bsp_te0720_1cfa/InitMission.cpp

@@ -98,12 +98,14 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_MPSOC == 1*/
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
   PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
       "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
   }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
@@ -119,7 +121,9 @@ void initmission::initTasks() {
   tmtcDistributor->startTask();
   tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
 #if OBSW_ADD_PLOC_MPSOC == 1
   mpsocHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -52,7 +52,6 @@ new UartComIF(objects::UART_COM_IF);
                                                uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocUartCookie->setNoFixedSizeReply();
   PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new UartComIF(objects::UART_COM_IF);
   auto dummyGpioIF = new DummyGpioIF();
   PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
       objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,

linux/devices/devicedefinitions/PlocSupervisorDefinitions.h

@@ -35,7 +35,6 @@ static const DeviceCommandId_t COPY_ADC_DATA_TO_MRAM = 25;
 static const DeviceCommandId_t RUN_AUTO_EM_TESTS = 28;
 static const DeviceCommandId_t WIPE_MRAM = 29;
 static const DeviceCommandId_t FIRST_MRAM_DUMP = 30;
-static const DeviceCommandId_t PRINT_CPU_STATS = 33;
 static const DeviceCommandId_t SET_GPIO = 34;
 static const DeviceCommandId_t READ_GPIO = 35;
 static const DeviceCommandId_t RESTART_SUPERVISOR = 36;
@@ -72,7 +71,7 @@ static const uint16_t SIZE_EXE_REPORT = 14;
 static const uint16_t SIZE_HK_REPORT = 52;
 static const uint16_t SIZE_BOOT_STATUS_REPORT = 24;
 static const uint16_t SIZE_LATCHUP_STATUS_REPORT = 31;
-static const uint16_t SIZE_LOGGING_REPORT = 45;
+static const uint16_t SIZE_LOGGING_REPORT = 73;
 static const uint16_t SIZE_ADC_REPORT = 72;
 
 /**
@@ -126,7 +125,6 @@ static const uint16_t APID_REQUEST_ADC_REPORT = 0xDB;
 static const uint16_t APID_RUN_AUTO_EM_TESTS = 0xF2;
 static const uint16_t APID_WIPE_MRAM = 0xF3;
 static const uint16_t APID_DUMP_MRAM = 0xF4;
-static const uint16_t APID_PRINT_CPU_STATS = 0xF8;
 static const uint16_t APID_SET_GPIO = 0xF9;
 static const uint16_t APID_READ_GPIO = 0xFA;
 static const uint16_t APID_RESTART_SUPERVISOR = 0xFB;
@@ -766,45 +764,6 @@ class RunAutoEmTests : public SpacePacket {
   }
 };
 
-/**
- * @brief   This class packages the space packet causing the supervisor to print the CPU load to
- *          the debug output.
- */
-class PrintCpuStats : public SpacePacket {
- public:
-  /**
-   * @brief   Constructor
-   *
-   * @param en    Print is enabled if en != 0
-   */
-  PrintCpuStats(uint8_t en)
-      : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_PRINT_CPU_STATS, DEFAULT_SEQUENCE_COUNT),
-        en(en) {
-    initPacket();
-  }
-
- private:
-  static const uint16_t DATA_FIELD_LENGTH = 3;
-  static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
-
-  static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
-
-  uint8_t en = 0;
-
-  void initPacket() {
-    size_t serializedSize = 0;
-    uint8_t* dataFieldPtr = this->localData.fields.buffer;
-    SerializeAdapter::serialize<uint8_t>(&en, &dataFieldPtr, &serializedSize, sizeof(en),
-                                         SerializeIF::Endianness::BIG);
-    serializedSize = 0;
-    uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
-                                   sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
-    uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
-    SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
-                                          SerializeIF::Endianness::BIG);
-  }
-};
-
 /**
  * @brief   This class packages the space packet to wipe or dump parts of the MRAM.
  */
@@ -1806,19 +1765,19 @@ class LoggingReport : public StaticLocalDataSet<LOGGING_RPT_SET_ENTRIES> {
   void printSet() {
     sif::info << "LoggingReport: Latchup happened count 0: " << this->latchupHappenCnt0
               << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 1: " << this->latchupHappenCnt0
+    sif::info << "LoggingReport: Latchup happened count 1: " << this->latchupHappenCnt1
               << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 2: " << this->latchupHappenCnt0
+    sif::info << "LoggingReport: Latchup happened count 2: " << this->latchupHappenCnt2
               << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 3: " << this->latchupHappenCnt0
+    sif::info << "LoggingReport: Latchup happened count 3: " << this->latchupHappenCnt3
               << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 4: " << this->latchupHappenCnt0
+    sif::info << "LoggingReport: Latchup happened count 4: " << this->latchupHappenCnt4
               << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 5: " << this->latchupHappenCnt0
+    sif::info << "LoggingReport: Latchup happened count 5: " << this->latchupHappenCnt5
               << std::endl;
-    sif::info << "LoggingReport: Latchup happened count 6: " << this->latchupHappenCnt0
+    sif::info << "LoggingReport: Latchup happened count 6: " << this->latchupHappenCnt6
               << std::endl;
-    sif::info << "LoggingReport: ADC deviation triggers count: " << this->latchupHappenCnt0
+    sif::info << "LoggingReport: ADC deviation triggers count: " << this->adcDeviationTriggersCnt
               << std::endl;
     sif::info << "LoggingReport: TC received count: " << this->tcReceivedCnt << std::endl;
     sif::info << "LoggingReport: TM available count: " << this->tmAvailableCnt << std::endl;
@@ -1828,7 +1787,8 @@ class LoggingReport : public StaticLocalDataSet<LOGGING_RPT_SET_ENTRIES> {
               << std::endl;
     sif::info << "LoggingReport: MPSoC power up: " << this->mpsocPowerup << std::endl;
     sif::info << "LoggingReport: MPSoC updates: " << this->mpsocUpdates << std::endl;
-    sif::info << "LoggingReport: Last received TC: " << this->lastRecvdTc << std::endl;
+    sif::info << "LoggingReport: APID of last received TC: 0x" << std::hex << this->lastRecvdTc
+              << std::endl;
   }
 };
 
