead = read(helper.rawFd(), readBuf, sizeof(readBuf));
+  if (bytesRead < 0) {
+    return returnvalue::FAILED;
+  }
+  if (bytesRead > 0) {
+    if (MPSOC_LOW_LEVEL_RX_WIRETAPPING) {
+      sif::debug << "Read " << bytesRead << " bytes on the MPSoC interface" << std::endl;
+    }
+    return readRingBuf.writeData(readBuf, bytesRead);
+  }
+  return returnvalue::OK;
+}
+
+const SpacePacketReader& MpsocCommunication::getSpReader() const { return spReader; }
+
+SerialCommunicationHelper& MpsocCommunication::getComHelper() { return helper; }

linux/payload/MpsocCommunication.h

@@ -0,0 +1,44 @@
+
+#pragma once
+
+#include <fsfw/objectmanager/SystemObject.h>
+
+#include "eive/resultClassIds.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "linux/payload/SerialCommunicationHelper.h"
+
+static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = false;
+static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = false;
+
+class MpsocCommunication : public SystemObject {
+ public:
+  static const uint8_t CLASS_ID = CLASS_ID::PLOC_MPSOC_COM;
+  static constexpr ReturnValue_t PACKET_RECEIVED = returnvalue::makeCode(CLASS_ID, 0);
+  static constexpr ReturnValue_t FAULTY_PACKET_SIZE = returnvalue::makeCode(CLASS_ID, 1);
+  static constexpr ReturnValue_t CRC_CHECK_FAILED = returnvalue::makeCode(CLASS_ID, 2);
+
+  MpsocCommunication(object_id_t objectId, SerialConfig cfg);
+  ReturnValue_t initialize() override;
+
+  ReturnValue_t send(const uint8_t* data, size_t dataLen);
+
+  // Should be called periodically to transfer the received data from the MPSoC from the Linux
+  // buffer to the internal ring buffer for further processing.
+  ReturnValue_t readSerialInterface();
+
+  // Parses the internal ring buffer for packets and checks whether a packet was received.
+  ReturnValue_t parseAndRetrieveNextPacket();
+
+  // Can be used to read the parse packet, if one was received.
+  const SpacePacketReader& getSpReader() const;
+
+  SerialCommunicationHelper& getComHelper();
+
+ private:
+  SpacePacketReader spReader;
+  uint8_t readBuf[4096];
+  SimpleRingBuffer readRingBuf;
+  SerialCommunicationHelper helper;
+};

linux/payload/PlocMpsocSpecialComHelper.cpp

@@ -6,16 +6,21 @@
 #include <filesystem>
 #include <fstream>
 
+#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "linux/payload/MpsocCommunication.h"
+#include "linux/payload/plocMpsocHelpers.h"
+
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
 #endif
 
-#include "mission/utility/Timestamp.h"
-
 using namespace ploc;
 
-PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId)
+PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
-    : SystemObject(objectId) {
+                                                     MpsocCommunication& comInterface)
+    : SystemObject(objectId), comInterface(comInterface) {
   spParams.buf = commandBuffer;
   spParams.maxSize = sizeof(commandBuffer);
 }
@@ -48,9 +53,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
       case InternalState::FLASH_WRITE: {
         result = performFlashWrite();
         if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
         } else {
-          triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
         }
         internalState = InternalState::IDLE;
         break;
@@ -58,9 +63,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
       case InternalState::FLASH_READ: {
         result = performFlashRead();
         if (result == returnvalue::OK) {
-          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
+          triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
         } else {
-          triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
+          sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
+          triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
         }
         internalState = InternalState::IDLE;
         break;
@@ -72,19 +78,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
   }
 }
 
-ReturnValue_t PlocMpsocSpecialComHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
+void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
-  uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
+  txSequenceCount.set(sequenceCount_);
-  if (uartComIF == nullptr) {
-    sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
-    return returnvalue::FAILED;
-  }
-  return returnvalue::OK;
 }
 
-void PlocMpsocSpecialComHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
+uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
-
+  return txSequenceCount.get();
-void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
-  sequenceCount = sequenceCount_;
 }
 
 ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
@@ -117,7 +116,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std
 void PlocMpsocSpecialComHelper::resetHelper() {
   spParams.buf = commandBuffer;
   terminate = false;
-  uartComIF->flushUartRxBuffer(comCookie);
+  auto& helper = comInterface.getComHelper();
+  helper.flushUartRxBuffer();
 }
 
 void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
@@ -155,7 +155,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
     file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
     bytesRead += dataLength;
     remainingSize -= dataLength;
-    mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
+    mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
     result = tc.setPayload(fileBuf.data(), dataLength);
     if (result != returnvalue::OK) {
       return result;
@@ -164,7 +164,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
     if (result != returnvalue::OK) {
       return result;
     }
-    (*sequenceCount)++;
+    txSequenceCount.increment();
     result = handlePacketTransmissionNoReply(tc);
     if (result != returnvalue::OK) {
       return result;
@@ -179,8 +179,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
 
 ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
   std::error_code e;
-  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
+  if (std::filesystem::exists(flashReadAndWrite.obcFile)) {
-  if (ofile.bad()) {
+    // Truncate the file first.
+    std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::trunc);
+  }
+  std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::binary | std::ios::app);
+  if (ofile.bad() or not ofile.is_open()) {
     return returnvalue::FAILED;
   }
   ReturnValue_t result = flashfopen(mpsoc::FileAccessModes::READ);
@@ -203,7 +207,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
       return FILE_READ_ERROR;
     }
-    mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
+    mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
     result = flashReadRequest.setPayload(nextReadSize);
     if (result != returnvalue::OK) {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -214,7 +218,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
       return result;
     }
-    (*sequenceCount)++;
+    txSequenceCount.increment();
     result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
     if (result != returnvalue::OK) {
       std::filesystem::remove(flashReadAndWrite.obcFile, e);
@@ -231,7 +235,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
 
 ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
   spParams.buf = commandBuffer;
-  mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
+  mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
   ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
   if (result != returnvalue::OK) {
     return result;
@@ -240,7 +244,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
   if (result != returnvalue::OK) {
     return result;
   }
-  (*sequenceCount)++;
+  txSequenceCount.increment();
   result = handlePacketTransmissionNoReply(flashFopen);
   if (result != returnvalue::OK) {
     return result;
@@ -250,12 +254,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
 
 ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
   spParams.buf = commandBuffer;
-  mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
+  mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
   ReturnValue_t result = flashFclose.finishPacket();
   if (result != returnvalue::OK) {
     return result;
   }
-  (*sequenceCount)++;
+  txSequenceCount.increment();
   result = handlePacketTransmissionNoReply(flashFclose);
   if (result != returnvalue::OK) {
     return result;
@@ -278,6 +282,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
   if (result != returnvalue::OK) {
     return result;
   }
+  auto& spReader = comInterface.getSpReader();
 
   // We have the nominal case where the flash read report appears first, or the case where we
   // get an EXE failure immediately.
@@ -288,7 +293,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
     }
     return handleExe();
   } else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
+    handleExeFailure(spReader);
   } else {
     triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
     sif::warning << "PLOC MPSoC: Expected execution report "
@@ -311,8 +316,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S
 }
 
 ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
-  result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
+  mpsoc::printTxPacket(tc);
   if (result != returnvalue::OK) {
     sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
     triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
@@ -331,6 +336,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
   if (result != returnvalue::OK) {
     return result;
   }
+  const auto& spReader = comInterface.getSpReader();
+
   uint16_t apid = spReader.getApid();
   if (apid != mpsoc::apid::ACK_SUCCESS) {
     handleAckApidFailure(spReader);
@@ -339,7 +346,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
   return returnvalue::OK;
 }
 
