bsp_q7s/devices/startracker/StarTrackerDefinitions.h

@@ -242,6 +242,9 @@ static const DeviceCommandId_t SET_TIME = 60;
 static const DeviceCommandId_t DOWNLOAD_DBIMAGE = 61;
 static const DeviceCommandId_t DOWNLOAD_BLOBPIXEL = 62;
 static const DeviceCommandId_t DOWNLOAD_FPGA_IMAGE = 63;
+static const DeviceCommandId_t CHANGE_FPGA_DOWNLOAD_FILE = 64;
+static const DeviceCommandId_t UPLOAD_FPGA_IMAGE = 65;
+static const DeviceCommandId_t FPGA_ACTION = 66;
 static const DeviceCommandId_t NONE = 0xFFFFFFFF;
 
 static const uint32_t VERSION_SET_ID = REQ_VERSION;
@@ -313,6 +316,7 @@ namespace ID {
     static const uint8_t DOWNLOAD_MATCHED_STAR = 18;
     static const uint8_t DOWNLOAD_DBIMAGE = 19;
     static const uint8_t DOWNLOAD_BLOBPIXEL = 24;
+    static const uint8_t FPGA_ACTION = 22;
 }
 
 namespace Program {

bsp_q7s/devices/startracker/StarTrackerHandler.cpp

@@ -107,7 +107,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
         if (result != RETURN_OK) {
             return result;
         }
-        if (size > MAX_PATH_SIZE) {
+        if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
             return FILE_PATH_TOO_LONG;
         }
         result = strHelper->startImageUpload(
@@ -167,6 +167,13 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
                 std::string(reinterpret_cast<const char*>(data), size));
         return EXECUTION_FINISHED;
     }
+    case(StarTracker::CHANGE_FPGA_DOWNLOAD_FILE): {
+        if (size > MAX_FILE_NAME) {
+            return FILENAME_TOO_LONG;
+        }
+        strHelper->setDownloadFpgaImage(std::string(reinterpret_cast<const char*>(data), size));
+        return EXECUTION_FINISHED;
+    }
     case(StarTracker::SET_READ_FILENAME): {
         if (size > MAX_FILE_NAME) {
             return FILENAME_TOO_LONG;
@@ -190,6 +197,21 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
         strHelperExecuting = true;
         return EXECUTION_FINISHED;
     }
+    case(StarTracker::UPLOAD_FPGA_IMAGE): {
+        result = DeviceHandlerBase::acceptExternalDeviceCommands();
+        if (result != RETURN_OK) {
+            return result;
+        }
+        if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
+            return FILE_PATH_TOO_LONG;
+        }
+        result = strHelper->startFpgaUpload(std::string(reinterpret_cast<const char*>(data), size));
+        if (result != RETURN_OK) {
+            return result;
+        }
+        strHelperExecuting = true;
+        return EXECUTION_FINISHED;
+    }
     default:
         break;
     }
@@ -469,6 +491,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
         result = prepareDownloadBlobPixelCommand(commandData, commandDataLen);
         return result;
     }
+    case (StarTracker::FPGA_ACTION): {
+        result = prepareFpgaActionCommand(commandData, commandDataLen);
+        return result;
+    }
     default:
         return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
     }
@@ -545,6 +571,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
             StarTracker::MAX_FRAME_SIZE * 2 + 2);
     this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_BLOBPIXEL, 3, &downloadBlobPixel,
             StarTracker::MAX_FRAME_SIZE * 2 + 2);
+    this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr,
+            StarTracker::MAX_FRAME_SIZE * 2 + 2);
 }
 
 ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@@ -617,7 +645,8 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
     case (StarTracker::TAKE_IMAGE):
     case (StarTracker::RESET_ERROR):
     case (StarTracker::UNLOCK):
-    case (StarTracker::SET_TIME): {
+    case (StarTracker::SET_TIME):
+    case (StarTracker::FPGA_ACTION): {
         result = handleActionReply();
         break;
     }
@@ -995,6 +1024,10 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId)
         *foundId = StarTracker::DOWNLOAD_BLOBPIXEL;
         break;
     }
+    case (StarTracker::ID::FPGA_ACTION): {
+        *foundId = StarTracker::FPGA_ACTION;
+        break;
+    }
     default:
         sif::warning << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
             << std::endl;
@@ -1649,6 +1682,24 @@ ReturnValue_t StarTrackerHandler::prepareDownloadBlobPixelCommand(const uint8_t*
     return RETURN_OK;
 }
 
+ReturnValue_t StarTrackerHandler::prepareFpgaActionCommand(const uint8_t* commandData,
+        size_t commandDataLen) {
+    if (commandDataLen != FpgaActionCmd::LENGTH) {
+        return INVALID_LENGTH;
+    }
+    struct FPGAActionActionRequest req;
+    req.id = *commandData;
+    if (req.id != FpgaActionCmd::ID) {
+        return INVALID_ID;
+    }
+    uint32_t length = 0;
+    arc_pack_fpgaaction_action_req(&req, commandBuffer, &length);
+    dataLinkLayer.encodeFrame(commandBuffer, length);
+    rawPacket = dataLinkLayer.getEncodedFrame();
+    rawPacketLen = dataLinkLayer.getEncodedLength();
+    return RETURN_OK;
+}
+
 ReturnValue_t StarTrackerHandler::handleSetParamReply() {
     const uint8_t* reply = dataLinkLayer.getReply();
     uint8_t status = *(reply + STATUS_OFFSET);

bsp_q7s/devices/startracker/StarTrackerHandler.h

@@ -131,6 +131,8 @@ private:
     static const ReturnValue_t UPLOAD_CENTROID_ID_MISMATCH = MAKE_RETURN_CODE(0xB5);
     //! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
     static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB6);
+    //! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
+    static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB7);
 
     static const size_t MAX_PATH_SIZE = 50;
     static const size_t MAX_FILE_NAME = 30;
@@ -235,6 +237,12 @@ private:
         static const uint8_t MIN_LENGTH = 10;
     };
 
+    class FpgaActionCmd {
+    public:
+        static const uint8_t LENGTH = 1;
+        static const uint8_t ID = 3;
+    };
+
     MessageQueueIF* eventQueue = nullptr;
 
     ArcsecDatalinkLayer dataLinkLayer;
@@ -479,6 +487,11 @@ private:
     ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData,
             size_t commandDataLen);
 
+    /**
+     * @brief   With this command the FPGA update will be applied to the star tracker
+     */
+    ReturnValue_t prepareFpgaActionCommand(const uint8_t* commandData, size_t commandDataLen);
+
     /**
      * @brief   Handles action replies with datasets.
      */

bsp_q7s/devices/startracker/StrHelper.cpp

@@ -85,6 +85,17 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
             internalState = InternalState::IDLE;
             break;
         }
+        case InternalState::UPLOAD_FPGA_IMAGE: {
+            result = performFpgaUpload();
+            if (result == RETURN_OK){
+                triggerEvent(FPGA_UPLOAD_SUCCESSFUL);
+            }
+            else {
+                triggerEvent(FPGA_UPLOAD_FAILED);
+            }
+            internalState = InternalState::IDLE;
+            break;
+        }
         default:
             sif::debug << "StrHelper::performOperation: Invalid state" << std::endl;
             break;
@@ -114,7 +125,7 @@ ReturnValue_t StrHelper::startImageUpload(std::string uploadImage_) {
     if(not std::filesystem::exists(uploadImage)) {
         return FILE_NOT_EXISTS;
     }
-    internalState = InternalState::UPLOAD_IMAGE;
+    internalState = InternalState::UPLOAD_FPGA_IMAGE;
     semaphore.release();
     terminate = false;
     return RETURN_OK;
@@ -147,6 +158,10 @@ void StrHelper::setFlashReadFilename(std::string filename) {
     flashReadFile = filename;
 }
 
