Merge pull request 'create a v5.0.0 snapshot' (#714) from prep_v5.0.0-release into main

Reviewed-on: #714

CHANGELOG.md

@@ -16,6 +16,37 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+# [v6.0.0] to be released
+
+- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+
+# [v5.1.0] to be released
+
+# [v5.0.0] 2023-06-26
+
+v3.3.1 and all following version will now be moved to v5.0.0 with the additional changes listed
+here. This was done because the firmware update (v4.0.0) is not working right now and it is not
+known when and how it will be fixed. Because of that, all updates to make the SW work with the new
+firmware, which are limited to a few files will be moved to a dev branch so regular development
+compatible to the old firmware can continue.
+
+TLDR: This version is compatible to the old firmware and some changes which only work with the new
+firmware have been reverted.
+
+## Changed
+
+- Added `sync` syscall in graceful shutdown handler
+- Graceful shutdown is now performed by the reboot watchdog
+- There is now a separate file for the total reboot counter. The reboot watchdog has its own local
+  counters to determine whether a reboot is necessary.
+
+# [v4.0.1] 2023-06-24
+
+## Fixed
+
+- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
+  only one destination available.
+
 # [v4.0.0] 2023-06-22
 
 - `eive-tmtc` version v5.0.0
@@ -45,6 +76,17 @@ will consitute of a breaking change warranting a new major release:
   restore the PL I2C.
 - Core controller now announces firmware version as well when requesting a version info event
 
+# [v3.3.1] 2023-06-22
+
+## Fixed
+
+- `PusLiveDemux` packet demultiplexing bugfix where the demultiplexing did not work when there was
+  only one destination available.
+
+## Fixed
+
+- Fixed H parameter in SUS converter from 1 mm to 2.5 mm.
+
 # [v3.3.0] 2023-06-21
 
 Like v3.2.0 but without the custom FM changes related to VC0.

CMakeLists.txt

@@ -9,7 +9,7 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 4)
+set(OBSW_VERSION_MAJOR 5)
 set(OBSW_VERSION_MINOR 0)
 set(OBSW_VERSION_REVISION 0)
 

bsp_q7s/boardconfig/busConf.h

@@ -85,9 +85,13 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
 static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
 static constexpr char ENABLE_RADFET[] = "enable_radfet";
 
+static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
 static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
+static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
 static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
+static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
 static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
+static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
 static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
 
 static constexpr char PTME_RESETN[] = "ptme_resetn";

bsp_q7s/core/CoreController.cpp

@@ -190,12 +190,14 @@ ReturnValue_t CoreController::initialize() {
     sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
   }
 
-  UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
+  if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
-  result = sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
+    UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
-  if (result != returnvalue::OK) {
+    result = sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
-    // TODO: This might be a reason to switch to another image..
+    if (result != returnvalue::OK) {
-    sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
+      // TODO: This might be a reason to switch to another image..
-    return ObjectManager::CHILD_INIT_FAILED;
+      sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
+      return ObjectManager::CHILD_INIT_FAILED;
+    }
   }
   return returnvalue::OK;
 }
@@ -321,23 +323,23 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
-      parseRebootFile(path, rebootFile);
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
       if (data[0] == 0) {
-        rebootFile.enabled = false;
+        rebootWatchdogFile.enabled = false;
-        rewriteRebootFile(rebootFile);
+        rewriteRebootWatchdogFile(rebootWatchdogFile);
       } else if (data[0] == 1) {
-        rebootFile.enabled = true;
+        rebootWatchdogFile.enabled = true;
-        rewriteRebootFile(rebootFile);
+        rewriteRebootWatchdogFile(rebootWatchdogFile);
       } else {
         return HasActionsIF::INVALID_PARAMETERS;
       }
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case (READ_REBOOT_MECHANISM_INFO): {
-      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
-      parseRebootFile(path, rebootFile);
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
-      RebootMechanismPacket packet(rebootFile);
+      RebootWatchdogPacket packet(rebootWatchdogFile);
       ReturnValue_t result = actionHelper.reportData(commandedBy, actionId, &packet);
       if (result != returnvalue::OK) {
         return result;
@@ -346,12 +348,13 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
     }
     case (RESET_REBOOT_COUNTERS): {
       if (size == 0) {
-        resetRebootCount(xsc::ALL_CHIP, xsc::ALL_COPY);
+        resetRebootWatchdogCounters(xsc::ALL_CHIP, xsc::ALL_COPY);
       } else if (size == 2) {
         if (data[0] > 1 or data[1] > 1) {
           return HasActionsIF::INVALID_PARAMETERS;
         }
-        resetRebootCount(static_cast<xsc::Chip>(data[0]), static_cast<xsc::Copy>(data[1]));
+        resetRebootWatchdogCounters(static_cast<xsc::Chip>(data[0]),
+                                    static_cast<xsc::Copy>(data[1]));
       }
       return HasActionsIF::EXECUTION_FINISHED;
     }
@@ -446,11 +449,11 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_WATCHDOG_FILE;
       // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
-      rebootFile.maxCount = data[0];
+      rebootWatchdogFile.maxCount = data[0];
-      rewriteRebootFile(rebootFile);
+      rewriteRebootWatchdogFile(rebootWatchdogFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case (XSC_REBOOT_OBC): {
@@ -1208,45 +1211,7 @@ ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size)
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  // This function can not really fail
+  performGracefulShutdown(tgtChip, tgtCopy);
-  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
-
-  switch (tgtChip) {
-    case (xsc::Chip::CHIP_0): {
-      switch (tgtCopy) {
-        case (xsc::Copy::COPY_0): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
-          break;
-        }
-        case (xsc::Copy::COPY_1): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
-          break;
-        }
-        default: {
-          break;
-        }
-      }
-      break;
-    }
-    case (xsc::Chip::CHIP_1): {
-      switch (tgtCopy) {
-        case (xsc::Copy::COPY_0): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
-          break;
-        }
-        case (xsc::Copy::COPY_1): {
-          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
-          break;
-        }
-        default: {
-          break;
-        }
-      }
-      break;
-    }
-    default:
-      break;
-  }
   return returnvalue::FAILED;
 }
 
@@ -1263,10 +1228,15 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
   sdcMan->markUnusable();
   // Wait two seconds to ensure no one uses the SD cards
   TaskFactory::delayTask(2000);
+
+  // Ensure that all writes/reads do finish.
+  sync();
+
   // Attempt graceful shutdown by unmounting and switching off SD cards
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
   sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
-  // If any boot copies are unprotected
+  // If any boot copies are unprotected.
+  // Actually this function only ensures that reboots to the own image are protected..
   ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
                                                protOpPerformed, false);
   if (result == returnvalue::OK and protOpPerformed) {
@@ -1555,7 +1525,8 @@ void CoreController::performMountedSdCardOperations() {
       if (not timeFileInitDone) {
         initClockFromTimeFile();
       }
-      performRebootFileHandling(false);
+      performRebootWatchdogHandling(false);
+      performRebootCountersHandling(false);
     }
     backupTimeFileHandler();
   };
@@ -1627,118 +1598,127 @@ ReturnValue_t CoreController::performSdCardCheck() {
   return returnvalue::OK;
 }
 