-void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
+void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
   uint16_t apid = reader.getApid();
   if (apid == mpsoc::apid::ACK_FAILURE) {
     uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
@@ -363,9 +370,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
   if (result != returnvalue::OK) {
     return result;
   }
+  const auto& spReader = comInterface.getSpReader();
   uint16_t apid = spReader.getApid();
   if (apid == mpsoc::apid::EXE_FAILURE) {
-    handleExeFailure();
+    handleExeFailure(spReader);
     return returnvalue::FAILED;
   } else if (apid != mpsoc::apid::EXE_SUCCESS) {
     triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@@ -375,7 +383,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
   return returnvalue::OK;
 }
 
-void PlocMpsocSpecialComHelper::handleExeFailure() {
+void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
   uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
   sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
   triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
@@ -384,46 +392,32 @@ void PlocMpsocSpecialComHelper::handleExeFailure() {
 ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
   ReturnValue_t result = returnvalue::OK;
   tmCountdown.resetTimer();
-  size_t readBytes = 0;
-  size_t currentBytes = 0;
   uint32_t usleepDelay = 5;
-  size_t fullPacketLen = 0;
   while (true) {
     if (tmCountdown.hasTimedOut()) {
       triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
       return returnvalue::FAILED;
     }
-    result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
+    result = tryReceiveNextReply();
+    if (result == MpsocCommunication::PACKET_RECEIVED) {
+      // Need to convert this, we are faking a synchronous API here.
+      result = returnvalue::OK;
+      break;
+    }
     if (result != returnvalue::OK) {
+      if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
+        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
+      } else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
+        sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
+      }
+      sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
       return result;
     }
-    spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
-    fullPacketLen = spReader.getFullPacketLen();
-    readBytes += currentBytes;
-    if (readBytes == 6) {
-      break;
-    }
     usleep(usleepDelay);
     if (usleepDelay < 200000) {
       usleepDelay *= 4;
     }
   }
-  while (true) {
-    if (tmCountdown.hasTimedOut()) {
-      triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
-      return returnvalue::FAILED;
-    }
-    result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
-    readBytes += currentBytes;
-    if (fullPacketLen == readBytes) {
-      break;
-    }
-    usleep(usleepDelay);
-    if (usleepDelay < 200000) {
-      usleepDelay *= 4;
-    }
-  }
-  // arrayprinter::print(tmBuf.data(), readBytes);
   return result;
 }
 
@@ -433,6 +427,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofi
   if (result != returnvalue::OK) {
     return result;
   }
+  auto& spReader = comInterface.getSpReader();
   uint16_t apid = spReader.getApid();
   if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
     triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
@@ -498,47 +493,25 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
 }
 
 ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
+  const auto& spReader = comInterface.getSpReader();
   ReturnValue_t result = spReader.checkSize();
   if (result != returnvalue::OK) {
     sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
     triggerEvent(MPSOC_TM_SIZE_ERROR);
     return result;
   }
-  result = spReader.checkCrc();
+  rxSequenceCount = spReader.getSequenceCount();
-  if (result != returnvalue::OK) {
+  mpsoc::printRxPacket(spReader);
-    sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
-    triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
-    return result;
-  }
-  uint16_t recvSeqCnt = spReader.getSequenceCount();
-  if (recvSeqCnt != *sequenceCount) {
-    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
-    *sequenceCount = recvSeqCnt;
-  }
-  // This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
-  (*sequenceCount)++;
   return returnvalue::OK;
 }
 
-ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
+ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
-                                                 size_t* readBytes) {
   ReturnValue_t result = returnvalue::OK;
-  uint8_t* buffer = nullptr;
+  result = comInterface.readSerialInterface();
-  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
   if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
     triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
                  static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
     return returnvalue::FAILED;
   }
-  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
+  return comInterface.parseAndRetrieveNextPacket();
-  if (result != returnvalue::OK) {
-    sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
-    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
-    return returnvalue::FAILED;
-  }
-  if (*readBytes > 0) {
-    std::memcpy(data, buffer, *readBytes);
-  }
-  return result;
 }

linux/payload/PlocMpsocSpecialComHelper.h

@@ -6,14 +6,13 @@
 
 #include <string>
 
-#include "OBSWConfig.h"
-#include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/osal/linux/BinarySemaphore.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
-#include "fsfw_hal/linux/serial/SerialComIF.h"
+#include "linux/payload/MpsocCommunication.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/SdCardManager.h"
 #endif
@@ -83,15 +82,12 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
     FLASH_READ_READLEN_ERROR = 2
   };
 
-  PlocMpsocSpecialComHelper(object_id_t objectId);
+  PlocMpsocSpecialComHelper(object_id_t objectId, MpsocCommunication& comInterface);
   virtual ~PlocMpsocSpecialComHelper();
 
   ReturnValue_t initialize() override;
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
-  void setComCookie(CookieIF* comCookie_);
-
   /**
    * @brief   Starts flash write sequence
    *
@@ -118,7 +114,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
   /**
    * @brief   Sets the sequence count object responsible for the sequence count handling
    */
-  void setSequenceCount(SourceSequenceCounter* sequenceCount_);
+  void setCommandSequenceCount(uint16_t sequenceCount_);
+  uint16_t getCommandSequenceCount() const;
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
@@ -169,12 +166,14 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
    * Communication interface of MPSoC responsible for low level access. Must be set by the
    * MPSoC Handler.
    */
-  SerialComIF* uartComIF = nullptr;
+  // SerialComIF* uartComIF = nullptr;
   // Communication cookie. Must be set by the MPSoC Handler
-  CookieIF* comCookie = nullptr;
+  // CookieIF* comCookie = nullptr;
+  MpsocCommunication& comInterface;
   // Sequence count, must be set by Ploc MPSoC Handler
-  SourceSequenceCounter* sequenceCount = nullptr;
+  // ploc::SpTmReader spReader;
-  ploc::SpTmReader spReader;
+  uint16_t rxSequenceCount = 0;
+  SourceSequenceCounter txSequenceCount = 0;
 
   void resetHelper();
   ReturnValue_t performFlashWrite();
@@ -186,13 +185,13 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
                                                   size_t expectedReadLen);
   ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
   ReturnValue_t sendCommand(ploc::SpTcBase& tc);
-  ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
+  ReturnValue_t tryReceiveNextReply();
   ReturnValue_t handleAck();
   ReturnValue_t handleExe();
   ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
   ReturnValue_t fileCheck(std::string obcFile);
-  void handleAckApidFailure(const ploc::SpTmReader& reader);
+  void handleAckApidFailure(const SpacePacketReader& reader);
-  void handleExeFailure();
+  void handleExeFailure(const SpacePacketReader& reader);
   ReturnValue_t handleTmReception();
   ReturnValue_t checkReceivedTm();
 };

linux/payload/PlocSupvUartMan.cpp

@@ -11,6 +11,8 @@
 #include <fstream>
 
 #include "OBSWConfig.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "linux/payload/plocSupvDefs.h"
 #include "tas/hdlc.h"
 #ifdef XIPHOS_Q7S
 #include "bsp_q7s/fs/FilesystemHelper.h"
@@ -21,9 +23,13 @@
 
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/timemanager/Countdown.h"
+
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
 #include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
+#endif
+
 #include "tas/crc.h"
 
 using namespace returnvalue;
@@ -277,23 +283,6 @@ ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
   return returnvalue::OK;
 }
 
-// ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
-// #ifdef XIPHOS_Q7S
-//   ReturnValue_t result = FilesystemHelper::checkPath(path);
-//   if (result != returnvalue::OK) {
-//     return result;
-//   }
-// #endif
-//   if (not std::filesystem::exists(path)) {
-//     return PATH_NOT_EXISTS;
-//   }
-//   eventBufferReq.path = path;
-//   request = Request::REQUEST_EVENT_BUFFER;
-//   //uartComIF->flushUartTxAndRxBuf(comCookie);
-//   semaphore->release();
-//   return returnvalue::OK;
-// }
-
 void PlocSupvUartManager::stop() {
   MutexGuard mg(lock);
   if (state == InternalState::SLEEPING or state == InternalState::GO_TO_SLEEP) {
@@ -437,6 +426,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
         // Useful to allow restarting the update
         triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
                      update.bytesWritten);
+        sif::info << "PLOC SUPV update progress " << (int)progPercent << " % at "
+                  << update.bytesWritten << " bytes" << std::endl;
       }
     }
     supv::WriteMemory packet(spParams);
@@ -447,10 +438,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
                    update.bytesWritten);
       return result;
     }
-    result = handlePacketTransmissionNoReply(packet, 5000);
+    result = writeMemoryHandlingWithRetryLogic(packet, progPercent);
     if (result != returnvalue::OK) {
-      triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
-                   update.bytesWritten);
       return result;
     }
 
@@ -461,7 +450,25 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
 #if OBSW_DEBUG_PLOC_SUPERVISOR == 1
     progressPrinter.print(update.bytesWritten);
 #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-    // TaskFactory::delayTask(1);
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvUartManager::writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet,
+                                                                     unsigned progPercent) {
+  ReturnValue_t result = returnvalue::OK;
+  // Simple re-try logic in place to deal with communication unreliability in orbit.
+  for (uint8_t retryCount = 0; retryCount < MAX_RETRY_COUNT; retryCount++) {
+    result = handlePacketTransmissionNoReply(packet, COM_TIMEOUT_MS);
+    if (result == returnvalue::OK) {
+      return result;
+    }
+    triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
+                 update.bytesWritten);
+    // Clear data structures related to reply handling.
+    serial::flushTxRxBuf(serialPort);
+    recRingBuf.clear();
+    decodedRingBuf.clear();
   }
   return result;
 }
@@ -570,7 +577,16 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
   bool ackReceived = false;
   bool packetWasHandled = false;
   while (true) {
-    handleUartReception();
+    ReturnValue_t status = handleUartReception();
+    if (status != returnvalue::OK) {
+      result = status;
+      if (result == HDLC_ERROR) {
+        // We could bail here immediately.. but I prefer to wait for the timeout, because we should
+        // ensure that all packets which might be related to the transfer are still received and
+        // cleared from all data structures related to reply handling.
+        // return result;
+      }
+    }
     if (not decodedQueue.empty()) {
       size_t packetLen = 0;
       decodedQueue.retrieve(&packetLen);
@@ -613,7 +629,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
       return result::NO_REPLY_TIMEOUT;
     }
   }
-  return returnvalue::OK;
+  return result;
 }
 
 int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {

linux/payload/PlocSupvUartMan.h

@@ -118,6 +118,7 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   static constexpr Event HDLC_FRAME_REMOVAL_ERROR = MAKE_EVENT(31, severity::INFO);
   static constexpr Event HDLC_CRC_ERROR = MAKE_EVENT(32, severity::INFO);
 
+  static constexpr unsigned MAX_RETRY_COUNT = 3;
   PlocSupvUartManager(object_id_t objectId);
   virtual ~PlocSupvUartManager();
   /**
@@ -199,6 +200,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
   static constexpr ReturnValue_t POSSIBLE_PACKET_LOSS_CONSECUTIVE_END = returnvalue::makeCode(1, 4);
   static constexpr ReturnValue_t HDLC_ERROR = returnvalue::makeCode(1, 5);
 
+  static constexpr uint32_t COM_TIMEOUT_MS = 3000;
+
   static const uint16_t CRC16_INIT = 0xFFFF;
   // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
   // 192 bytes
@@ -369,6 +372,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
    */
   ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
 
+  ReturnValue_t writeMemoryHandlingWithRetryLogic(supv::WriteMemory& packet, unsigned progPercent);
+
   void performUartShutdown();
   void updateVtime(uint8_t vtime);
 };

linux/payload/SerialCommunicationHelper.cpp

@@ -0,0 +1,126 @@
+#include "SerialCommunicationHelper.h"
+
+#include <errno.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+
+#include <cstring>
+
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw_hal/linux/serial/helper.h"
+
+SerialCommunicationHelper::SerialCommunicationHelper(SerialConfig cfg) : cfg(cfg) {}
+
+ReturnValue_t SerialCommunicationHelper::initialize() {
+  fd = configureUartPort();
+  if (fd < 0) {
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+int SerialCommunicationHelper::rawFd() const { return fd; }
+
+ReturnValue_t SerialCommunicationHelper::send(const uint8_t* data, size_t dataLen) {
+  if (write(fd, data, dataLen) != static_cast<int>(dataLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
+               << ": Error description: " << strerror(errno) << std::endl;
+#endif
+    return returnvalue::FAILED;
+  }
+  return returnvalue::OK;
+}
+
+int SerialCommunicationHelper::configureUartPort() {
+  struct termios options = {};
+
+  int flags = O_RDWR;
+  if (cfg.getUartMode() == UartModes::CANONICAL) {
+    // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
+    // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
+    flags |= O_NONBLOCK;
+  }
+  int fd = open(cfg.getDeviceFile().c_str(), flags);
+
+  if (fd < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Failed to open uart "
+                 << cfg.getDeviceFile().c_str()
+
+                 << "with error code " << errno << strerror(errno) << std::endl;
+#endif
+    return fd;
+  }
+
+  /* Read in existing settings */
+  if (tcgetattr(fd, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Error " << errno
+                 << "from tcgetattr: " << strerror(errno) << std::endl;
+#endif
+    return fd;
+  }
+
+  serial::setParity(options, cfg.getParity());
+  serial::setStopbits(options, cfg.getStopBits());
+  serial::setBitsPerWord(options, cfg.getBitsPerWord());
+  setFixedOptions(&options);
+  serial::setMode(options, cfg.getUartMode());
+  tcflush(fd, TCIFLUSH);
+
+  /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
+  options.c_cc[VTIME] = 0;
+  options.c_cc[VMIN] = 0;
+
+  serial::setBaudrate(options, cfg.getBaudrate());
+
+  /* Save option settings */
+  if (tcsetattr(fd, TCSANOW, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
+                 << ": " << strerror(errno);
+#endif
+    return fd;
+  }
+  return fd;
+}
+
+void SerialCommunicationHelper::setFixedOptions(struct termios* options) {
+  /* Disable RTS/CTS hardware flow control */
+  options->c_cflag &= ~CRTSCTS;
+  /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
+  options->c_cflag |= CREAD | CLOCAL;
+  /* Disable echo */
+  options->c_lflag &= ~ECHO;
+  /* Disable erasure */
+  options->c_lflag &= ~ECHOE;
+  /* Disable new-line echo */
+  options->c_lflag &= ~ECHONL;
+  /* Disable interpretation of INTR, QUIT and SUSP */
+  options->c_lflag &= ~ISIG;
+  /* Turn off s/w flow ctrl */
+  options->c_iflag &= ~(IXON | IXOFF | IXANY);
+  /* Disable any special handling of received bytes */
+  options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
+  /* Prevent special interpretation of output bytes (e.g. newline chars) */
+  options->c_oflag &= ~OPOST;
+  /* Prevent conversion of newline to carriage return/line feed */
+  options->c_oflag &= ~ONLCR;
+}
+
+ReturnValue_t SerialCommunicationHelper::flushUartRxBuffer() {
+  serial::flushRxBuf(fd);
+  return returnvalue::OK;
+}
+
+ReturnValue_t SerialCommunicationHelper::flushUartTxBuffer() {
+  serial::flushTxBuf(fd);
+  return returnvalue::OK;
+}
+
+ReturnValue_t SerialCommunicationHelper::flushUartTxAndRxBuf() {
+  serial::flushTxRxBuf(fd);
+  return returnvalue::OK;
+}