+void StrHelper::setDownloadFpgaImage(std::string filename) {
+    fpgaDownload.fileName = filename;
+}
+
 ReturnValue_t StrHelper::startFlashWrite(std::string flashWriteFile_, uint8_t region,
         uint32_t address) {
     ReturnValue_t result = checkPath(flashWriteFile_);
@@ -195,6 +210,14 @@ ReturnValue_t StrHelper::startFpgaDownload(std::string path, uint32_t startPosit
     return RETURN_OK;
 }
 
+ReturnValue_t StrHelper::startFpgaUpload(std::string uploadFile) {
+    fpgaUpload.uploadFile = uploadFile;
+    internalState = InternalState::UPLOAD_FPGA_IMAGE;
+    semaphore.release();
+    terminate = false;
+    return RETURN_OK;
+}
+
 ReturnValue_t StrHelper::performImageDownload() {
     ReturnValue_t result;
     struct DownloadActionRequest downloadReq;
@@ -450,7 +473,7 @@ ReturnValue_t StrHelper::performFpgaDownload() {
             file.close();
             return result;
         }
-        result = checkFpgaDownloadReply(req.pos, req.length);
+        result = checkFpgaActionReply(req.pos, req.length);
         if (result != RETURN_OK) {
             if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
                 uartComIF->flushUartRxBuffer(comCookie);
@@ -469,6 +492,47 @@ ReturnValue_t StrHelper::performFpgaDownload() {
     return RETURN_OK;
 }
 
+ReturnValue_t StrHelper::performFpgaUpload() {
+    ReturnValue_t result = RETURN_OK;
+    uint32_t commandSize = 0;
+    uint32_t bytesUploaded = 0;
+    uint32_t fileSize = 0;
+    struct UploadFPGAImageActionRequest req;
+    if (not std::filesystem::exists(fpgaUpload.uploadFile)) {
+        triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
+        internalState = InternalState::IDLE;
+        return RETURN_FAILED;
+    }
+    std::ifstream file(flashWriteFile, std::ifstream::binary);
+    file.seekg(0, file.end);
+    fileSize = file.tellg();
+    req.pos = 0;
+    while(bytesUploaded <= fileSize) {
+        if (terminate) {
+            return RETURN_OK;
+        }
+        if (fileSize - bytesUploaded > FpgaUpload::MAX_DATA) {
+            req.length = FpgaUpload::MAX_DATA;
+        }
+        else {
+            req.length = fileSize - bytesUploaded;
+        }
+        file.seekg(bytesUploaded, file.beg);
+        file.read(reinterpret_cast<char*>(req.data), req.length);
+        arc_pack_uploadfpgaimage_action_req(&req, commandBuffer, &commandSize);
+        result = sendAndRead(commandSize, req.pos);
+        if (result != RETURN_OK) {
+            return RETURN_FAILED;
+        }
+        result = checkFpgaActionReply(req.pos, req.length);
+        if (result != RETURN_OK) {
+            return result;
+        }
+        bytesUploaded += req.length;
+    }
+    return RETURN_OK;
+}
+
 ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
     ReturnValue_t result = RETURN_OK;
     ReturnValue_t decResult = RETURN_OK;
@@ -591,20 +655,20 @@ ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address
     return RETURN_OK;
 }
 
