bsp_q7s/core/InitMission.cpp

@@ -129,13 +129,23 @@ void initmission::initTasks() {
 
 #if OBSW_ADD_STAR_TRACKER == 1
     PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
-            "FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+            "STR_HELPER_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
     result = strImgLoaderTask->addComponent(objects::STR_HELPER);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER);
+        initmission::printAddObjectError("STR_HELPER_TASK", objects::STR_HELPER);
     }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+#if OBSW_ADD_PLOC_MPSOC == 1
+    PeriodicTaskIF* plocMPSoCHelperTask = factory->createPeriodicTask(
+            "PLOC_MPSOC_HELPER_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+    result = plocMPSoCHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PLOC_MPSOC_HELPER_TASK", objects::PLOC_MPSOC_HELPER);
+    }
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+
+
 #endif /* BOARD_TE0720 */
 
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@@ -336,7 +346,7 @@ void initmission::createPusTasks(TaskFactory &factory,
 
 void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*>& taskVec) {
-#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
+#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1) || OBSW_ADD_PLOC_MPSOC == 1
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #endif
     PeriodicTaskIF* testTask = factory.createPeriodicTask(
@@ -360,5 +370,15 @@ void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFuncti
         initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
     }
 #endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
+
+#if OBSW_ADD_PLOC_MPSOC == 1
+    PeriodicTaskIF* plocMPSoCHelperTask = factory.createPeriodicTask(
+            "PLOC_MPSOC_HELPER_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+    result = plocMPSoCHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PLOC_MPSOC_HELPER_TASK", objects::PLOC_MPSOC_HELPER);
+    }
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
+
     taskVec.push_back(testTask);
 }

bsp_q7s/core/ObjectFactory.cpp

@@ -1076,9 +1076,10 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
     UartCookie* plocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, "/dev/ttyUL1",
             UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
+    PlocMPSoCHelper* plocMPSoCHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
     /* Testing PlocMPSoCHandler on TE0720-03-1CFA */
     PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER,
-            objects::UART_COM_IF, plocUartCookie);
+            objects::UART_COM_IF, plocUartCookie, plocMPSoCHelper);
     mpsocPlocHandler->setStartUpImmediately();
 #endif
 

bsp_q7s/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -4,7 +4,6 @@
 #include <fsfw/tmtcpacket/SpacePacket.h>
 #include <fsfw/globalfunctions/CRC.h>
 #include <fsfw/serialize/SerializeAdapter.h>
-#include <bsp_q7s/devices/ploc/PlocMPSoCHandler.h>
 
 namespace mpsoc {
 
@@ -150,10 +149,10 @@ public:
     }
 
     ReturnValue_t checkCrc() {
-        uint8_t crcPtr = this->getPacketData() + this->getPacketDataLength() - 1;
+        uint8_t* crcPtr = this->getPacketData() + this->getPacketDataLength() - 1;
         uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1);
         uint16_t recalculatedCrc = CRC::crc16ccitt(this->localData.byteStream, this->getFullSize());
-        if (recalculatedCrc != this->ge) {
+        if (recalculatedCrc != receivedCrc) {
             return CRC_FAILURE;
         }
         return RETURN_OK;

bsp_q7s/devices/ploc/CMakeLists.txt

@@ -4,4 +4,5 @@ target_sources(${TARGET_NAME} PRIVATE
     PlocMemoryDumper.cpp
     PlocMPSoCHandler.cpp
     PlocMPSoCHelper.cpp
+    MPSoCSequenceCount.cpp
 )

bsp_q7s/devices/ploc/MPSoCSequenceCount.cpp

@@ -0,0 +1,18 @@
+#include "fsfw/serviceInterface/ServiceInterfaceStream.h"
+#include "MPSoCSequenceCount.h"
+
+MPSoCSequenceCount::MPSoCSequenceCount() : SourceSequenceCounter() {
+}
+
+ReturnValue_t MPSoCSequenceCount::compare(uint16_t recvSeqCount) {
+    if (recvSeqCount != *this) {
+        sif::warning << "MPSoCSequenceCount::compare: Packet sequence count mismatch. Received: "
+                << recvSeqCount << ", Expected: " << *this << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+MPSoCSequenceCount::~MPSoCSequenceCount() {
+}
+