linux/payload/SerialCommunicationHelper.h

@@ -0,0 +1,69 @@
+#pragma once
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw_hal/linux/serial/SerialCookie.h>
+#include <fsfw_hal/linux/serial/helper.h>
+
+#include "SerialConfig.h"
+#include "fsfw/returnvalues/returnvalue.h"
+
+/**
+ * @brief 	This is the communication interface to access serial ports on linux based operating
+ *          systems.
+ *
+ * @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
+ *          operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
+ *
+ * @author 	J. Meier
+ */
+class SerialCommunicationHelper {
+ public:
+  SerialCommunicationHelper(SerialConfig serialCfg);
+
+  ReturnValue_t send(const uint8_t* data, size_t dataLen);
+
+  int rawFd() const;
+
+  ReturnValue_t initialize();
+
+  /**
+   * @brief   This function discards all data received but not read in the UART buffer.
+   */
+  ReturnValue_t flushUartRxBuffer();
+
+  /**
+   * @brief   This function discards all data in the transmit buffer of the UART driver.
+   */
+  ReturnValue_t flushUartTxBuffer();
+
+  /**
+   * @brief   This function discards both data in the transmit and receive buffer of the UART.
+   */
+  ReturnValue_t flushUartTxAndRxBuf();
+
+ private:
+  SerialConfig cfg;
+  int fd = 0;
+
+  /**
+   * @brief	This function opens and configures a uart device by using the information stored
+   *          in the uart cookie.
+   * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+   *                      uart device file, baudrate, parity, stopbits etc.
+   * @return  The file descriptor of the configured uart.
+   */
+  int configureUartPort();
+
+  void setStopBitOptions(struct termios* options);
+
+  /**
+   * @brief   This function sets options which are not configurable by the uartCookie.
+   */
+  void setFixedOptions(struct termios* options);
+
+  /**
+   * @brief   With this function the datasize settings are added to the termios options struct.
+   */
+  void setDatasizeOptions(struct termios* options);
+};

linux/payload/SerialConfig.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw_hal/linux/serial/helper.h>
+
+#include <string>
+
+/**
+ * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
+ *          The constructor only requests for common options like the baudrate. Other options can
+ *          be set by member functions.
+ *
+ * @author 	J. Meier
+ */
+class SerialConfig : public CookieIF {
+ public:
+  /**
+   * @brief	Constructor for the uart cookie.
+   * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
+   * @param uartMode      Specify the UART mode. The canonical mode should be used if the
+   *                      messages are separated by a delimited character like '\n'. See the
+   *                      termios documentation for more information
+   * @param baudrate      The baudrate to use for input and output.
+   * @param maxReplyLen   The maximum size an object using this cookie expects
+   * @details
+   * Default configuration: No parity
+   *                        8 databits (number of bits transfered with one uart frame)
+   *                        One stop bit
+   */
+  SerialConfig(std::string deviceFile, UartBaudRate baudrate, size_t maxReplyLen,
+               UartModes uartMode = UartModes::NON_CANONICAL)
+      : deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen), uartMode(uartMode) {}
+
+  virtual ~SerialConfig() = default;
+
+  UartBaudRate getBaudrate() const { return baudrate; }
+  size_t getMaxReplyLen() const { return maxReplyLen; }
+  std::string getDeviceFile() const { return deviceFile; }
+  Parity getParity() const { return parity; }
+  BitsPerWord getBitsPerWord() const { return bitsPerWord; }
+  StopBits getStopBits() const { return stopBits; }
+  UartModes getUartMode() const { return uartMode; }
+
+  /**
+   * Functions two enable parity checking.
+   */
+  void setParityOdd() { parity = Parity::ODD; }
+  void setParityEven() { parity = Parity::EVEN; }
+
+  /**
+   * Function two set number of bits per UART frame.
+   */
+  void setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
+
+  /**
+   * Function to specify the number of stopbits.
+   */
+  void setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
+  void setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
+
+ private:
+  std::string deviceFile;
+  UartBaudRate baudrate;
+  size_t maxReplyLen = 0;
+  const UartModes uartMode;
+  Parity parity = Parity::NONE;
+  BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
+  StopBits stopBits = StopBits::ONE_STOP_BIT;
+};

linux/payload/mpsocRetvals.h

@@ -1,33 +0,0 @@
-#ifndef MPSOC_RETURN_VALUES_IF_H_
-#define MPSOC_RETURN_VALUES_IF_H_
-
-#include "eive/resultClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
-
-class MPSoCReturnValuesIF {
- public:
-  static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
-
-  //! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
-  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
-  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
-  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
-  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Received command with invalid length
-  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
-  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
-  static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
-  static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Command has invalid parameter
-  static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Received command has file string with invalid length
-  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
-};
-
-#endif /* MPSOC_RETURN_VALUES_IF_H_ */

linux/payload/plocMpsocHelpers.cpp

@@ -1,87 +1,94 @@
 #include "plocMpsocHelpers.h"
 
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+#include "mission/payload/plocSpBase.h"
+
 uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
   return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
 }
 std::string mpsoc::getStatusString(uint16_t status) {
   switch (status) {
-    case (mpsoc::status_code::UNKNOWN_APID): {
+    case (mpsoc::statusCode::UNKNOWN_APID): {
       return "Unknown APID";
       break;
     }
-    case (mpsoc::status_code::INCORRECT_LENGTH): {
+    case (mpsoc::statusCode::INCORRECT_LENGTH): {
       return "Incorrect length";
       break;
     }
-    case (mpsoc::status_code::INCORRECT_CRC): {
+    case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
+      return "flash drive error";
+      break;
+    }
+    case (mpsoc::statusCode::INCORRECT_CRC): {
       return "Incorrect crc";
       break;
     }
-    case (mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
+    case (mpsoc::statusCode::INCORRECT_PKT_SEQ_CNT): {
       return "Incorrect packet sequence count";
       break;
     }
-    case (mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
+    case (mpsoc::statusCode::TC_NOT_ALLOWED_IN_MODE): {
       return "TC not allowed in this mode";
       break;
     }
-    case (mpsoc::status_code::TC_EXEUTION_DISABLED): {
+    case (mpsoc::statusCode::TC_EXEUTION_DISABLED): {
       return "TC execution disabled";
       break;
     }
-    case (mpsoc::status_code::FLASH_MOUNT_FAILED): {
+    case (mpsoc::statusCode::FLASH_MOUNT_FAILED): {
       return "Flash mount failed";
       break;
     }
-    case (mpsoc::status_code::FLASH_FILE_ALREADY_OPEN): {
+    case (mpsoc::statusCode::FLASH_FILE_ALREADY_OPEN): {
       return "Flash file already open";
       break;
     }
-    case (mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
+    case (mpsoc::statusCode::FLASH_FILE_ALREADY_CLOSED): {
       return "Flash file already closed";
       break;
     }
-    case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
+    case (mpsoc::statusCode::FLASH_FILE_OPEN_FAILED): {
       return "Flash file open failed";
       break;
     }
-    case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
+    case (mpsoc::statusCode::FLASH_FILE_NOT_OPEN): {
       return "Flash file not open";
       break;
     }
-    case (mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
+    case (mpsoc::statusCode::FLASH_UNMOUNT_FAILED): {
       return "Flash unmount failed";
       break;
     }
-    case (mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
+    case (mpsoc::statusCode::HEAP_ALLOCATION_FAILED): {
       return "Heap allocation failed";
       break;
     }
-    case (mpsoc::status_code::INVALID_PARAMETER): {
+    case (mpsoc::statusCode::INVALID_PARAMETER): {
       return "Invalid parameter";
       break;
     }
-    case (mpsoc::status_code::NOT_INITIALIZED): {
+    case (mpsoc::statusCode::NOT_INITIALIZED): {
       return "Not initialized";
       break;
     }
-    case (mpsoc::status_code::REBOOT_IMMINENT): {
+    case (mpsoc::statusCode::REBOOT_IMMINENT): {
       return "Reboot imminent";
       break;
     }
-    case (mpsoc::status_code::CORRUPT_DATA): {
+    case (mpsoc::statusCode::CORRUPT_DATA): {
       return "Corrupt data";
       break;
     }
-    case (mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
+    case (mpsoc::statusCode::FLASH_CORRECTABLE_MISMATCH): {
       return "Flash correctable mismatch";
       break;
     }
-    case (mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
+    case (mpsoc::statusCode::FLASH_UNCORRECTABLE_MISMATCH): {
       return "Flash uncorrectable mismatch";
       break;
     }
-    case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
+    case (mpsoc::statusCode::DEFAULT_ERROR_CODE): {
       return "Default error code";
       break;
     }
@@ -93,3 +100,19 @@ std::string mpsoc::getStatusString(uint16_t status) {
   }
   return "";
 }
+
+void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
+  if (mpsoc::MPSOC_RX_WIRETAPPING) {
+    sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
+               << std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
+               << spReader.getSequenceCount() << std::endl;
+  }
+}
+
+void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
+  if (mpsoc::MPSOC_TX_WIRETAPPING) {
+    sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
+               << " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
+               << tcBase.getSeqCount() << std::endl;
+  }
+}