@@ -1932,7 +1892,7 @@ class AdcReport : public StaticLocalDataSet<ADC_RPT_SET_ENTRIES> {
 
   void printSet() {
     sif::info << "---- Adc Report: Raw values ----" << std::endl;
-    sif::info << "AdcReport: ADC raw 0: " << this->adcRaw0 << std::endl;
+    sif::info << "AdcReport: ADC raw 0: " << std::dec << this->adcRaw0 << std::endl;
     sif::info << "AdcReport: ADC raw 1: " << this->adcRaw1 << std::endl;
     sif::info << "AdcReport: ADC raw 2: " << this->adcRaw2 << std::endl;
     sif::info << "AdcReport: ADC raw 3: " << this->adcRaw3 << std::endl;

linux/devices/ploc/PlocSupervisorHandler.cpp

@@ -416,7 +416,6 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
   this->insertInCommandMap(REQUEST_ADC_REPORT);
   this->insertInCommandMap(RUN_AUTO_EM_TESTS);
   this->insertInCommandMap(WIPE_MRAM);
-  this->insertInCommandMap(PRINT_CPU_STATS);
   this->insertInCommandMap(SET_GPIO);
   this->insertInCommandMap(READ_GPIO);
   this->insertInCommandMap(RESTART_SUPERVISOR);
@@ -537,7 +536,6 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
     case COPY_ADC_DATA_TO_MRAM:
     case RUN_AUTO_EM_TESTS:
     case WIPE_MRAM:
-    case PRINT_CPU_STATS:
     case SET_GPIO:
     case READ_GPIO:
     case RESTART_SUPERVISOR:
@@ -837,6 +835,9 @@ void PlocSupervisorHandler::setExecutionTimeout(DeviceCommandId_t command) {
     case CONSECUTIVE_MRAM_DUMP:
       executionTimeout.setTimeout(MRAM_DUMP_EXECUTION_TIMEOUT);
       break;
+    case COPY_ADC_DATA_TO_MRAM:
+      executionTimeout.setTimeout(COPY_ADC_TO_MRAM_TIMEOUT);
+      break;
     default:
       executionTimeout.setTimeout(EXECUTION_DEFAULT_TIMEOUT);
       break;
@@ -873,13 +874,14 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
   result = ack.checkApid();
 
   switch (result) {
-    case SupvReturnValuesIF::CRC_FAILURE: {
+    case SupvReturnValuesIF::RECEIVED_ACK_FAILURE: {
-      // TODO: Interpretation of status field in acknowledgment report
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
-      sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report"
+      sif::debug << "PlocSupervisorHandler: Received Ack failure report with status code: 0x"
-                 << std::endl;
+          << std::hex << ack.getStatusCode() << std::endl;
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
       DeviceCommandId_t commandId = getPendingCommand();
       if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
-        triggerEvent(SUPV_ACK_FAILURE, commandId);
+        triggerEvent(SUPV_ACK_FAILURE, commandId, static_cast<uint32_t>(ack.getStatusCode()));
       }
       sendFailureReport(supv::ACK_REPORT, SupvReturnValuesIF::RECEIVED_ACK_FAILURE);
       disableAllReplies();
@@ -930,7 +932,7 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
       break;
     }
     case (SupvReturnValuesIF::RECEIVED_EXE_FAILURE): {
-      handleExecutionFailureReport();
+      handleExecutionFailureReport(exe.getStatusCode());
       result = RETURN_OK;
       break;
     }
@@ -1172,7 +1174,7 @@ ReturnValue_t PlocSupervisorHandler::handleLoggingReport(const uint8_t* data) {
   result = verifyPacket(data, supv::SIZE_LOGGING_REPORT);
 