bsp_q7s/devices/ploc/MPSoCSequenceCount.h

@@ -0,0 +1,21 @@
+#ifndef BSP_Q7S_DEVICES_PLOC_MPSOCSEQUENCECOUNT_H_
+#define BSP_Q7S_DEVICES_PLOC_MPSOCSEQUENCECOUNT_H_
+
+#include "fsfw/tmtcservices/SourceSequenceCounter.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+/**
+ * @brief   Class to manage the sequence count of the space packets exchanged with the MPSoC of the
+ *          PLOC.
+ *
+ * @author  J. Meier
+ */
+class MPSoCSequenceCount : public SourceSequenceCounter {
+public:
+    MPSoCSequenceCount();
+    virtual ~MPSoCSequenceCount();
+
+    ReturnValue_t compare(uint16_t recvSeqCount);
+};
+
+#endif /* BSP_Q7S_DEVICES_PLOC_MPSOCSEQUENCECOUNT_H_ */

bsp_q7s/devices/ploc/PlocMPSoCHandler.cpp

@@ -9,6 +9,7 @@ PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid
     if (comCookie == NULL) {
         sif::error << "PlocMPSoCHandler: Invalid com cookie" << std::endl;
     }
+    eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
 }
 
 PlocMPSoCHandler::~PlocMPSoCHandler() {
@@ -26,8 +27,8 @@ ReturnValue_t PlocMPSoCHandler::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
+    EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
-                    objects::EVENT_MANAGER);
+            objects::EVENT_MANAGER);
         if (manager == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
@@ -84,7 +85,7 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 
     switch(actionId) {
     case mpsoc::TC_FLASHWRITE: {
-        if (size > config::MAX_PATH_SIZE + config::MAX_FILE_NAME) {
+        if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
             return FILENAME_TOO_LONG;
         }
         result = plocMPSoCHelper->startFlashWrite(
@@ -205,7 +206,12 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t *start,
         return INVALID_APID;
 	}
 	}
-	result = checkPacketSequenceCount(start);
+	uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
+	result = sequenceCount.compare(recvSeqCnt);
+	if (result != RETURN_OK) {
+	    triggerEvent(SEQ_CNT_MISMATCH, sequenceCount, recvSeqCnt);
+	    sequenceCount = recvSeqCnt;
+	}
     return result;
 }
 
@@ -267,8 +273,8 @@ void PlocMPSoCHandler::handleEvent(EventMessage* eventMessage) {
 ReturnValue_t PlocMPSoCHandler::prepareTcMemWriteCommand(const uint8_t * commandData,
         size_t commandDataLen) {
     ReturnValue_t result = RETURN_OK;
-    sequenceCount.increment();
+    sequenceCount++;
-    mpsoc::TcMemWrite tcMemWrite(sequenceCount.get());
+    mpsoc::TcMemWrite tcMemWrite(sequenceCount);
     result = tcMemWrite.createPacket(commandData, commandDataLen);
     if (result != RETURN_OK) {
         return result;
@@ -280,8 +286,8 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemWriteCommand(const uint8_t * command
 ReturnValue_t PlocMPSoCHandler::prepareTcMemReadCommand(const uint8_t * commandData,
         size_t commandDataLen) {
     ReturnValue_t result = RETURN_OK;
-    sequenceCount.increment();
+    sequenceCount++;
-    mpsoc::TcMemRead tcMemRead(sequenceCount.get());
+    mpsoc::TcMemRead tcMemRead(sequenceCount);
     result = tcMemRead.createPacket(commandData, commandDataLen);
     if (result != RETURN_OK) {
         return result;
@@ -293,8 +299,8 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemReadCommand(const uint8_t * commandD
 ReturnValue_t PlocMPSoCHandler::prepareFlashFopenCmd(const uint8_t * commandData,
         size_t commandDataLen) {
     ReturnValue_t result = RETURN_OK;
-    sequenceCount.increment();
+    sequenceCount++;
-    mpsoc::FlashFopen flashFopen(sequenceCount.get());
+    mpsoc::FlashFopen flashFopen(sequenceCount);
     result = flashFopen.createPacket(commandData, commandDataLen);
     if (result != RETURN_OK) {
         return result;
@@ -306,8 +312,8 @@ ReturnValue_t PlocMPSoCHandler::prepareFlashFopenCmd(const uint8_t * commandData
 ReturnValue_t PlocMPSoCHandler::prepareFlashFcloseCmd(const uint8_t * commandData,
         size_t commandDataLen) {
     ReturnValue_t result = RETURN_OK;
-    sequenceCount.increment();
+    sequenceCount++;
-    mpsoc::FlashFclose flashFclose(sequenceCount.get());
+    mpsoc::FlashFclose flashFclose(sequenceCount);
     result = flashFclose.createPacket(commandData, commandDataLen);
     if (result != RETURN_OK) {
         return result;
@@ -607,16 +613,3 @@ void PlocMPSoCHandler::disableExeReportReply() {
     /* Expected replies is set to one here. The value will set to 0 in replyToReply() */
     info->command->second.expectedReplies = 0;
 }
-
-ReturnValue_t PlocMPSoCHandler::checkPacketSequenceCount(const uint8_t* data) {
-    uint16_t receivedSeqCnt = (*(data + 2) << 8 | *(data + 3)) & PACKET_SEQUENCE_COUNT_MASK;
-    uint16_t expectedSeqCnt = sequenceCount.get();
-    if (receivedSeqCnt != expectedSeqCnt) {
-        sif::warning << "PlocMPSoCHandler::checkPacketSequenceCount: Packet sequence count "
-                "mismatch. Received: " << receivedSeqCnt << ", Expected: "
-                << expectedSeqCnt << std::endl;
-        triggerEvent(SEQ_CNT_MISMATCH, expectedSeqCnt, receivedSeqCnt);
-    }
-    sequenceCount.reset(receivedSeqCnt);
-    return RETURN_OK;
-}