linux/payload/plocMpsocHelpers.h

@@ -3,16 +3,122 @@
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <linux/payload/mpsocRetvals.h>
 #include <mission/payload/plocSpBase.h>
 
-#include "OBSWConfig.h"
+#include "eive/eventSubsystemIds.h"
-#include "eive/definitions.h"
+#include "eive/resultClassIds.h"
-#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/events/Event.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serialize/SerializeIF.h"
 
 namespace mpsoc {
 
+static constexpr bool MPSOC_TX_WIRETAPPING = false;
+static constexpr bool MPSOC_RX_WIRETAPPING = false;
+
+static constexpr size_t CRC_SIZE = 2;
+
+/**
+ * @brief   Abstract base class for TC space packet of MPSoC.
+ */
+class TcBase : public ploc::SpTcBase {
+ public:
+  virtual ~TcBase() = default;
+
+  // Initial length field of space packet. Will always be updated when packet is created.
+  static const uint16_t INIT_LENGTH = CRC_SIZE;
+
+  /**
+   * @brief    Constructor
+   *
+   * @param sequenceCount Sequence count of space packet which will be incremented with each
+   *        sent and received packets.
+   */
+  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
+      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
+    payloadStart = spParams.buf + ccsds::HEADER_LEN;
+    spParams.setFullPayloadLen(INIT_LENGTH);
+  }
+
+  /**
+   * @brief   Function to finsh and write the space packet. It is expected that the user has
+   * set the payload fields in the child class*
+   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
+   */
+  ReturnValue_t finishPacket() {
+    updateSpFields();
+    ReturnValue_t res = checkSizeAndSerializeHeader();
+    if (res != returnvalue::OK) {
+      return res;
+    }
+    return calcAndSetCrc();
+  }
+};
+
+void printRxPacket(const SpacePacketReader& spReader);
+void printTxPacket(const ploc::SpTcBase& tcBase);
+
+static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
+static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
+
+enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 1 };
+
+static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
+
+//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
+static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
+//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
+static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
+//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
+static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
+//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
+static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
+//! [EXPORT] : [COMMENT] Received command with invalid length
+static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
+//! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
+static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
+//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
+static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
+//! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
+static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
+//! [EXPORT] : [COMMENT] Command has invalid parameter
+static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
+//! [EXPORT] : [COMMENT] Received command has file string with invalid length
+static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
+//! [EXPORT] : [COMMENT] Command has timed out.
+static const ReturnValue_t COMMAND_TIMEOUT = MAKE_RETURN_CODE(0x10);
+
+static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
+
+//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
+static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
+//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
+//! P1: Command Id which leads the acknowledgment failure report
+//! P2: The status field inserted by the MPSoC into the data field
+static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
+//! [EXPORT] : [COMMENT] PLOC receive execution failure report
+//! P1: Command Id which leads the execution failure report
+//! P2: The status field inserted by the MPSoC into the data field
+static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
+//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
+static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
+//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
+//! count P1: Expected sequence count P2: Received sequence count
+static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
+//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
+//! thus also to shutdown the supervisor.
+static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
+//! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
+//! ON transition.
+static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
+//! [EXPORT] : [COMMENT] SUPV reply timeout.
+static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
+//! [EXPORT] : [COMMENT] Camera must be commanded on first.
+static constexpr Event CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE =
+    event::makeEvent(SUBSYSTEM_ID, 9, severity::LOW);
+
 enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };
 
 enum FileAccessModes : uint8_t {
@@ -30,6 +136,8 @@ enum FileAccessModes : uint8_t {
 };
 
 static constexpr uint32_t HK_SET_ID = 0;
+static constexpr uint32_t DEADBEEF_ADDR = 0x40000004;
+static constexpr uint32_t DEADBEEF_VALUE = 0xdeadbeef;
 
 namespace poolid {
 enum {
@@ -92,7 +200,8 @@ static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
 static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
 static const DeviceCommandId_t RELEASE_UART_TX = 21;
 static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
-static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
+// Stream file down using E-Band component directly.
+static const DeviceCommandId_t TC_SIMPLEX_STREAM_FILE = 23;
 static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
 static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
 static const DeviceCommandId_t TC_GET_HK_REPORT = 26;
@@ -100,16 +209,31 @@ static const DeviceCommandId_t TM_GET_HK_REPORT = 27;
 static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
 static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
 static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
+// Store file on MPSoC.
+static const DeviceCommandId_t TC_SPLIT_FILE = 31;
+static const DeviceCommandId_t TC_VERIFY_BOOT = 32;
+static const DeviceCommandId_t TC_ENABLE_TC_EXECTION = 33;
+static const DeviceCommandId_t TC_FLASH_MKFS = 34;
 
-// Will reset the sequence count of the OBSW
+// Will reset the sequence count of the OBSW. Not required anymore after MPSoC update.
-static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
+static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;
 
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
-static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
-static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
 static constexpr size_t SIZE_TM_HK_REPORT = 369;
 
+enum Submode : uint8_t { IDLE_OR_NONE = 0, REPLAY = 1, SNAPSHOT = 2 };
+
+// Setting the internal mode value to the actual telecommand ID
+/*
+enum InternalMode {
+  OFF = HasModesIF::MODE_OFF,
+  IDLE = ,
+  REPLAY = TC_MODE_REPLAY,
+  SNAPSHOT = TC_MODE_SNAPSHOT
+};
+*/
+
 /**
  * SpacePacket apids of PLOC telecommands and telemetry.
  */
@@ -134,6 +258,8 @@ static const uint16_t TC_MODE_SNAPSHOT = 0x120;
 static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
 static constexpr uint16_t TC_HK_GET_REPORT = 0x123;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
+static constexpr uint16_t TC_ENABLE_TC_EXECUTION = 0x129;
+static constexpr uint16_t TC_FLASH_MKFS = 0x12A;
 static const uint16_t TC_CAM_CMD_SEND = 0x12C;
 static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E;
 static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
@@ -158,15 +284,15 @@ static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
 
 static const uint8_t STATUS_OFFSET = 10;
 
-static constexpr size_t CRC_SIZE = 2;
-
 /**
  * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
  * 8.
  */
 static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
 
-static const size_t MAX_FILENAME_SIZE = 256;
+static const size_t FILENAME_FIELD_SIZE = 256;
+// Subtract size of NULL terminator.
+static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;
 
 /**
  * PLOC space packet length for fixed size packets. This is the size of the whole packet data
@@ -201,8 +327,9 @@ static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
 static const uint16_t TC_CAM_TAKE_PIC_EXECUTION_DELAY = 20;
 static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
 