   if (result == SupvReturnValuesIF::CRC_FAILURE) {
-    sif::error << "PlocSupervisorHandler::handleLoggingReport: Logging report has "
+    sif::warning << "PlocSupervisorHandler::handleLoggingReport: Logging report has "
                << "invalid crc" << std::endl;
     return result;
   }
@@ -1853,7 +1855,21 @@ void PlocSupervisorHandler::handleExecutionSuccessReport(const uint8_t* data) {
 #if OBSW_DEBUG_PLOC_SUPERVISOR == 1
       sif::info << "PlocSupervisorHandler: Read GPIO TM, State: " << gpioState << std::endl;
 #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
-      handleDeviceTM(reinterpret_cast<uint8_t*>(&gpioState), sizeof(gpioState), supv::EXE_REPORT);
+      DeviceCommandMap::iterator iter = deviceCommandMap.find(commandId);
+      if (iter->second.sendReplyTo == NO_COMMAND_ID) {
+        return;
+      }
+      uint8_t data[sizeof(gpioState)];
+      size_t size = 0;
+      ReturnValue_t result = SerializeAdapter::serialize(
+          &gpioState, data, &size, sizeof(gpioState), SerializeIF::Endianness::BIG);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl;
+      }
+      result = actionHelper.reportData(iter->second.sendReplyTo, commandId, data, sizeof(data));
+      if (result != RETURN_OK) {
+        sif::warning << "PlocSupervisorHandler: Read GPIO, failed to report data" << std::endl;
+      }
       break;
     }
     case supv::SET_TIME_REF: {
@@ -1867,13 +1883,11 @@ void PlocSupervisorHandler::handleExecutionSuccessReport(const uint8_t* data) {
   }
 }
 
-void PlocSupervisorHandler::handleExecutionFailureReport() {
+void PlocSupervisorHandler::handleExecutionFailureReport(uint16_t statusCode) {
   using namespace supv;
   DeviceCommandId_t commandId = getPendingCommand();
   if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
-    triggerEvent(SUPV_EXE_FAILURE, commandId);
+    triggerEvent(SUPV_EXE_FAILURE, commandId, static_cast<uint32_t>(statusCode));
-  } else {
-    sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id" << std::endl;
   }
   sendFailureReport(EXE_REPORT, SupvReturnValuesIF::RECEIVED_EXE_FAILURE);
   disableExeReportReply();

linux/devices/ploc/PlocSupervisorHandler.h

@@ -66,6 +66,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
   static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC received execution failure report
+  //! P1: ID of command for which the execution failed
+  //! P2: Status code sent by the supervisor handler
   static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
   static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
@@ -82,6 +84,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   static const uint32_t EXECUTION_DEFAULT_TIMEOUT = 5000;
   // 30 s
   static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 30000;
+  // 70 s
+  static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
   // 2 s
   static const uint32_t BOOT_TIMEOUT = 2000;
   enum class StartupState: uint8_t {
@@ -363,7 +367,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t eventSubscription();
 
   void handleExecutionSuccessReport(const uint8_t* data);
-  void handleExecutionFailureReport();
+  void handleExecutionFailureReport(uint16_t statusCode);
 };
 
 #endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

linux/devices/ploc/PlocSupvHelper.cpp

@@ -161,6 +161,7 @@ ReturnValue_t PlocSupvHelper::performUpdate() {
   supv::SequenceFlags seqFlags = supv::SequenceFlags::FIRST_PKT;
   while (remainingSize > 0) {
     if (terminate) {
+      terminate = false;
       return PROCESS_TERMINATED;
     }
     if (remainingSize > supv::WriteMemory::CHUNK_MAX) {

linux/fsfwconfig/OBSWConfig.h.in

@@ -76,7 +76,7 @@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
 #define OBSW_ADD_STAR_TRACKER                       0
 #define OBSW_ADD_PLOC_SUPERVISOR                    1
-#define OBSW_ADD_PLOC_MPSOC                         1
+#define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        0
 #define OBSW_ADD_ACS_BOARD                          1
 #define OBSW_ADD_ACS_HANDLERS                       0

tmtc

@@ -1 +1 @@
-Subproject commit c7a19f7122fccf3888a4f49d0c88f593bad1e91a
+Subproject commit 9c3a8e9ff2934b24af2e2eff78b570510b41cad8