bsp_q7s/devices/ploc/PlocMPSoCHandler.h

@@ -1,12 +1,13 @@
 #ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 #define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
 
+#include <string>
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "bsp_q7s/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw/tmtcservices/SourceSequenceCounter.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "bsp_q7s/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#include "MPSoCSequenceCount.h"
 #include "PlocMPSoCHelper.h"
-#include <cstring>
 
 /**
  * @brief	This is the device handler for the MPSoC of the payload computer.
@@ -88,8 +89,11 @@ private:
     static const Event SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
 
     static const uint16_t APID_MASK = 0x7FF;
+    static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
 
-    SourceSequenceCounter sequenceCount;
+    MessageQueueIF* eventQueue = nullptr;
+
+    MPSoCSequenceCount sequenceCount;
 
     uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
 
@@ -198,21 +202,6 @@ private:
 	 *          the variable expectedReplies of an active command will be set to 0.
 	 */
 	void disableExeReportReply();
-
-	/**
-	 * @brief   This function checks and increments the packet sequence count of a received space
-	 *          packet.
-	 *
-	 * @param data  Pointer to a space packet.
-	 *
-	 * @return RETURN_OK if successful
-	 *
-	 * @details There should be never a case in which a wrong packet sequence count is received
-	 *          because the communication scheme between PLOC and OBC always follows a strict
-	 *          procedure. Thus this function mainly serves for debugging purposes to detected an
-	 *          invalid handling of the packet sequence count.
-	 */
-	ReturnValue_t checkPacketSequenceCount(const uint8_t* data);
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

bsp_q7s/devices/ploc/PlocMPSoCHelper.cpp

@@ -60,7 +60,7 @@ void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) {
     comCookie = comCookie_;
 }
 
-void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
+void PlocMPSoCHelper::setSequenceCount(MPSoCSequenceCount* sequenceCount_) {
     sequenceCount = sequenceCount_;
 }
 
@@ -86,24 +86,39 @@ void PlocMPSoCHelper::stopProcess() {
 
 ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
     ReturnValue_t result = RETURN_OK;
+    uint8_t tempData[mpsoc::MAX_DATA_SIZE];
     std::ifstream file(flashWrite.file, std::ifstream::binary);
     // Set position of next character to end of file input stream
     file.seekg(0, file.end);
     // tellg returns position of character in input stream
-    size_t imageSize = file.tellg();
+    size_t remainingSize = file.tellg();
-    sequenceCount->increment();
+    size_t dataLength = 0;
-    mpsoc::FlashWrite tc(sequenceCount->get());
+    while (remainingSize > 0) {
-    result = sendCommand(&tc);
+        if (terminate) {
-    if (result != RETURN_OK) {
+            return RETURN_OK;
-        return result;
+        }
-    }
+        if (remainingSize > mpsoc::MAX_DATA_SIZE) {
-    result = handleAck();
+            dataLength = mpsoc::MAX_DATA_SIZE;
-    if (result != RETURN_OK) {
+        }
-        return result;
+        else {
-    }
+            dataLength = remainingSize;
-    result = handleExe();
+        }
-    if (result != RETURN_OK) {
+        file.read(reinterpret_cast<char*>(tempData), dataLength);
-        return result;
+        sequenceCount++;
+        mpsoc::FlashWrite tc(*sequenceCount);
+        tc.createPacket(tempData, dataLength);
+        result = sendCommand(&tc);
+        if (result != RETURN_OK) {
+            return result;
+        }
+        result = handleAck();
+        if (result != RETURN_OK) {
+            return result;
+        }
+        result = handleExe();
+        if (result != RETURN_OK) {
+            return result;
+        }
     }
     return result;
 }
@@ -198,6 +213,13 @@ ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size
         sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
         return result;
     }
+    uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
+    result = sequenceCount->compare(recvSeqCnt);
+    if (result != RETURN_OK) {
+        triggerEvent(SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
+        *sequenceCount = recvSeqCnt;
+        return result;
+    }
     return result;
 }
 

bsp_q7s/devices/ploc/PlocMPSoCHelper.h

@@ -10,7 +10,7 @@
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "bsp_q7s/devices/devicedefinitions/PlocMPSoCDefinitions.h"
-#include "fsfw/tmtcservices/SourceSequenceCounter.h"
+#include "MPSoCSequenceCount.h"
 