-void CoreController::performRebootFileHandling(bool recreateFile) {
+void CoreController::performRebootWatchdogHandling(bool recreateFile) {
   using namespace std;
-  std::string path = currMntPrefix + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
+  std::string legacyPath = currMntPrefix + LEGACY_REBOOT_WATCHDOG_FILE;
   std::error_code e;
+  // TODO: Remove at some point in the future.
+  if (std::filesystem::exists(legacyPath, e)) {
+    // Old file might still exist, so copy it to new path
+    std::filesystem::copy(legacyPath, path, std::filesystem::copy_options::overwrite_existing, e);
+    if (e) {
+      sif::error << "File copy has failed: " << e.message() << std::endl;
+    }
+  }
   if (not std::filesystem::exists(path, e) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
+    sif::info << "CoreController::performRebootFileHandling: Recreating reboot watchdog file"
+              << std::endl;
 #endif
-    rebootFile.enabled = false;
+    rebootWatchdogFile.enabled = false;
-    rebootFile.img00Cnt = 0;
+    rebootWatchdogFile.img00Cnt = 0;
-    rebootFile.img01Cnt = 0;
+    rebootWatchdogFile.img01Cnt = 0;
-    rebootFile.img10Cnt = 0;
+    rebootWatchdogFile.img10Cnt = 0;
-    rebootFile.img11Cnt = 0;
+    rebootWatchdogFile.img11Cnt = 0;
-    rebootFile.lastChip = xsc::Chip::CHIP_0;
+    rebootWatchdogFile.lastChip = xsc::Chip::CHIP_0;
-    rebootFile.lastCopy = xsc::Copy::COPY_0;
+    rebootWatchdogFile.lastCopy = xsc::Copy::COPY_0;
-    rebootFile.img00Lock = false;
+    rebootWatchdogFile.img00Lock = false;
-    rebootFile.img01Lock = false;
+    rebootWatchdogFile.img01Lock = false;
-    rebootFile.img10Lock = false;
+    rebootWatchdogFile.img10Lock = false;
-    rebootFile.img11Lock = false;
+    rebootWatchdogFile.img11Lock = false;
-    rebootFile.mechanismNextChip = xsc::Chip::NO_CHIP;
+    rebootWatchdogFile.mechanismNextChip = xsc::Chip::NO_CHIP;
-    rebootFile.mechanismNextCopy = xsc::Copy::NO_COPY;
+    rebootWatchdogFile.mechanismNextCopy = xsc::Copy::NO_COPY;
-    rebootFile.bootFlag = false;
+    rebootWatchdogFile.bootFlag = false;
-    rewriteRebootFile(rebootFile);
+    rewriteRebootWatchdogFile(rebootWatchdogFile);
   } else {
-    if (not parseRebootFile(path, rebootFile)) {
+    if (not parseRebootWatchdogFile(path, rebootWatchdogFile)) {
-      performRebootFileHandling(true);
+      performRebootWatchdogHandling(true);
+      return;
     }
   }
 
   if (CURRENT_CHIP == xsc::CHIP_0) {
     if (CURRENT_COPY == xsc::COPY_0) {
-      rebootFile.img00Cnt++;
+      rebootWatchdogFile.img00Cnt++;
     } else {
-      rebootFile.img01Cnt++;
+      rebootWatchdogFile.img01Cnt++;
     }
   } else {
     if (CURRENT_COPY == xsc::COPY_0) {
-      rebootFile.img10Cnt++;
+      rebootWatchdogFile.img10Cnt++;
     } else {
-      rebootFile.img11Cnt++;
+      rebootWatchdogFile.img11Cnt++;
     }
   }
 
-  if (rebootFile.bootFlag) {
+  if (rebootWatchdogFile.bootFlag) {
     // Trigger event to inform ground that a reboot was triggered
-    uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
+    uint32_t p1 = rebootWatchdogFile.lastChip << 16 | rebootWatchdogFile.lastCopy;
     triggerEvent(core::REBOOT_MECHANISM_TRIGGERED, p1, 0);
     // Clear the boot flag
-    rebootFile.bootFlag = false;
+    rebootWatchdogFile.bootFlag = false;
   }
 
-  announceBootCounts();
+  if (rebootWatchdogFile.mechanismNextChip != xsc::NO_CHIP and
-
+      rebootWatchdogFile.mechanismNextCopy != xsc::NO_COPY) {
-  if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
+    if (CURRENT_CHIP != rebootWatchdogFile.mechanismNextChip or
-      rebootFile.mechanismNextCopy != xsc::NO_COPY) {
+        CURRENT_COPY != rebootWatchdogFile.mechanismNextCopy) {
-    if (CURRENT_CHIP != rebootFile.mechanismNextChip or
+      std::string infoString = std::to_string(rebootWatchdogFile.mechanismNextChip) + " " +
-        CURRENT_COPY != rebootFile.mechanismNextCopy) {
+                               std::to_string(rebootWatchdogFile.mechanismNextCopy);
-      std::string infoString = std::to_string(rebootFile.mechanismNextChip) + " " +
-                               std::to_string(rebootFile.mechanismNextCopy);
       sif::warning << "CoreController::performRebootFileHandling: Expected to be on image "
                    << infoString << " but currently on other image. Locking " << infoString
                    << std::endl;
       // Firmware or other component might be corrupt and we are on another image then the target
       // image specified by the mechanism. We can't really trust the target image anymore.
       // Lock it for now
-      if (rebootFile.mechanismNextChip == xsc::CHIP_0) {
+      if (rebootWatchdogFile.mechanismNextChip == xsc::CHIP_0) {
-        if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
+        if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
-          rebootFile.img00Lock = true;
+          rebootWatchdogFile.img00Lock = true;
         } else {
-          rebootFile.img01Lock = true;
+          rebootWatchdogFile.img01Lock = true;
         }
       } else {
-        if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
+        if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
-          rebootFile.img10Lock = true;
+          rebootWatchdogFile.img10Lock = true;
         } else {
-          rebootFile.img11Lock = true;
+          rebootWatchdogFile.img11Lock = true;
         }
       }
     }
   }
 
-  rebootFile.lastChip = CURRENT_CHIP;
+  rebootWatchdogFile.lastChip = CURRENT_CHIP;
-  rebootFile.lastCopy = CURRENT_COPY;
+  rebootWatchdogFile.lastCopy = CURRENT_COPY;
   // Only reboot if the reboot functionality is enabled.
   // The handler will still increment the boot counts
-  if (rebootFile.enabled and (*rebootFile.relevantBootCnt >= rebootFile.maxCount)) {
+  if (rebootWatchdogFile.enabled and
+      (*rebootWatchdogFile.relevantBootCnt >= rebootWatchdogFile.maxCount)) {
     // Reboot to other image
     bool doReboot = false;
     xsc::Chip tgtChip = xsc::NO_CHIP;
     xsc::Copy tgtCopy = xsc::NO_COPY;
-    determineAndExecuteReboot(rebootFile, doReboot, tgtChip, tgtCopy);
+    rebootWatchdogAlgorithm(rebootWatchdogFile, doReboot, tgtChip, tgtCopy);
     if (doReboot) {
-      rebootFile.bootFlag = true;
+      rebootWatchdogFile.bootFlag = true;
 #if OBSW_VERBOSE_LEVEL >= 1
       sif::info << "Boot counter for image " << CURRENT_CHIP << " " << CURRENT_COPY
                 << " too high. Rebooting to " << tgtChip << " " << tgtCopy << std::endl;
 #endif
-      rebootFile.mechanismNextChip = tgtChip;
+      rebootWatchdogFile.mechanismNextChip = tgtChip;
-      rebootFile.mechanismNextCopy = tgtCopy;
+      rebootWatchdogFile.mechanismNextCopy = tgtCopy;
-      rewriteRebootFile(rebootFile);
+      rewriteRebootWatchdogFile(rebootWatchdogFile);
-      xsc_boot_copy(static_cast<xsc_libnor_chip_t>(tgtChip),
+      performGracefulShutdown(tgtChip, tgtCopy);
-                    static_cast<xsc_libnor_copy_t>(tgtCopy));
     }
   } else {
-    rebootFile.mechanismNextChip = xsc::NO_CHIP;
+    rebootWatchdogFile.mechanismNextChip = xsc::NO_CHIP;
-    rebootFile.mechanismNextCopy = xsc::NO_COPY;
+    rebootWatchdogFile.mechanismNextCopy = xsc::NO_COPY;
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
-void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot,
+void CoreController::rebootWatchdogAlgorithm(RebootWatchdogFile &rf, bool &needsReboot,
-                                               xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
+                                             xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
   tgtChip = xsc::CHIP_0;
   tgtCopy = xsc::COPY_0;
   needsReboot = false;
@@ -1826,7 +1806,7 @@ void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot
   }
 }
 
-bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
+bool CoreController::parseRebootWatchdogFile(std::string path, RebootWatchdogFile &rf) {
   using namespace std;
   std::string selfMatch;
   if (CURRENT_CHIP == xsc::CHIP_0) {
@@ -2008,67 +1988,174 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
   return true;
 }
 
-void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
+bool CoreController::parseRebootCountersFile(std::string path, RebootCountersFile &rf) {
-  std::string path = currMntPrefix + REBOOT_FILE;
+  using namespace std;
-  parseRebootFile(path, rebootFile);
+  ifstream file(path);
+  string word;
+  string line;
+  uint8_t lineIdx = 0;
+  while (std::getline(file, line)) {
+    istringstream iss(line);
+    switch (lineIdx) {
+      case 0: {
+        iss >> word;
+        if (word.find("img00:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img00Cnt;
+
+        break;
+      }
+      case 1: {
+        iss >> word;
+        if (word.find("img01:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img01Cnt;
+
+        break;
+      }
+      case 2: {
+        iss >> word;
+        if (word.find("img10:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img10Cnt;
+
+        break;
+      }
+      case 3: {
+        iss >> word;
+        if (word.find("img11:") == string::npos) {
+          return false;
+        }
+        iss >> rf.img11Cnt;
+        break;
+      }
+    }
+    lineIdx++;
+  }
+  return true;
+}
+
+void CoreController::resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
+  parseRebootWatchdogFile(path, rebootWatchdogFile);
   if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
-    rebootFile.img00Cnt = 0;
+    rebootWatchdogFile.img00Cnt = 0;
-    rebootFile.img01Cnt = 0;
+    rebootWatchdogFile.img01Cnt = 0;
-    rebootFile.img10Cnt = 0;
+    rebootWatchdogFile.img10Cnt = 0;
-    rebootFile.img11Cnt = 0;
+    rebootWatchdogFile.img11Cnt = 0;
   } else {
     if (tgtChip == xsc::CHIP_0) {
       if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img00Cnt = 0;
+        rebootWatchdogFile.img00Cnt = 0;
       } else {
-        rebootFile.img01Cnt = 0;
+        rebootWatchdogFile.img01Cnt = 0;
       }
     } else {
       if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img10Cnt = 0;
+        rebootWatchdogFile.img10Cnt = 0;
       } else {
-        rebootFile.img11Cnt = 0;
+        rebootWatchdogFile.img11Cnt = 0;
       }
     }
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
-void CoreController::rewriteRebootFile(RebootFile file) {
+void CoreController::performRebootCountersHandling(bool recreateFile) {
-  std::string path = currMntPrefix + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_COUNTERS_FILE;
+  std::error_code e;
+  if (not std::filesystem::exists(path, e) or recreateFile) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::info << "CoreController::performRebootFileHandling: Recreating reboot counters file"
+              << std::endl;
+#endif
+    rebootCountersFile.img00Cnt = 0;
+    rebootCountersFile.img01Cnt = 0;
+    rebootCountersFile.img10Cnt = 0;
+    rebootCountersFile.img11Cnt = 0;
+    rewriteRebootCountersFile(rebootCountersFile);
+  } else {
+    if (not parseRebootCountersFile(path, rebootCountersFile)) {
+      performRebootCountersHandling(true);
+      return;
+    }
+  }
+
+  if (CURRENT_CHIP == xsc::CHIP_0) {
+    if (CURRENT_COPY == xsc::COPY_0) {
+      rebootCountersFile.img00Cnt++;
+    } else {
+      rebootCountersFile.img01Cnt++;
+    }
+  } else {
+    if (CURRENT_COPY == xsc::COPY_0) {
+      rebootCountersFile.img10Cnt++;
+    } else {
+      rebootCountersFile.img11Cnt++;
+    }
+  }
+  announceBootCounts();
+  rewriteRebootCountersFile(rebootCountersFile);
+}
+void CoreController::rewriteRebootWatchdogFile(RebootWatchdogFile file) {
+  using namespace std::filesystem;
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
+  std::string legacyPath = currMntPrefix + LEGACY_REBOOT_WATCHDOG_FILE;
+  {
+    std::ofstream rebootFile(path);
+    if (rebootFile.is_open()) {
+      // Initiate reboot file first. Reboot handling will be on on initialization
+      rebootFile << "on: " << file.enabled << "\nmaxcnt: " << file.maxCount
+                 << "\nimg00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
+                 << "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt
+                 << "\nimg00lock: " << file.img00Lock << "\nimg01lock: " << file.img01Lock
+                 << "\nimg10lock: " << file.img10Lock << "\nimg11lock: " << file.img11Lock
+                 << "\nbootflag: " << file.bootFlag << "\nlast: " << static_cast<int>(file.lastChip)
+                 << " " << static_cast<int>(file.lastCopy)
+                 << "\nnext: " << static_cast<int>(file.mechanismNextChip) << " "
+                 << static_cast<int>(file.mechanismNextCopy) << "\n";
+    }
+  }
+  std::error_code e;
+  // TODO: Remove at some point in the future when all images have been updated.
+  if (std::filesystem::exists(legacyPath)) {
+    // Keep those two files in sync
+    std::filesystem::copy(path, legacyPath, std::filesystem::copy_options::overwrite_existing, e);
+    if (e) {
+      sif::error << "File copy has failed: " << e.message() << std::endl;
+    }
+  }
+}
+
+void CoreController::rewriteRebootCountersFile(RebootCountersFile file) {
+  std::string path = currMntPrefix + REBOOT_COUNTERS_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
-    // Initiate reboot file first. Reboot handling will be on on initialization
+    rebootFile << "img00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
-    rebootFile << "on: " << file.enabled << "\nmaxcnt: " << file.maxCount
+               << "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt << "\n";
-               << "\nimg00: " << file.img00Cnt << "\nimg01: " << file.img01Cnt
-               << "\nimg10: " << file.img10Cnt << "\nimg11: " << file.img11Cnt
-               << "\nimg00lock: " << file.img00Lock << "\nimg01lock: " << file.img01Lock
-               << "\nimg10lock: " << file.img10Lock << "\nimg11lock: " << file.img11Lock
-               << "\nbootflag: " << file.bootFlag << "\nlast: " << static_cast<int>(file.lastChip)
-               << " " << static_cast<int>(file.lastCopy)
-               << "\nnext: " << static_cast<int>(file.mechanismNextChip) << " "
-               << static_cast<int>(file.mechanismNextCopy) << "\n";
   }
 }
 