-namespace status_code {
+namespace statusCode {
 static const uint16_t DEFAULT_ERROR_CODE = 0x1;
+static constexpr uint16_t FLASH_DRIVE_ERROR = 0xb;
 static const uint16_t UNKNOWN_APID = 0x5DD;
 static const uint16_t INCORRECT_LENGTH = 0x5DE;
 static const uint16_t INCORRECT_CRC = 0x5DF;
@@ -227,49 +354,12 @@ static const uint16_t RESERVED_1 = 0x5F1;
 static const uint16_t RESERVED_2 = 0x5F2;
 static const uint16_t RESERVED_3 = 0x5F3;
 static const uint16_t RESERVED_4 = 0x5F4;
-}  // namespace status_code
+}  // namespace statusCode
-
-/**
- * @brief   Abstract base class for TC space packet of MPSoC.
- */
-class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
- public:
-  virtual ~TcBase() = default;
-
-  // Initial length field of space packet. Will always be updated when packet is created.
-  static const uint16_t INIT_LENGTH = CRC_SIZE;
-
-  /**
-   * @brief    Constructor
-   *
-   * @param sequenceCount Sequence count of space packet which will be incremented with each
-   *        sent and received packets.
-   */
-  TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
-      : ploc::SpTcBase(params, apid, 0, sequenceCount) {
-    payloadStart = spParams.buf + ccsds::HEADER_LEN;
-    spParams.setFullPayloadLen(INIT_LENGTH);
-  }
-
-  /**
-   * @brief   Function to finsh and write the space packet. It is expected that the user has
-   * set the payload fields in the child class*
-   * @return  returnvalue::OK if packet creation was successful, otherwise error return value
-   */
-  ReturnValue_t finishPacket() {
-    updateSpFields();
-    ReturnValue_t res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
-  }
-};
 
 /**
  * @brief   This class helps to build the memory read command for the PLOC.
  */
-class TcMemRead : public TcBase {
+class TcMemRead : public mpsoc::TcBase {
  public:
   /**
    * @brief   Constructor
@@ -319,7 +409,7 @@ class TcMemRead : public TcBase {
  * @brief   This class helps to generate the space packet to write data to a memory address within
  *          the PLOC.
  */
-class TcMemWrite : public TcBase {
+class TcMemWrite : public mpsoc::TcBase {
  public:
   /**
    * @brief   Constructor
@@ -369,24 +459,21 @@ class TcMemWrite : public TcBase {
 /**
  * @brief   Class to help creation of flash fopen command.
  */
-class FlashFopen : public TcBase {
+class TcFlashFopen : public mpsoc::TcBase {
  public:
-  FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
 
   ReturnValue_t setPayload(std::string filename, uint8_t mode) {
     accessMode = mode;
-    size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
     ReturnValue_t result = checkPayloadLen();
     if (result != returnvalue::OK) {
       return result;
     }
-    std::memcpy(payloadStart, filename.c_str(), nameSize);
+    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
-    // payloadStart[nameSize] = NULL_TERMINATOR;
+    std::memcpy(payloadStart, filename.c_str(), filename.size());
-    std::memset(payloadStart + nameSize, 0, 256 - nameSize);
+    payloadStart[FILENAME_FIELD_SIZE] = accessMode;
-    // payloadStart[255] = NULL_TERMINATOR;
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
-    payloadStart[256] = accessMode;
     return returnvalue::OK;
   }
 
@@ -397,14 +484,46 @@ class FlashFopen : public TcBase {
 /**
  * @brief   Class to help creation of flash fclose command.
  */
-class FlashFclose : public TcBase {
+class TcFlashFclose : public TcBase {
  public:
-  FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
     spParams.setFullPayloadLen(CRC_SIZE);
   }
 };
 
+class TcEnableTcExec : public TcBase {
+ public:
+  TcEnableTcExec(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_ENABLE_TC_EXECUTION, sequenceCount) {
+    spParams.setFullPayloadLen(CRC_SIZE);
+  }
+
+  ReturnValue_t setPayload(const uint8_t* cmdData, size_t cmdDataLen) {
+    if (cmdDataLen != 2) {
+      return HasActionsIF::INVALID_PARAMETERS;
+    }
+    std::memcpy(payloadStart, cmdData, 2);
+    spParams.setFullPayloadLen(2 + CRC_SIZE);
+    return returnvalue::OK;
+  }
+};
+
+class TcFlashMkfs : public TcBase {
+ public:
+  TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
+      : TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
+    const char* flashIdStr = "0:\\";
+    if (flashId == FlashId::FLASH_1) {
+      flashIdStr = "1:\\";
+    }
+    std::memcpy(payloadStart, flashIdStr, 3);
+    // Null terminator
+    payloadStart[3] = 0;
+    spParams.setFullPayloadLen(4 + CRC_SIZE);
+  }
+};
+
 /**
  * @brief   Class to build flash write space packet.
  */
@@ -464,15 +583,6 @@ class TcFlashRead : public TcBase {
     if (result != returnvalue::OK) {
       return result;
     }
-    updateSpFields();
-    result = checkSizeAndSerializeHeader();
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    result = calcAndSetCrc();
-    if (result != returnvalue::OK) {
-      return result;
-    }
     readSize = readLen;
     return result;
   }
@@ -490,20 +600,14 @@ class TcFlashDelete : public TcBase {
 
   ReturnValue_t setPayload(std::string filename) {
     size_t nameSize = filename.size();
-    spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
     auto res = checkPayloadLen();
     if (res != returnvalue::OK) {
       return res;
     }
     std::memcpy(payloadStart, filename.c_str(), nameSize);
     *(payloadStart + nameSize) = NULL_TERMINATOR;
-
+    return returnvalue::OK;
-    updateSpFields();
-    res = checkSizeAndSerializeHeader();
-    if (res != returnvalue::OK) {
-      return res;
-    }
-    return calcAndSetCrc();
   }
 };
 
@@ -655,8 +759,9 @@ class TcGetDirContent : public TcBase {
     if (result != returnvalue::OK) {
       return result;
     }
+    std::memset(payloadStart, 0, 256);
     std::memcpy(payloadStart, commandData, commandDataLen);
-    payloadStart[255] = '\0';
+    payloadStart[255] = 0;
     return result;
   }
 };
@@ -697,7 +802,7 @@ class TcReplayWriteSeq : public TcBase {
   static const size_t USE_DECODING_LENGTH = 1;
 
   ReturnValue_t lengthCheck(size_t commandDataLen) {
-    if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
+    if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
         checkPayloadLen() != returnvalue::OK) {
       sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
                    << std::endl;
@@ -710,24 +815,24 @@ class TcReplayWriteSeq : public TcBase {
 /**
  * @brief   Helps to extract the fields of the flash write command from the PUS packet.
  */
-class FlashBasePusCmd : public MPSoCReturnValuesIF {
+class FlashBasePusCmd {
  public:
   FlashBasePusCmd() = default;
   virtual ~FlashBasePusCmd() = default;
 
   virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
+    if (commandDataLen > FILENAME_FIELD_SIZE) {
       return INVALID_LENGTH;
     }
     size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
-    if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
+    if (fileLen > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
     obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
     fileLen =
         strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
                 commandDataLen - obcFile.size() - 1);
-    if (fileLen > MAX_FILENAME_SIZE) {
+    if (fileLen > FILENAME_FIELD_SIZE) {
       return MPSOC_FILENAME_TOO_LONG;
     }
     mpsocFile = std::string(
@@ -738,11 +843,11 @@ class FlashBasePusCmd : public MPSoCReturnValuesIF {
 
   const std::string& getObcFile() const { return obcFile; }
 
-  const std::string& getMPSoCFile() const { return mpsocFile; }
+  const std::string& getMpsocFile() const { return mpsocFile; }
 
  protected:
   size_t getParsedSize() const {
-    return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
+    return getObcFile().size() + getMpsocFile().size() + 2 * SIZE_NULL_TERMINATOR;
   }
   static const size_t SIZE_NULL_TERMINATOR = 1;
 