 /**
  * @brief   Helper class for MPSoC of PLOC intended to accelerate large data transfers between
@@ -60,6 +60,10 @@ public:
     //!P1: Apid of received space packet
     //!P2: Internal state of MPSoC
     static const Event EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
+    //! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
+    //!P1: Expected sequence count
+    //!P2: Received sequence count
+    static const Event SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
 
     PlocMPSoCHelper(object_id_t objectId);
     virtual ~PlocMPSoCHelper();
@@ -87,7 +91,7 @@ public:
     /**
      * @brief   Sets the sequence count object responsible for the sequence count handling
      */
-    void setSequenceCount(SourceSequenceCounter* sequenceCount_);
+    void setSequenceCount(MPSoCSequenceCount* sequenceCount_);
 
 private:
 
@@ -99,7 +103,7 @@ private:
 
     class FlashWrite {
     public:
-        static const std::string file;
+        std::string file;
     };
 
     FlashWrite flashWrite;
@@ -128,7 +132,7 @@ private:
     // Communication cookie. Must be set by the MPSoC Handler
     CookieIF* comCookie = nullptr;
     // Sequence count, must be set by Ploc MPSoC Handler
-    SourceSequenceCounter* sequenceCount;
+    MPSoCSequenceCount* sequenceCount;
 
     ReturnValue_t performFlashWrite();
     ReturnValue_t sendCommand(mpsoc::TcBase* tc);

bsp_q7s/memory/FilesystemHelper.cpp

@@ -1,5 +1,8 @@
+#include <fstream>
+#include <filesystem>
 #include "FilesystemHelper.h"
 #include "bsp_q7s/memory/SdCardManager.h"
+#include "fsfw/serviceinterface/serviceInterfaceStream.h"
 
 FilesystemHelper::FilesystemHelper() {
 }
@@ -8,7 +11,7 @@ FilesystemHelper::~FilesystemHelper() {
 }
 
 ReturnValue_t FilesystemHelper::checkPath(std::string path) {
-    SdCardManager sdcMan = SdCardManager::instance();
+    SdCardManager* sdcMan = SdCardManager::instance();
     if (sdcMan == nullptr) {
         sif::warning << "FilesystemHelper::checkPath: Invalid SD card manager" << std::endl;
         return RETURN_FAILED;
@@ -30,5 +33,8 @@ ReturnValue_t FilesystemHelper::checkPath(std::string path) {
 }
 
 ReturnValue_t FilesystemHelper::fileExists(std::string file) {
-
+    if (not std::filesystem::exists(file)) {
+        return FILE_NOT_EXISTS;
+    }
+    return RETURN_OK;
 }

bsp_q7s/memory/FilesystemHelper.h

@@ -1,6 +1,7 @@
 #ifndef BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_
 #define BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_
 
+#include <string>
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
@@ -32,7 +33,7 @@ public:
      *          Return error code if path points to SD card and the corresponding SD card is not
      *          mounted.
      */
-    static const ReturnValue_t checkPath(std::string path);
+    static ReturnValue_t checkPath(std::string path);
 
     /**
      * @brief   Checks if the file exists on the filesystem.
@@ -41,7 +42,7 @@ public:
      *
      * @return  RETURN_OK if fiel exists, otherwise return error code.
      */
-    static const ReturnValue_t fileExists(std::string file);
+    static ReturnValue_t fileExists(std::string file);
 };
 
 #endif /* BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_ */

cmake/scripts/Q7S/win_path_helper_xilinx_tools.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
-export PATH=$PATH:"/c/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+export PATH=$PATH:"/c/Users/Xilinx/SDK/2018.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
 export CROSS_COMPILE="arm-linux-gnueabihf"
 
-export Q7S_SYSROOT="/c/Users/${USER}/Documents/EIVE/cortexa9hf-neon-xiphos-linux-gnueabi"
+#export Q7S_SYSROOT="/c/Users/${USER}/Documents/EIVE/cortexa9hf-neon-xiphos-linux-gnueabi"