 void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = currMntPrefix + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_WATCHDOG_FILE;
-  // Disable the reboot file mechanism
+  parseRebootWatchdogFile(path, rebootWatchdogFile);
-  parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::CHIP_0) {
     if (tgtCopy == xsc::COPY_0) {
-      rebootFile.img00Lock = lock;
+      rebootWatchdogFile.img00Lock = lock;
     } else {
-      rebootFile.img01Lock = lock;
+      rebootWatchdogFile.img01Lock = lock;
     }
   } else {
     if (tgtCopy == xsc::COPY_0) {
-      rebootFile.img10Lock = lock;
+      rebootWatchdogFile.img10Lock = lock;
     } else {
-      rebootFile.img11Lock = lock;
+      rebootWatchdogFile.img11Lock = lock;
     }
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
 ReturnValue_t CoreController::backupTimeFileHandler() {
@@ -2355,10 +2442,12 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
 }
 
 void CoreController::announceBootCounts() {
-  uint64_t totalBootCount =
+  uint64_t totalBootCount = rebootCountersFile.img00Cnt + rebootCountersFile.img01Cnt +
-      rebootFile.img00Cnt + rebootFile.img01Cnt + rebootFile.img10Cnt + rebootFile.img11Cnt;
+                            rebootCountersFile.img10Cnt + rebootCountersFile.img11Cnt;
-  uint32_t individualBootCountsP1 = (rebootFile.img00Cnt << 16) | rebootFile.img01Cnt;
+  uint32_t individualBootCountsP1 =
-  uint32_t individualBootCountsP2 = (rebootFile.img10Cnt << 16) | rebootFile.img11Cnt;
+      (rebootCountersFile.img00Cnt << 16) | rebootCountersFile.img01Cnt;
+  uint32_t individualBootCountsP2 =
+      (rebootCountersFile.img10Cnt << 16) | rebootCountersFile.img11Cnt;
   triggerEvent(core::INDIVIDUAL_BOOT_COUNTS, individualBootCountsP1, individualBootCountsP2);
   triggerEvent(core::REBOOT_COUNTER, (totalBootCount >> 32) & 0xffffffff,
                totalBootCount & 0xffffffff);
@@ -2431,10 +2520,13 @@ void CoreController::announceVersionInfo() {
   }
 
   triggerEvent(VERSION_INFO, p1, p2);
-  if (mappedSysRomAddr != nullptr) {
+
-    uint32_t p1Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr));
+  if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
-    uint32_t p2Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr) + 1);
+    if (mappedSysRomAddr != nullptr) {
-    triggerEvent(FIRMWARE_INFO, p1Firmware, p2Firmware);
+      uint32_t p1Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr));
+      uint32_t p2Firmware = *(reinterpret_cast<uint32_t *>(mappedSysRomAddr) + 1);
+      triggerEvent(FIRMWARE_INFO, p1Firmware, p2Firmware);
+    }
   }
 }
 
@@ -2443,6 +2535,50 @@ void CoreController::announceCurrentImageInfo() {
   triggerEvent(CURRENT_IMAGE_INFO, CURRENT_CHIP, CURRENT_COPY);
 }
 
+ReturnValue_t CoreController::performGracefulShutdown(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
+  bool protOpPerformed = false;
+  // This function can not really fail
+  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
+
+  switch (tgtChip) {
+    case (xsc::Chip::CHIP_0): {
+      switch (tgtCopy) {
+        case (xsc::Copy::COPY_0): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_NOMINAL);
+          break;
+        }
+        case (xsc::Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_0, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
+      break;
+    }
+    case (xsc::Chip::CHIP_1): {
+      switch (tgtCopy) {
+        case (xsc::Copy::COPY_0): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_NOMINAL);
+          break;
+        }
+        case (xsc::Copy::COPY_1): {
+          xsc_boot_copy(XSC_LIBNOR_CHIP_1, XSC_LIBNOR_COPY_GOLD);
+          break;
+        }
+        default: {
+          break;
+        }
+      }
+      break;
+    }
+    default:
+      break;
+  }
+  return returnvalue::OK;
+}
+
 bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();

bsp_q7s/core/CoreController.h

@@ -24,7 +24,7 @@
 class Timer;
 class SdCardManager;
 
-struct RebootFile {
+struct RebootWatchdogFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
   bool enabled = true;
@@ -45,9 +45,9 @@ struct RebootFile {
   xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
 };
 
-class RebootMechanismPacket : public SerialLinkedListAdapter<SerializeIF> {
+class RebootWatchdogPacket : public SerialLinkedListAdapter<SerializeIF> {
  public:
-  RebootMechanismPacket(RebootFile& rf) {
+  RebootWatchdogPacket(RebootWatchdogFile& rf) {
     enabled = rf.enabled;
     maxCount = rf.maxCount;
     img00Count = rf.img00Cnt;
@@ -100,6 +100,38 @@ class RebootMechanismPacket : public SerialLinkedListAdapter<SerializeIF> {
   SerializeElement<uint8_t> nextCopy = 0;
 };
 
+struct RebootCountersFile {
+  // 16 bit values so all boot counters fit into one event.
+  uint16_t img00Cnt = 0;
+  uint16_t img01Cnt = 0;
+  uint16_t img10Cnt = 0;
+  uint16_t img11Cnt = 0;
+};
+
+class RebootCountersPacket : public SerialLinkedListAdapter<SerializeIF> {
+  RebootCountersPacket(RebootCountersFile& rf) {
+    img00Count = rf.img00Cnt;
+    img01Count = rf.img01Cnt;
+    img10Count = rf.img10Cnt;
+    img11Count = rf.img11Cnt;
+    setLinks();
+  }
+
+ private:
+  void setLinks() {
+    setStart(&img00Count);
+    img00Count.setNext(&img01Count);
+    img01Count.setNext(&img10Count);
+    img10Count.setNext(&img11Count);
+    setLast(&img11Count);
+  }
+
+  SerializeElement<uint16_t> img00Count = 0;
+  SerializeElement<uint16_t> img01Count = 0;
+  SerializeElement<uint16_t> img10Count = 0;
+  SerializeElement<uint16_t> img11Count = 0;
+};
+
 class CoreController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
   enum ParamId : uint8_t { PREF_SD = 0, NUM_IDS };
@@ -113,10 +145,15 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
 
   const std::string VERSION_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::VERSION_FILE_NAME);
-  const std::string REBOOT_FILE =
+  const std::string LEGACY_REBOOT_WATCHDOG_FILE =
-      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_FILE_NAME);
+      "/" + std::string(core::CONF_FOLDER) + "/" +
+      std::string(core::LEGACY_REBOOT_WATCHDOG_FILE_NAME);
+  const std::string REBOOT_WATCHDOG_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_WATCHDOG_FILE_NAME);
   const std::string BACKUP_TIME_FILE =
       "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::TIME_FILE_NAME);
+  const std::string REBOOT_COUNTERS_FILE =
+      "/" + std::string(core::CONF_FOLDER) + "/" + std::string(core::REBOOT_COUNTER_FILE_NAME);
 
   static constexpr char CHIP_0_COPY_0_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-nom-rootfs";
   static constexpr char CHIP_0_COPY_1_MOUNT_DIR[] = "/tmp/mntupdate-xdi-qspi0-gold-rootfs";
@@ -248,7 +285,8 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   std::array<uint8_t, 1024> dirListingBuf{};
   DirListingDumpContext dumpContext{};
 