@@ -809,49 +914,190 @@ class TcCamTakePic : public TcBase {
       : TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_DATA_LENGTH) {
+    const uint8_t** dataPtr = &commandData;
+    if (commandDataLen > FULL_PAYLOAD_SIZE) {
       return INVALID_LENGTH;
     }
-    std::string fileName(reinterpret_cast<const char*>(commandData));
+    size_t deserLen = commandDataLen;
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    size_t serLen = 0;
+    fileName = reinterpret_cast<const char*>(commandData);
+    if (fileName.size() > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
-    if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
+    deserLen -= fileName.length() + 1;
-      return INVALID_LENGTH;
+    *dataPtr += fileName.length() + 1;
+    uint8_t** payloadPtr = &payloadStart;
+    memcpy(payloadStart, fileName.data(), fileName.size());
+    *payloadPtr += FILENAME_FIELD_SIZE;
+    serLen += FILENAME_FIELD_SIZE;
+    ReturnValue_t result = SerializeAdapter::deSerialize(&encoderSettingY, dataPtr, &deserLen,
+                                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
     }
-    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+    result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
-    std::memcpy(payloadStart, commandData, commandDataLen);
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationY, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&encoderSettingsCb, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&encoderSettingsCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationCb, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&encoderSettingsCr, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&encoderSettingsCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&quantizationCr, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&quantizationCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    result = SerializeAdapter::deSerialize(&bypassCompressor, dataPtr, &deserLen,
+                                           SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    result = SerializeAdapter::serialize(&bypassCompressor, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
+                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+
+    spParams.setFullPayloadLen(FULL_PAYLOAD_SIZE + CRC_SIZE);
     return returnvalue::OK;
   }
 
+  std::string fileName;
+  uint8_t encoderSettingY = 7;
+  uint64_t quantizationY = 0;
+  uint8_t encoderSettingsCb = 7;
+  uint64_t quantizationCb = 0;
+  uint8_t encoderSettingsCr = 7;
+  uint64_t quantizationCr = 0;
+  uint8_t bypassCompressor = 0;
+
  private:
-  static const size_t MAX_DATA_LENGTH = 286;
   static const size_t PARAMETER_SIZE = 28;
+  static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
 };
 
 /**
  * @brief   Class to build simplex send file command
  */
-class TcSimplexSendFile : public TcBase {
+class TcSimplexStreamFile : public TcBase {
  public:
-  TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
+  TcSimplexStreamFile(ploc::SpTcParams params, uint16_t sequenceCount)
       : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
 
   ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
-    if (commandDataLen > MAX_DATA_LENGTH) {
+    if (commandDataLen > MAX_FILENAME_SIZE) {
       return INVALID_LENGTH;
     }
     std::string fileName(reinterpret_cast<const char*>(commandData));
-    if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
+    if (fileName.size() > MAX_FILENAME_SIZE) {
       return FILENAME_TOO_LONG;
     }
-    spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
+
-    std::memcpy(payloadStart, commandData, commandDataLen);
+    std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
+    std::memcpy(payloadStart, fileName.data(), fileName.length());
+    payloadStart[fileName.length()] = 0;
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    ;
     return returnvalue::OK;
   }
 
  private:
-  static const size_t MAX_DATA_LENGTH = 256;
+};
+
+/**
+ * @brief   Class to build simplex send file command
+ */
+class TcSplitFile : public TcBase {
+ public:
+  TcSplitFile(ploc::SpTcParams params, uint16_t sequenceCount)
+      : TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
+
+  ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
+    if (commandDataLen < MIN_DATA_LENGTH) {
+      return INVALID_LENGTH;
+    }
+    if (commandDataLen > MAX_DATA_LENGTH) {
+      return INVALID_LENGTH;
+    }
+    const uint8_t** dataPtr = &commandData;
+    ReturnValue_t result = SerializeAdapter::deSerialize(&chunkParameter, dataPtr, &commandDataLen,
+                                                         SerializeIF::Endianness::NETWORK);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    /// No chunks makes no sense, and DIV str can not be longer than whats representable with 3
+    /// decimal digits.
+    if (chunkParameter == 0 or chunkParameter > 999) {
+      return INVALID_PARAMETER;
+    }
+    std::string fileName(reinterpret_cast<const char*>(*dataPtr));
+    if (fileName.size() > MAX_FILENAME_SIZE) {
+      return FILENAME_TOO_LONG;
+    }
+    char divStr[16]{};
+    sprintf(divStr, "DIV%03u", chunkParameter);
+    std::memcpy(payloadStart, divStr, DIV_STR_LEN);
+    payloadStart[DIV_STR_LEN] = 0;
+    std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
+    std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
+    spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
+    return returnvalue::OK;
+  }
+
+ private:
+  uint32_t chunkParameter = 0;
+  static constexpr size_t MIN_DATA_LENGTH = 4;
+  static constexpr size_t DIV_STR_LEN = 6;
+  static constexpr size_t MAX_DATA_LENGTH = 4 + MAX_FILENAME_SIZE;
 };
 
 /**

linux/payload/plocSupvDefs.h

@@ -159,6 +159,7 @@ static const DeviceCommandId_t ENABLE_NVMS = 59;
 static const DeviceCommandId_t CONTINUE_UPDATE = 60;
 static const DeviceCommandId_t MEMORY_CHECK_WITH_FILE = 61;
 static constexpr DeviceCommandId_t MEMORY_CHECK = 62;
+static constexpr DeviceCommandId_t ABORT_LONGER_REQUEST = 63;
 
 /** Reply IDs */
 enum ReplyId : DeviceCommandId_t {
@@ -1145,14 +1146,14 @@ class WriteMemory : public TcBase {
       : TcBase(params, Apid::MEM_MAN, static_cast<uint8_t>(tc::MemManId::WRITE), 1) {}
 
   ReturnValue_t buildPacket(ccsds::SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId,
-                            uint32_t startAddress, uint16_t length, uint8_t* updateData) {
+                            uint32_t currentAddr, uint16_t length, uint8_t* updateData) {
     if (length > CHUNK_MAX) {
       sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl;
       return SerializeIF::BUFFER_TOO_SHORT;
     }
     spParams.creator.setSeqFlags(seqFlags);
     spParams.creator.setSeqCount(sequenceCount);
-    auto res = initPacket(memoryId, startAddress, length, updateData);
+    auto res = initPacket(memoryId, currentAddr, length, updateData);
     if (res != returnvalue::OK) {
       return res;
     }
@@ -1170,7 +1171,7 @@ class WriteMemory : public TcBase {
   static const uint16_t META_DATA_LENGTH = 8;
   uint8_t n = 1;
 
-  ReturnValue_t initPacket(uint8_t memoryId, uint32_t startAddr, uint16_t updateDataLen,
+  ReturnValue_t initPacket(uint8_t memoryId, uint32_t currentAddr, uint16_t updateDataLen,
                            uint8_t* updateData) {
     uint8_t* data = payloadStart;
     if (updateDataLen % 2 != 0) {
@@ -1188,7 +1189,7 @@ class WriteMemory : public TcBase {
                                 SerializeIF::Endianness::BIG);
     SerializeAdapter::serialize(&n, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);
-    SerializeAdapter::serialize(&startAddr, &data, &serializedSize, spParams.maxSize,
+    SerializeAdapter::serialize(&currentAddr, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);
     SerializeAdapter::serialize(&updateDataLen, &data, &serializedSize, spParams.maxSize,
                                 SerializeIF::Endianness::BIG);

mission/controller/acs/AcsParameters.h

@@ -941,7 +941,7 @@ class AcsParameters : public HasParametersIF {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.1 * DEG2RAD;
+    double sensorNoiseStr = 0.0028 * DEG2RAD;
     double sensorNoiseSus = 8. * DEG2RAD;
     double sensorNoiseMgm = 4. * DEG2RAD;
     double sensorNoiseGyr = 0.1 * DEG2RAD;