-ReturnValue_t StrHelper::checkFpgaDownloadReply(uint32_t expectedPosition,
+ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition,
         uint32_t expectedLength) {
     ReturnValue_t result = RETURN_OK;
     result = checkActionReply();
     if (result != RETURN_OK) {
         return result;
     }
-    const uint8_t* data = datalinkLayer.getReply() + FpgaDownload::POSITION_OFFSET;
+    const uint8_t* data = datalinkLayer.getReply() + ACTION_DATA_OFFSET;
     uint32_t position;
     size_t size = sizeof(position);
     result = SerializeAdapter::deSerialize(&position, &data, &size,
             SerializeIF::Endianness::LITTLE);
     if (result != RETURN_OK) {
-        sif::warning << "StrHelper::checkFpgaDownloadReply: Deserialization of position failed"
+        sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of position failed"
                 << std::endl;
         return result;
     }
@@ -613,11 +677,11 @@ ReturnValue_t StrHelper::checkFpgaDownloadReply(uint32_t expectedPosition,
     result = SerializeAdapter::deSerialize(&length, &data, &size,
                 SerializeIF::Endianness::LITTLE);
     if (result != RETURN_OK) {
-        sif::warning << "StrHelper::checkFpgaDownloadReply: Deserialization of length failed"
+        sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of length failed"
                 << std::endl;
         return result;
     }
-    return RETURN_OK;
+    return result;
 }
 
 ReturnValue_t StrHelper::checkPath(std::string name) {

bsp_q7s/devices/startracker/StrHelper.h

@@ -133,6 +133,13 @@ public:
      */
     ReturnValue_t startFpgaDownload(std::string path, uint32_t startPosition, uint32_t length);
 
+    /**
+     * @brief   Starts upload of new image to FPGA
+     *
+     * @param uploadFile      Full name of file containing FPGA image data
+     */
+    ReturnValue_t startFpgaUpload(std::string uploadFile);
+
     /**
      * @brief   Can be used to interrupt a running data transfer.
      */
@@ -148,6 +155,11 @@ public:
      */
     void setFlashReadFilename(std::string filename);
 
+    /**
+     * @brief   Set download FPGA image name
+     */
+    void setDownloadFpgaImage(std::string filename);
+
 private:
 
     static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
@@ -182,9 +194,7 @@ private:
     class FpgaDownload {
     public:
         static const uint16_t MAX_DATA = 1024;
-        static const uint8_t POSITION_OFFSET = 3;
+        static const uint8_t DATA_OFFSET = 10;
-        static const uint8_t LENGTH_OFFSET = 7;
-        static const uint8_t DATA_OFFSET = 11;
         // Start position of fpga image part to download
         uint32_t startPosition = 0;
         // Length of image part to download
@@ -197,8 +207,18 @@ private:
 
     FpgaDownload fpgaDownload;
 
+    class FpgaUpload {
+    public:
+        static const uint32_t MAX_DATA = 1024;
+        // Full name of file to upload
+        std::string uploadFile;
+    };
+
+    FpgaUpload fpgaUpload;
+
     static const uint32_t MAX_POLLS = 10000;
 
+    static const uint8_t ACTION_DATA_OFFSET = 2;
     static const uint8_t POS_OFFSET = 2;
     static const uint8_t IMAGE_DATA_OFFSET = 5;
     static const uint8_t FLASH_READ_DATA_OFFSET = 8;
@@ -302,6 +322,12 @@ private:
      */
     ReturnValue_t performFpgaDownload();
 
+    /**
+     * @brief   Performs upload of new FPGA image. Upload sequence split over multiple commands
+     *          because one command can only transport 1024 bytes of image data.
+     */
+    ReturnValue_t performFpgaUpload();
+
     /**
      * @brief   Sends packet to the star tracker and reads reply by using the communication
      *          interface
@@ -338,12 +364,12 @@ private:
     ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
 
     /**
-     * @brief   Checks the reply to the fpga download request
+     * @brief   Checks the reply to the fpga download and upload request
      *
      * @param expectedPosition  The expected position value in the reply
      * @param expectedLength    The expected length field in the reply
      */
-    ReturnValue_t checkFpgaDownloadReply(uint32_t expectedPosition, uint32_t expectedLength);
+    ReturnValue_t checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength);
 
     /**
      * @brief   Checks if a path points to an sd card and whether the SD card is monuted.