-  RebootFile rebootFile = {};
+  RebootWatchdogFile rebootWatchdogFile = {};
+  RebootCountersFile rebootCountersFile = {};
 
   CommandExecutor cmdExecutor;
   SimpleRingBuffer cmdReplyBuf;
@@ -318,12 +356,14 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
   void executeNextExternalSdCommand();
   void checkExternalSdCommandStatus();
-  void performRebootFileHandling(bool recreateFile);
+  void performRebootWatchdogHandling(bool recreateFile);
+  void performRebootCountersHandling(bool recreateFile);
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
   ReturnValue_t actionListDirectoryDumpDirectly(ActionId_t actionId, MessageQueueId_t commandedBy,
                                                 const uint8_t* data, size_t size);
+  ReturnValue_t performGracefulShutdown(xsc::Chip targetChip, xsc::Copy targetCopy);
 
   ReturnValue_t actionListDirectoryCommonCommandCreator(const uint8_t* data, size_t size,
                                                         std::ostringstream& oss);
@@ -337,12 +377,14 @@ class CoreController : public ExtendedControllerBase, public ReceivesParameterMe
   int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
                                 bool& protOperationPerformed, bool selfChip, bool selfCopy,
                                 bool allChips, bool allCopies, uint8_t arrIdx);
-  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
+  void rebootWatchdogAlgorithm(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
-                                 xsc::Copy& tgtCopy);
+                               xsc::Copy& tgtCopy);
-  void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
+  void resetRebootWatchdogCounters(xsc::Chip tgtChip, xsc::Copy tgtCopy);
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  bool parseRebootFile(std::string path, RebootFile& file);
+  bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
-  void rewriteRebootFile(RebootFile file);
+  bool parseRebootCountersFile(std::string path, RebootCountersFile& file);
+  void rewriteRebootWatchdogFile(RebootWatchdogFile file);
+  void rewriteRebootCountersFile(RebootCountersFile file);
   void announceBootCounts();
   void announceVersionInfo();
   void announceCurrentImageInfo();

bsp_q7s/core/ObjectFactory.cpp

@@ -731,12 +731,20 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
   GpioCookie* gpioCookiePtmeIp = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
+  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
   gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
+  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
   gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
+  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
   gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
+  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
@@ -745,14 +753,19 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
   gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
-  VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
+  VirtualChannelIF* vc0 =
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
-  VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
+  VirtualChannelIF* vc1 =
-  VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
-  VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
+  VirtualChannelIF* vc2 =
-                                              q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
+  VirtualChannelIF* vc3 =
+      new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
+                          q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
+
   // Creating ptme object and adding virtual channel interfaces
   Ptme* ptme = new Ptme(objects::PTME);
   ptme->addVcInterface(ccsds::VC0, vc0);
@@ -1017,16 +1030,18 @@ void ObjectFactory::createRadSensorChipSelect(LinuxLibgpioIF* gpioIF) {
 
 void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
   using namespace gpio;
-  if (gpioIF == nullptr) {
+  if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
-    return;
+    if (gpioIF == nullptr) {
+      return;
+    }
+    GpioCookie* gpioI2cResetnCookie = new GpioCookie;
+    GpiodRegularByLineName* gpioI2cResetn = new GpiodRegularByLineName(
+        q7s::gpioNames::PL_I2C_ARESETN, "PL_I2C_ARESETN", Direction::OUT, Levels::HIGH);
+    gpioI2cResetnCookie->addGpio(gpioIds::PL_I2C_ARESETN, gpioI2cResetn);
+    gpioChecker(gpioIF->addGpios(gpioI2cResetnCookie), "PL I2C ARESETN");
+    // Reset I2C explicitely again.
+    gpioIF->pullLow(gpioIds::PL_I2C_ARESETN);
+    TaskFactory::delayTask(1);
+    gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
   }
-  GpioCookie* gpioI2cResetnCookie = new GpioCookie;
-  GpiodRegularByLineName* gpioI2cResetn = new GpiodRegularByLineName(
-      q7s::gpioNames::PL_I2C_ARESETN, "PL_I2C_ARESETN", Direction::OUT, Levels::HIGH);
-  gpioI2cResetnCookie->addGpio(gpioIds::PL_I2C_ARESETN, gpioI2cResetn);
-  gpioChecker(gpioIF->addGpios(gpioI2cResetnCookie), "PL I2C ARESETN");
-  // Reset I2C explicitely again.
-  gpioIF->pullLow(gpioIds::PL_I2C_ARESETN);
-  TaskFactory::delayTask(1);
-  gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
 }

common/config/devices/gpioIds.h

@@ -96,9 +96,13 @@ enum gpioId_t {
 
   SPI_MUX,
   VC0_PAPB_EMPTY,
+  VC0_PAPB_BUSY,
   VC1_PAPB_EMPTY,
+  VC1_PAPB_BUSY,
   VC2_PAPB_EMPTY,
+  VC2_PAPB_BUSY,
   VC3_PAPB_EMPTY,
+  VC3_PAPB_BUSY,
   PTME_RESETN,
 
   PDEC_RESET,

linux/ipcore/PapbVcInterface.cpp

@@ -7,16 +7,20 @@
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
+PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
-                                 std::string uioFile, int mapNum)
+                                 gpioId_t papbEmptyId, std::string uioFile, int mapNum)
-    : gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
+    : gpioComIF(gpioComIF),
+      papbBusyId(papbBusyId),
+      papbEmptyId(papbEmptyId),
+      uioFile(std::move(uioFile)),
+      mapNum(mapNum) {}
 
 PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
   ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
-                                                   UioMapper::Permissions::READ_WRITE);
+                                                   UioMapper::Permissions::WRITE_ONLY);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -28,16 +32,63 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
   if (size < 4) {
     return returnvalue::FAILED;
   }
-  if (pollReadyForPacket()) {
+  if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
     startPacketTransfer(ByteWidthCfg::ONE);
   } else {
     return DirectTmSinkIF::IS_BUSY;
   }
+  // TODO: This should work but does not.. :(
+  //  size_t idx = 0;
+  //  while (idx < size) {
+  //
+  //    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
+  //    if ((size - idx) < 4) {
+  //      *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
+  //      usleep(1);
+  //    }
+  //    if (pollPapbBusySignal(2) == returnvalue::OK) {
+  //      //      vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
+  //      //      vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
+  //      //      vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
+  //      //      vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
+  //
+  //      // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
+  //      *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
+  //      //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
+  //
+  //      //byteReg[0] = data[idx];
+  //      //byteReg[1] = data[idx];
+  //    } else {
+  //      abortPacketTransfer();
+  //      return returnvalue::FAILED;
+  //    }
+  //    // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
+  //    // width configuration.5
+  //    // It's okay to increment by a larger amount for the last segment here, loop will be over
+  //    // in any case.
+  //    idx += 4;
+  //  }
   for (size_t idx = 0; idx < size; idx++) {
-    // if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
+    // This delay is super-important, DO NOT REMOVE!
-    *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
+    // Polling the GPIO or the config register too often messes up the scheduler.
+    // TODO: Maybe this should not be done like this. It would be better if there was a custom
+    // FPGA module which can accept packets and then takes care of dumping that packet into
+    // the PTME. DMA would be an ideal solution for this.
+    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
+    if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
+      *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
+    } else {
+      abortPacketTransfer();
+      return returnvalue::FAILED;
+    }
+  }
+  nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
+  if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
+    completePacketTransfer();
+  } else {
+    abortPacketTransfer();
+    return returnvalue::FAILED;
   }
-  completePacketTransfer();
   return returnvalue::OK;
 }
 