mission/controller/acs/Guidance.cpp

@@ -232,6 +232,7 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
   }
   if (timeDelta != 0.0) {
     QuaternionOperations::rotationFromQuaternions(quatIX, quatIXprev, timeDelta, refSatRate);
+    VectorOperations<double>::mulScalar(refSatRate, -1, refSatRate, 3);
   } else {
     std::memcpy(refSatRate, ZERO_VEC3, 3 * sizeof(double));
   }
@@ -303,9 +304,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
   // First calculate error quaternion between current and target orientation without reference
   // quaternion
   double errorQuatWoRef[4] = {0, 0, 0, 0};
-  QuaternionOperations::multiply(targetQuat, currentQuat, errorQuatWoRef);
+  QuaternionOperations::multiply(currentQuat, targetQuat, errorQuatWoRef);
   // Then add rotation from reference quaternion
-  QuaternionOperations::multiply(errorQuatWoRef, refQuat, errorQuat);
+  QuaternionOperations::multiply(refQuat, errorQuatWoRef, errorQuat);
   // Keep scalar part of quaternion positive
   if (errorQuat[3] < 0) {
     VectorOperations<double>::mulScalar(errorQuat, -1, errorQuat, 4);
@@ -315,9 +316,9 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
 
   // Calculate error satellite rotational rate
   // Convert target rotational rate into body RF
-  double errorQuatInv[4] = {0, 0, 0, 0}, targetSatRotRateB[3] = {0, 0, 0};
+  double targetSatRotRateB[3] = {0, 0, 0};
-  QuaternionOperations::inverse(errorQuat, errorQuatInv);
+  QuaternionOperations::multiplyVector(currentQuat, targetSatRotRate, targetSatRotRateB);
-  QuaternionOperations::multiplyVector(errorQuatInv, targetSatRotRate, targetSatRotRateB);
+  VectorOperations<double>::copy(targetSatRotRateB, targetSatRotRate, 3);
   // Combine the target and reference satellite rotational rates
   double combinedRefSatRotRate[3] = {0, 0, 0};
   VectorOperations<double>::add(targetSatRotRate, refSatRotRate, combinedRefSatRotRate, 3);

mission/controller/acs/MultiplicativeKalmanFilter.cpp

@@ -114,12 +114,13 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
     return result;
   }
 
-  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
+  double measSensMatrix[matrixDimensionFactor][6] = {},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
-         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
+         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
   kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
 
-  double kalmanGain[6][matrixDimensionFactor] = {{0}};
+  double kalmanGain[6][matrixDimensionFactor];
+  std::memset(kalmanGain, 0, sizeof(kalmanGain));
   result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
   if (result != returnvalue::OK) {
     reset(attitudeEstimationData);
@@ -342,10 +343,11 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
-         residualCov[6][matrixDimensionFactor] = {{0}},
+  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
-         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
+  std::memset(residualCov, 0, sizeof(residualCov));
+  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
 
   MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                       matrixDimensionFactor, 6);
@@ -382,8 +384,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
 
 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                     double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
-  double plantOutputDiff[matrixDimensionFactor] = {0};
   VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
   MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                      matrixDimensionFactor, 1);

mission/pollingSeqTables.cpp

@@ -10,6 +10,7 @@
 #include "OBSWConfig.h"
 #include "eive/definitions.h"
 #include "eive/objects.h"
+#include "linux/payload/FreshMpsocHandler.h"
 #include "linux/payload/FreshSupvHandler.h"
 
 #ifndef RPI_TEST_ADIS16507
@@ -617,17 +618,21 @@ ReturnValue_t pst::pstPayload(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
                         DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
                         FreshSupvHandler::OpCode::DEFAULT_OPERATION);
-  // Two COM TM steps, which might cover telemetry which takes a bit longer to be sent.
+  // Parse TM with a bit of delay. Two COM steps which might cover telemetry wehich takes a bit
+  // longer to send
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.1,
                         FreshSupvHandler::OpCode::PARSE_TM);
   thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
                         FreshSupvHandler::OpCode::PARSE_TM);
+  // Parse TM with a bit of delay. Two COM steps which might cover telemetry wehich takes a bit
+  // longer to send
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
+                        FreshMpsocHandler::OpCode::PARSE_TM);
+  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4,
+                        FreshMpsocHandler::OpCode::PARSE_TM);
 
   thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::PERFORM_OPERATION);
   thisSequence->addSlot(objects::SCEX, length * 0.6, DeviceHandlerIF::SEND_WRITE);

mission/system/CMakeLists.txt

@@ -3,8 +3,9 @@ add_subdirectory(acs)
 add_subdirectory(tcs)
 add_subdirectory(com)
 add_subdirectory(power)
+add_subdirectory(payload)
 
 target_sources(
   ${LIB_EIVE_MISSION}
   PRIVATE systemTree.cpp DualLanePowerStateMachine.cpp EiveSystem.cpp
-          treeUtil.cpp SharedPowerAssemblyBase.cpp payloadModeTree.cpp)
+          treeUtil.cpp SharedPowerAssemblyBase.cpp)

mission/system/payload/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE payloadModeTree.cpp)

mission/system/systemTree.cpp

@@ -10,7 +10,7 @@
 #include "mission/com/defs.h"
 #include "mission/sysDefs.h"
 #include "mission/system/acs/acsModeTree.h"
-#include "mission/system/payloadModeTree.h"
+#include "mission/system/payload/payloadModeTree.h"
 #include "mission/system/power/epsModeTree.h"
 #include "mission/system/tcs/tcsModeTree.h"
 #include "treeUtil.h"

q7s-env.sh

@@ -9,7 +9,7 @@ export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-li
 
 export PATH=${CROSS_COMPILE_BIN_PATH}:$PATH
 export CROSS_COMPILE="arm-linux-gnueabihf"
-# export EIVE_Q7S_EM=1
+unset EIVE_Q7S_EM
 
 if [[ -d "eive-obsw" ]]; then
 	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"

scripts/q7s-cp.py

@@ -4,6 +4,9 @@ import os
 import sys
 
 
+DEFAULT_PORT = 1539
+
+
 def main():
     args = handle_args()
     cmd = build_cmd(args)
@@ -20,7 +23,7 @@ def prompt_ssh_key_removal():
     do_remove_key = input(
         "Do you want to remove problematic keys on localhost ([Y]/n)?: "
     )
-    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
+    if do_remove_key.lower() not in ["y", "yes", "1", ""]:
         sys.exit(1)
     port = 0
     while True:
@@ -54,7 +57,7 @@ def handle_args():
         "If files are copied back to host, will be current directory by default",
         default="",
     )
-    parser.add_argument("-P", "--port", help="Target port", default=1535)
+    parser.add_argument("-P", "--port", help="Target port", default=DEFAULT_PORT)
     parser.add_argument(
         "-i",
         "--invert",

tmtc

@@ -1 +1 @@
-Subproject commit a8d0143b1ed9a14f7e071ee3344dc4e8f1937c55
+Subproject commit 9a06c64dfac3f4283c2d5af72a9c095f4726480b

unittest/CMakeLists.txt

@@ -6,5 +6,6 @@ target_sources(${UNITTEST_NAME} PRIVATE
     testEnvironment.cpp
     testGenericFilesystem.cpp
     hdlcEncodingRw.cpp
+    mpsocTests.cpp
     printChar.cpp
-)
+)

unittest/mpsocTests.cpp

@@ -0,0 +1,14 @@
+
+#include <catch2/catch_test_macros.hpp>
+
+TEST_CASE("MPSoC helper tests", "[payload]") {
+  char divStr[16]{};
+  uint32_t divParam = 0;
+
+  SECTION("Simple Test") {
+    divParam = 3;
+    CHECK(divParam < 999);
+    sprintf(divStr, "DIV%03u", divParam);
+    REQUIRE(strcmp(divStr, "DIV003") == 0);
+  }
+}