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v1.9.0 #175

Merged
muellerr merged 623 commits from develop into main 2022-03-08 10:32:41 +01:00
Conversation 0 Commits 623 Files Changed 417 +187 -4
4 changed files with 187 additions and 4 deletions
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Showing only changes of commit 14dec1d700 - Show all commits

73
bsp_q7s/devices/startracker/StarTrackerDefinitions.h
View File

@ -846,6 +846,79 @@ public:
sif::info << "ContrastSet::printSet: BinD8: " << this->binD8 << std::endl;
}
};
/**
* @brief Helper Class to extract information from bytestream.
*/
class ChecksumReply {
public:
/**
* @brief Constructor
*
* @param datafield Pointer to datafield in reply buffer
*
*/
ChecksumReply(const uint8_t* datafield) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
region = *(datafield);
const uint8_t* addressData = datafield + ADDRESS_OFFSET;
size_t size = sizeof(address);
result = SerializeAdapter::deSerialize(&address, &addressData, &size,
SerializeIF::Endianness::LITTLE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize address"
<< std::endl;
}
const uint8_t* lengthData = datafield + LENGTH_OFFSET;
size = sizeof(length);
result = SerializeAdapter::deSerialize(&length, &lengthData, &size,
SerializeIF::Endianness::LITTLE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize length"
<< std::endl;
}
const uint8_t* checksumData = datafield + CHECKSUM_OFFSET;
size = sizeof(checksum);
result = SerializeAdapter::deSerialize(&checksum, &checksumData, &size,
SerializeIF::Endianness::LITTLE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize checksum"
<< std::endl;
}
}
uint8_t getRegion() {
return region;
}
uint32_t getAddress() {
return address;
}
uint32_t getLength() {
return length;
}
uint32_t getChecksum() {
return checksum;
}
void printChecksum() {
sif::info << "ChecksumReply::printChecksum: 0x" << checksum << std::endl;
}
private:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
static const uint8_t CHECKSUM_OFFSET = 9;
uint8_t region = 0;
uint32_t address = 0;
uint32_t length = 0;
uint32_t checksum = 0;
};
}
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */

82
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
View File

@ -420,6 +420,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareUnlockCommand(commandData, commandDataLen);
return result;
}
case (StarTracker::CHECKSUM): {
result = prepareChecksumCommand(commandData, commandDataLen);
return result;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
@ -480,6 +484,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::UNLOCK, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::CHECKSUM, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@ -555,6 +561,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
result = handleActionReply();
break;
}
case (StarTracker::CHECKSUM): {
result = handleChecksumReply();
break;
}
case (StarTracker::REQ_VERSION): {
result = handleTm(versionSet, StarTracker::VersionSet::SIZE);
if (result != RETURN_OK) {
@ -834,6 +844,10 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId)
*foundId = StarTracker::UNLOCK;
break;
}
case (StarTracker::ID::CHECKSUM): {
*foundId = StarTracker::CHECKSUM;
break;
}
default:
sif::warning << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
<< std::endl;
@ -970,7 +984,7 @@ ReturnValue_t StarTrackerHandler::executeWriteCommand(const uint8_t* commandData
size_t size = sizeof(address);
const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&address, addressPtr, &size,
SerializeIF::Endianness::LITTLE);
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed"
<< std::endl;
@ -1003,7 +1017,7 @@ ReturnValue_t StarTrackerHandler::executeReadCommand(const uint8_t* commandData,
size_t size = sizeof(address);
const uint8_t* addressPtr = commandData + ReadCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&address, addressPtr, &size,
SerializeIF::Endianness::LITTLE);
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of address failed"
<< std::endl;
@ -1062,6 +1076,44 @@ ReturnValue_t StarTrackerHandler::prepareUnlockCommand(const uint8_t* commandDat
return result;
}
ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData,
size_t commandDataLen) {
struct ChecksumActionRequest req;
ReturnValue_t result = RETURN_OK;
if (commandDataLen != ChecksumCmd::LENGTH) {
sif::warning << "StarTrackerHandler::prepareChecksumCommand: Invalid length" << std::endl;
return INVALID_LENGTH;
}
req.region = *(commandData);
size_t size = sizeof(req.address);
const uint8_t* addressPtr = commandData + ChecksumCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&req.address, addressPtr, &size,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of address "
<< "failed" << std::endl;
return result;
}
size = sizeof(req.length);
const uint8_t* lengthPtr = commandData + ChecksumCmd::LENGTH_OFFSET;
result = SerializeAdapter::deSerialize(&req.length, lengthPtr, &size,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of length failed"
<< std::endl;
return result;
}
uint32_t rawCmdLength = 0;
arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength);
dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
checksumCmd.rememberRegion = req.region;
checksumCmd.rememberAddress = req.address;
checksumCmd.rememberLength = req.length;
return result;
}
void StarTrackerHandler::prepareTimeRequest() {
uint32_t length = 0;
arc_tm_pack_time_req(commandBuffer, &length);
@ -1240,6 +1292,32 @@ ReturnValue_t StarTrackerHandler::handleActionReply() {
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::handleChecksumReply() {
ReturnValue_t result = RETURN_OK;
result = handleActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
StarTracker::ChecksumReply checksumReply(replyData);
if (checksumReply.getRegion() != checksumCmd.rememberRegion) {
sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl;
return REGION_MISMATCH;
}
if (checksumReply.getAddress() != checksumCmd.rememberAddress) {
sif::warning << "StarTrackerHandler::handleChecksumReply: Address mismatch" << std::endl;
return ADDRESS_MISMATCH;
}
if (checksumReply.getLength() != checksumCmd.rememberLength) {
sif::warning << "StarTrackerHandler::handleChecksumReply: Length mismatch" << std::endl;
return LENGTH_MISSMATCH;
}
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
checksumReply.printChecksum();
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::handlePingReply() {
ReturnValue_t result = RETURN_OK;
uint32_t pingId = 0;

32
bsp_q7s/devices/startracker/StarTrackerHandler.h
View File

@ -117,6 +117,14 @@ private:
static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper execution)
static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Region mismatch between send and received data
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Address mismatch between send and received data
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Length field mismatch between send and received data
static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xB3);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
@ -161,6 +169,20 @@ private:
static const uint8_t CODE_OFFSET = 1;
};
class ChecksumCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
// Length of checksum command
static const size_t LENGTH = 9;
uint8_t rememberRegion = 0;
uint32_t rememberAddress = 0;
uint32_t rememberLength = 0;
};
ChecksumCmd checksumCmd;
MessageQueueIF* eventQueue = nullptr;
ArcsecDatalinkLayer dataLinkLayer;
@ -281,6 +303,11 @@ private:
*/
ReturnValue_t prepareUnlockCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with command to get the checksum of a flash part
*/
ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills the command buffer with the command to take an image.
*/
@ -354,6 +381,11 @@ private:
*/
ReturnValue_t handleActionReply();
/**
* @brief Handles reply to checksum command
*/
ReturnValue_t handleChecksumReply();
/**
* @brief Handles all set parameter replies
*/

4
bsp_q7s/devices/startracker/StrHelper.h
View File

@ -194,9 +194,9 @@ private:
std::string flashReadPath = "";
// Default name of downloaded image, can be changed via command
std::string downloadImage = "image";
std::string downloadImage = "image.bin";
// Default name of file containing the data read from flash, can be changed via command
std::string flashReadFile = "flashread";
std::string flashReadFile = "flashread.bin";
// Will be set with the flash write command
uint8_t flashWriteRegion = 0;
// Will be set with the flash write command and specifies the start address where to write the