@@ -47,33 +98,60 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
 
 void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-bool PapbVcInterface::pollReadyForPacket() const {
+ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
-  //  Check if PAPB interface is ready to receive data. Use the configuration register for this.
+                                                      bool checkReadyState) const {
-  //  Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
+  uint32_t busyIdx = 0;
-  uint32_t reg = *vcBaseReg;
+  nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
-  // bool busy = (reg >> 5) & 0b1;
+
-  return (reg >> 6) & 0b1;
+  while (true) {
+    // Check if PAPB interface is ready to receive data. Use the configuration register for this.
+    // Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
+    uint32_t reg = *vcBaseReg;
+    bool busy = (reg >> 5) & 0b1;
+    bool ready = (reg >> 6) & 0b1;
+    if (not busy) {
+      return returnvalue::OK;
+    }
+    if (checkReadyState and not ready) {
+      return PAPB_BUSY;
+    }
+
+    busyIdx++;
+    if (busyIdx >= maxPollRetries) {
+      return PAPB_BUSY;
+    }
+
+    // Ignore signal handling here for now.
+    nanosleep(&nextDelay, &remDelay);
+    // Adaptive delay.
+    if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
+      nextDelay.tv_nsec *= 2;
+    }
+  }
+  return returnvalue::OK;
 }
 
-bool PapbVcInterface::isVcInterfaceBufferEmpty() {
+void PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = returnvalue::OK;
   gpio::Levels papbEmptyState = gpio::Levels::HIGH;
 
   result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
 
   if (result != returnvalue::OK) {
-    sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
+    sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
-               << std::endl;
+                 << std::endl;
-    return true;
+    return;
   }
 
   if (papbEmptyState == gpio::Levels::HIGH) {
-    return true;
+    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
+  } else {
+    sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
   }
-  return false;
+  return;
 }
 
-bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
+bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
 
 void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 

linux/ipcore/PapbVcInterface.h

@@ -30,7 +30,8 @@ class PapbVcInterface : public VirtualChannelIF {
    * @param uioFile       UIO file providing access to the PAPB bus
    * @param mapNum        Map number of UIO map associated with this virtual channel
    */
-  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
+  PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
+                  std::string uioFile, int mapNum);
   virtual ~PapbVcInterface();
 
   bool isBusy() const override;
@@ -82,6 +83,9 @@ class PapbVcInterface : public VirtualChannelIF {
   static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
 
   LinuxLibgpioIF* gpioComIF = nullptr;
+
+  /** Pulled to low when virtual channel not ready to receive data */
+  gpioId_t papbBusyId = gpio::NO_GPIO;
   /** High when external buffer memory of virtual channel is empty */
   gpioId_t papbEmptyId = gpio::NO_GPIO;
 
@@ -116,13 +120,13 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  inline bool pollReadyForPacket() const;
+  inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in
    *          the packet buffer of the virtual channel or not.
    */
-  bool isVcInterfaceBufferEmpty();
+  void isVcInterfaceBufferEmpty();
 
   /**
    * @brief   This function sends a complete telemetry transfer frame data field (1105 bytes)

misc/eclipse/.cproject

@@ -57,7 +57,8 @@
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 					</folderInfo>
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+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
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 				</configuration>
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@@ -119,7 +120,8 @@
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+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -187,7 +189,8 @@
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+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -255,7 +258,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
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+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
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@@ -418,7 +422,8 @@
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+						<entry excluding="unittest/rebootLogic|thirdparty/json|build-Debug-RPi/_deps/etl-src/uml|build-Debug-RPi/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/temp|build-Debug-RPi/_deps/etl-src/support|build-Debug-RPi/_deps/etl-src/subprojects|build-Debug-RPi/_deps/etl-src/scripts|build-Debug-RPi/_deps/etl-src/images|build-Debug-RPi/_deps/etl-src/examples|build-Debug-RPi/_deps/etl-src/cmake|build-Debug-RPi/_deps/etl-src/arduino|cmake-build-debug-q7s|cmake-build-debug|cmake-build-debug-q7s-em|cmake-build-release-q7s-em|bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -580,7 +585,8 @@
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@@ -1172,7 +1182,7 @@
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+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.dockerdpath=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=unix:///var/run/docker.sock,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
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@@ -1317,7 +1327,9 @@
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+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug-q7s-em/_deps/etl-src/include"/>
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@@ -1386,7 +1398,8 @@
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 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="unittest/rebootLogic|thirdparty/json|cmake-build-debug-q7s-em/_deps/etl-src|cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="thirdparty/json/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>

mission/com/PersistentLogTmStoreTask.cpp

@@ -42,7 +42,13 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     if (not someonesBusy) {
       TaskFactory::delayTask(100);
     } else if (vcBusyDuringDump) {
+      // TODO: Might not be necessary
+      sif::debug << "VC busy, delaying" << std::endl;
       TaskFactory::delayTask(10);
+    } else {
+      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
+      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
+      TaskFactory::delayTask(2);
     }
   }
 }

mission/com/PersistentSingleTmStoreTask.cpp

@@ -24,7 +24,13 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     if (not busy) {
       TaskFactory::delayTask(100);
     } else if (dumpContext.vcBusyDuringDump) {
+      sif::debug << "VC busy, delaying" << std::endl;
+      // TODO: Might not be necessary
       TaskFactory::delayTask(10);
+    } else {
+      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
+      // Polling the PAPB of the PTME core too often leads to scheuduling issues.
+      TaskFactory::delayTask(2);
     }
   }
 }

mission/sysDefs.h

@@ -41,7 +41,9 @@ enum SystemctlCmd : uint8_t { START = 0, STOP = 1, RESTART = 2, NUM_CMDS = 3 };
 static constexpr char CONF_FOLDER[] = "conf";
 
 static constexpr char VERSION_FILE_NAME[] = "version.txt";
-static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+static constexpr char LEGACY_REBOOT_WATCHDOG_FILE_NAME[] = "reboot.txt";
+static constexpr char REBOOT_WATCHDOG_FILE_NAME[] = "reboot_watchdog.txt";
+static constexpr char REBOOT_COUNTER_FILE_NAME[] = "reboot_counters.txt";
 static constexpr char TIME_FILE_NAME[] = "time_backup.txt";
 
 static constexpr uint32_t SYS_ROM_BASE_ADDR = 0x80000000;

mission/tmtc/PusLiveDemux.cpp

@@ -11,23 +11,20 @@ ReturnValue_t PusLiveDemux::demultiplexPackets(StorageManagerIF& tmStore,
   ReturnValue_t result = returnvalue::OK;
   for (unsigned int idx = 0; idx < destinations.size(); idx++) {
     const auto& dest = destinations[idx];
-    if (destinations.size() > 1) {
+    if ((destinations.size() > 1) and (idx < (destinations.size() - 1))) {
-      if (idx < destinations.size() - 1) {
+      // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
-        // Create copy of data to ensure each TM recipient has its own copy. That way, we don't need
+      // to bother with send order and where the data is deleted.
-        // to bother with send order and where the data is deleted.
+      store_address_t storeId;
-        store_address_t storeId;
+      result = tmStore.addData(&storeId, tmData, tmSize);
-        result = tmStore.addData(&storeId, tmData, tmSize);
+      if (result == returnvalue::OK) {
-        if (result == returnvalue::OK) {
+        message.setStorageId(storeId);
-          message.setStorageId(storeId);
-        } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::error << "PusLiveDemux::handlePacket: Store too full to create data copy"
-                     << std::endl;
-#endif
-        }
       } else {
-        message.setStorageId(origStoreId);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PusLiveDemux::handlePacket: Store too full to create data copy" << std::endl;
+#endif
       }
+    } else {
+      message.setStorageId(origStoreId);
     }
     result = ownerQueue.sendMessage(dest.queueId, &message);
     if (result != returnvalue::OK) {

unittest/rebootLogic/src/CoreController.cpp

@@ -19,116 +19,117 @@ CoreController::CoreController() {
   setCurrentBootCopy(xsc::CHIP_0, xsc::COPY_0);
 }
 
-void CoreController::performRebootFileHandling(bool recreateFile) {
+void CoreController::performRebootWatchdogHandling(bool recreateFile) {
   using namespace std;
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   if (not std::filesystem::exists(path) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
 #endif
-    rebootFile.enabled = true;
+    rebootWatchdogFile.enabled = true;
-    rebootFile.img00Cnt = 0;
+    rebootWatchdogFile.img00Cnt = 0;
-    rebootFile.img01Cnt = 0;
+    rebootWatchdogFile.img01Cnt = 0;
-    rebootFile.img10Cnt = 0;
+    rebootWatchdogFile.img10Cnt = 0;
-    rebootFile.img11Cnt = 0;
+    rebootWatchdogFile.img11Cnt = 0;
-    rebootFile.lastChip = xsc::Chip::CHIP_0;
+    rebootWatchdogFile.lastChip = xsc::Chip::CHIP_0;
-    rebootFile.lastCopy = xsc::Copy::COPY_0;
+    rebootWatchdogFile.lastCopy = xsc::Copy::COPY_0;
-    rebootFile.img00Lock = false;
+    rebootWatchdogFile.img00Lock = false;
-    rebootFile.img01Lock = false;
+    rebootWatchdogFile.img01Lock = false;
-    rebootFile.img10Lock = false;
+    rebootWatchdogFile.img10Lock = false;
-    rebootFile.img11Lock = false;
+    rebootWatchdogFile.img11Lock = false;
-    rebootFile.mechanismNextChip = xsc::Chip::NO_CHIP;
+    rebootWatchdogFile.mechanismNextChip = xsc::Chip::NO_CHIP;
-    rebootFile.mechanismNextCopy = xsc::Copy::NO_COPY;
+    rebootWatchdogFile.mechanismNextCopy = xsc::Copy::NO_COPY;
-    rebootFile.bootFlag = false;
+    rebootWatchdogFile.bootFlag = false;
-    rewriteRebootFile(rebootFile);
+    rewriteRebootWatchdogFile(rebootWatchdogFile);
   } else {
-    if (not parseRebootFile(path, rebootFile)) {
+    if (not parseRebootWatchdogFile(path, rebootWatchdogFile)) {
-      performRebootFileHandling(true);
+      performRebootWatchdogHandling(true);
     }
   }
 
   if (CURRENT_CHIP == xsc::CHIP_0) {
     if (CURRENT_COPY == xsc::COPY_0) {
-      rebootFile.img00Cnt++;
+      rebootWatchdogFile.img00Cnt++;
     } else {
-      rebootFile.img01Cnt++;
+      rebootWatchdogFile.img01Cnt++;
     }
   } else {
     if (CURRENT_COPY == xsc::COPY_0) {
-      rebootFile.img10Cnt++;
+      rebootWatchdogFile.img10Cnt++;
     } else {
-      rebootFile.img11Cnt++;
+      rebootWatchdogFile.img11Cnt++;
     }
   }
 
-  if (rebootFile.bootFlag) {
+  if (rebootWatchdogFile.bootFlag) {
     // Trigger event to inform ground that a reboot was triggered
-    uint32_t p1 = rebootFile.lastChip << 16 | rebootFile.lastCopy;
+    uint32_t p1 = rebootWatchdogFile.lastChip << 16 | rebootWatchdogFile.lastCopy;
-    uint32_t p2 = rebootFile.img00Cnt << 24 | rebootFile.img01Cnt << 16 | rebootFile.img10Cnt << 8 |
+    uint32_t p2 = rebootWatchdogFile.img00Cnt << 24 | rebootWatchdogFile.img01Cnt << 16 |
-                  rebootFile.img11Cnt;
+                  rebootWatchdogFile.img10Cnt << 8 | rebootWatchdogFile.img11Cnt;
     triggerEvent(REBOOT_MECHANISM_TRIGGERED, p1, p2);
     // Clear the boot flag
-    rebootFile.bootFlag = false;
+    rebootWatchdogFile.bootFlag = false;
   }
 
-  if (rebootFile.mechanismNextChip != xsc::NO_CHIP and
+  if (rebootWatchdogFile.mechanismNextChip != xsc::NO_CHIP and
-      rebootFile.mechanismNextCopy != xsc::NO_COPY) {
+      rebootWatchdogFile.mechanismNextCopy != xsc::NO_COPY) {
-    if (CURRENT_CHIP != rebootFile.mechanismNextChip or
+    if (CURRENT_CHIP != rebootWatchdogFile.mechanismNextChip or
-        CURRENT_COPY != rebootFile.mechanismNextCopy) {
+        CURRENT_COPY != rebootWatchdogFile.mechanismNextCopy) {
-      std::string infoString = std::to_string(rebootFile.mechanismNextChip) + " " +
+      std::string infoString = std::to_string(rebootWatchdogFile.mechanismNextChip) + " " +
-                               std::to_string(rebootFile.mechanismNextCopy);
+                               std::to_string(rebootWatchdogFile.mechanismNextCopy);
       sif::warning << "CoreController::performRebootFileHandling: Expected to be on image "
                    << infoString << " but currently on other image. Locking " << infoString
                    << std::endl;
       // Firmware or other component might be corrupt and we are on another image then the target
       // image specified by the mechanism. We can't really trust the target image anymore.
       // Lock it for now
-      if (rebootFile.mechanismNextChip == xsc::CHIP_0) {
+      if (rebootWatchdogFile.mechanismNextChip == xsc::CHIP_0) {
-        if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
+        if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
-          rebootFile.img00Lock = true;
+          rebootWatchdogFile.img00Lock = true;
         } else {
-          rebootFile.img01Lock = true;
+          rebootWatchdogFile.img01Lock = true;
         }
       } else {
-        if (rebootFile.mechanismNextCopy == xsc::COPY_0) {
+        if (rebootWatchdogFile.mechanismNextCopy == xsc::COPY_0) {
-          rebootFile.img10Lock = true;
+          rebootWatchdogFile.img10Lock = true;
         } else {
-          rebootFile.img11Lock = true;
+          rebootWatchdogFile.img11Lock = true;
         }
       }
     }
   }
 
-  rebootFile.lastChip = CURRENT_CHIP;
+  rebootWatchdogFile.lastChip = CURRENT_CHIP;
-  rebootFile.lastCopy = CURRENT_COPY;
+  rebootWatchdogFile.lastCopy = CURRENT_COPY;
   // Only reboot if the reboot functionality is enabled.
   // The handler will still increment the boot counts
-  if (rebootFile.enabled and (*rebootFile.relevantBootCnt >= rebootFile.maxCount)) {
+  if (rebootWatchdogFile.enabled and
+      (*rebootWatchdogFile.relevantBootCnt >= rebootWatchdogFile.maxCount)) {
     // Reboot to other image
     bool doReboot = false;
     xsc::Chip tgtChip = xsc::NO_CHIP;
     xsc::Copy tgtCopy = xsc::NO_COPY;
-    determineAndExecuteReboot(rebootFile, doReboot, tgtChip, tgtCopy);
+    determineAndExecuteReboot(rebootWatchdogFile, doReboot, tgtChip, tgtCopy);
     if (doReboot) {
-      rebootFile.bootFlag = true;
+      rebootWatchdogFile.bootFlag = true;
 #if OBSW_VERBOSE_LEVEL >= 1
       sif::info << "Boot counter for image " << CURRENT_CHIP << " " << CURRENT_COPY
                 << " too high. Rebooting to " << tgtChip << " " << tgtCopy << std::endl;
 #endif
-      rebootFile.mechanismNextChip = tgtChip;
+      rebootWatchdogFile.mechanismNextChip = tgtChip;
-      rebootFile.mechanismNextCopy = tgtCopy;
+      rebootWatchdogFile.mechanismNextCopy = tgtCopy;
-      rewriteRebootFile(rebootFile);
+      rewriteRebootWatchdogFile(rebootWatchdogFile);
       xsc_boot_copy(static_cast<xsc_libnor_chip_t>(tgtChip),
                     static_cast<xsc_libnor_copy_t>(tgtCopy));
     }
   } else {
-    rebootFile.mechanismNextChip = xsc::NO_CHIP;
+    rebootWatchdogFile.mechanismNextChip = xsc::NO_CHIP;
-    rebootFile.mechanismNextCopy = xsc::NO_COPY;
+    rebootWatchdogFile.mechanismNextCopy = xsc::NO_COPY;
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
-void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot,
+void CoreController::determineAndExecuteReboot(RebootWatchdogFile &rf, bool &needsReboot,
                                                xsc::Chip &tgtChip, xsc::Copy &tgtCopy) {
   tgtChip = xsc::CHIP_0;
   tgtCopy = xsc::COPY_0;
@@ -217,7 +218,7 @@ void CoreController::determineAndExecuteReboot(RebootFile &rf, bool &needsReboot
   }
 }
 
-bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
+bool CoreController::parseRebootWatchdogFile(std::string path, RebootWatchdogFile &rf) {
   using namespace std;
   std::string selfMatch;
   if (CURRENT_CHIP == xsc::CHIP_0) {
@@ -400,34 +401,34 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
 }
 
 void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   // Disable the reboot file mechanism
-  parseRebootFile(path, rebootFile);
+  parseRebootWatchdogFile(path, rebootWatchdogFile);
   if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
-    rebootFile.img00Cnt = 0;
+    rebootWatchdogFile.img00Cnt = 0;
-    rebootFile.img01Cnt = 0;
+    rebootWatchdogFile.img01Cnt = 0;
-    rebootFile.img10Cnt = 0;
+    rebootWatchdogFile.img10Cnt = 0;
-    rebootFile.img11Cnt = 0;
+    rebootWatchdogFile.img11Cnt = 0;
   } else {
     if (tgtChip == xsc::CHIP_0) {
       if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img00Cnt = 0;
+        rebootWatchdogFile.img00Cnt = 0;
       } else {
-        rebootFile.img01Cnt = 0;
+        rebootWatchdogFile.img01Cnt = 0;
       }
     } else {
       if (tgtCopy == xsc::COPY_0) {
-        rebootFile.img10Cnt = 0;
+        rebootWatchdogFile.img10Cnt = 0;
       } else {
-        rebootFile.img11Cnt = 0;
+        rebootWatchdogFile.img11Cnt = 0;
       }
     }
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
-void CoreController::rewriteRebootFile(RebootFile file) {
+void CoreController::rewriteRebootWatchdogFile(RebootWatchdogFile file) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
     // Initiate reboot file first. Reboot handling will be on on initialization
@@ -450,15 +451,15 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
       // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
       if (data[0] == 0) {
-        rebootFile.enabled = false;
+        rebootWatchdogFile.enabled = false;
-        rewriteRebootFile(rebootFile);
+        rewriteRebootWatchdogFile(rebootWatchdogFile);
       } else if (data[0] == 1) {
-        rebootFile.enabled = true;
+        rebootWatchdogFile.enabled = true;
-        rewriteRebootFile(rebootFile);
+        rewriteRebootWatchdogFile(rebootWatchdogFile);
       } else {
         return HasActionsIF::INVALID_PARAMETERS;
       }
@@ -490,11 +491,11 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
       // Disable the reboot file mechanism
-      parseRebootFile(path, rebootFile);
+      parseRebootWatchdogFile(path, rebootWatchdogFile);
-      rebootFile.maxCount = data[0];
+      rebootWatchdogFile.maxCount = data[0];
-      rewriteRebootFile(rebootFile);
+      rewriteRebootWatchdogFile(rebootWatchdogFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
     default: {
@@ -504,23 +505,23 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
 }
 
 void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_FILE;
+  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.active) + REBOOT_WATCHDOG_FILE;
   // Disable the reboot file mechanism
-  parseRebootFile(path, rebootFile);
+  parseRebootWatchdogFile(path, rebootWatchdogFile);
   if (tgtChip == xsc::CHIP_0) {
     if (tgtCopy == xsc::COPY_0) {
-      rebootFile.img00Lock = lock;
+      rebootWatchdogFile.img00Lock = lock;
     } else {
-      rebootFile.img01Lock = lock;
+      rebootWatchdogFile.img01Lock = lock;
     }
   } else {
     if (tgtCopy == xsc::COPY_0) {
-      rebootFile.img10Lock = lock;
+      rebootWatchdogFile.img10Lock = lock;
     } else {
-      rebootFile.img11Lock = lock;
+      rebootWatchdogFile.img11Lock = lock;
     }
   }
-  rewriteRebootFile(rebootFile);
+  rewriteRebootWatchdogFile(rebootWatchdogFile);
 }
 
 void CoreController::setCurrentBootCopy(xsc::Chip chip, xsc::Copy copy) {

unittest/rebootLogic/src/CoreController.h

@@ -14,7 +14,7 @@ enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
 
 }  // namespace xsc
 
-struct RebootFile {
+struct RebootWatchdogFile {
   static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
 
   bool enabled = true;
@@ -39,7 +39,7 @@ class SdCardManager;
 
 class CoreController {
  public:
-  static constexpr char REBOOT_FILE[] = "/conf/reboot.txt";
+  static constexpr char REBOOT_WATCHDOG_FILE[] = "/conf/reboot.txt";
   //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
   //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
   //! P2: Each byte is the respective reboot count for the slots
@@ -57,13 +57,13 @@ class CoreController {
   static void setCurrentBootCopy(xsc::Chip chip, xsc::Copy copy);
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size);
-  void performRebootFileHandling(bool recreateFile);
+  void performRebootWatchdogHandling(bool recreateFile);
-  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
+  void determineAndExecuteReboot(RebootWatchdogFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
                                  xsc::Copy& tgtCopy);
   void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
   void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  bool parseRebootFile(std::string path, RebootFile& file);
+  bool parseRebootWatchdogFile(std::string path, RebootWatchdogFile& file);
-  void rewriteRebootFile(RebootFile file);
+  void rewriteRebootWatchdogFile(RebootWatchdogFile file);
 
  private:
   struct SdFsmParams {
@@ -74,6 +74,6 @@ class CoreController {
   } sdInfo;
 
   SdCardManager* sdcMan = nullptr;
-  RebootFile rebootFile = {};
+  RebootWatchdogFile rebootWatchdogFile = {};
   bool doPerformRebootFileHandling = true;
 };