Robin Mueller
9270165bf8
- Reset reply size after returning a reply - Reset data link layer and flush RX for regular commands and before performing special commands to ensure consistent start state - Clean up DHB a bit - Set STR dev to OFF in assembly when it is faulty.
382 lines
14 KiB
C++
382 lines
14 KiB
C++
#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
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#define BSP_Q7S_DEVICES_STRHELPER_H_
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#include <mission/acs/str/ArcsecDatalinkLayer.h>
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#include <string>
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#include "OBSWConfig.h"
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#ifdef XIPHOS_Q7S
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#include "bsp_q7s/fs/SdCardManager.h"
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#endif
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#include "arcsec/client/generated/actionreq.h"
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#include "arcsec/common/generated/tmtcstructs.h"
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#include "fsfw/devicehandlers/CookieIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/osal/linux/BinarySemaphore.h"
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw_hal/linux/serial/SerialComIF.h"
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/**
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* @brief Helper class for the star tracker handler to accelerate large data transfers.
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*
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* @author J. Meier
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*/
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class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
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//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
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static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1);
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//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
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static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2);
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//! [EXPORT] : [COMMENT] Specified path does not exist
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static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3);
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//! [EXPORT] : [COMMENT] Failed to create download image or read flash file
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static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4);
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//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
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static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5);
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//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
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static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6);
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//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
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static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7);
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//! [EXPORT] : [COMMENT] Status field in reply signals error
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static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8);
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//! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
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static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9);
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static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10);
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static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
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//! [EXPORT] : [COMMENT] Image upload failed
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static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
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//! [EXPORT] : [COMMENT] Image download failed
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static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] Uploading image to star tracker was successfulop
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static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] Image download was successful
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static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
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//! [EXPORT] : [COMMENT] Finished flash write procedure successfully
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static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
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//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
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static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
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//! [EXPORT] : [COMMENT] Flash read procedure failed
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static const Event FLASH_READ_FAILED = MAKE_EVENT(6, severity::LOW);
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//! [EXPORT] : [COMMENT] Firmware update was successful
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static const Event FIRMWARE_UPDATE_SUCCESSFUL = MAKE_EVENT(7, severity::LOW);
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//! [EXPORT] : [COMMENT] Firmware update failed
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static const Event FIRMWARE_UPDATE_FAILED = MAKE_EVENT(8, severity::LOW);
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//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
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//! P1: Return code of failed communication interface read call
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//! P1: Upload/download position for which the read call failed
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static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(9, severity::LOW);
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//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
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//! P1: Return code of failed communication interface read call
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//! P1: Upload/download position for which the read call failed
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static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW);
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//! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout.
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//! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout
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static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW);
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//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
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//! P1: Return value of decoding function
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//! P2: Position of upload/download packet, or address of flash write/read request
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static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
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//! [EXPORT] : [COMMENT] Position mismatch
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//! P1: The expected position and thus the position for which the image upload/download failed
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static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
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//! [EXPORT] : [COMMENT] Specified file does not exist
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//! P1: Internal state of str helper
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static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
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//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
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//! P1: Return code of communication interface sendMessage function
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//! P2: Position of upload/download packet, or address of flash write/read request for which
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//! sending failed
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static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
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//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
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//! P1: Return code of failed request
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//! P1: Upload/download position, or address of flash write/read request for which transmission
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//! failed
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static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);
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StrComHandler(object_id_t objectId);
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virtual ~StrComHandler();
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ReturnValue_t initialize() override;
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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/**
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* @brief Starts sequence to upload image to star tracker
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*
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* @param uploadImage_ Name including absolute path of the image to upload. Must be previously
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* transferred to the OBC with the CFDP protocol.
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*/
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ReturnValue_t startImageUpload(std::string uploadImage_);
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/**
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* @brief Calling this function initiates the download of an image from the star tracker.
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*
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* @param path Path where downloaded image will be stored
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*/
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ReturnValue_t startImageDownload(std::string path);
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/**
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* @brief Will start the firmware update
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*
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* @param fullname Full name including absolute path of file containing firmware
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* update.
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*/
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ReturnValue_t startFirmwareUpdate(std::string fullname);
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/**
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* @brief Starts the flash read procedure
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*
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* @param path Path where file with read flash data will be created
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* @param startRegion Region form where to start reading
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* @param length Number of bytes to read from flash
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*/
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ReturnValue_t startFlashRead(std::string path, uint8_t startRegion, uint32_t length);
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/**
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* @brief Can be used to interrupt a running data transfer.
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*/
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void stopProcess();
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/**
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* @brief Changes the dafault name of downloaded images
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*/
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void setDownloadImageName(std::string filename);
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/**
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* @brief Sets the name of the file which will be created to store the data read from flash
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*/
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void setFlashReadFilename(std::string filename);
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/**
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* @brief Disables timestamp generation when new file is created
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*/
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void disableTimestamping();
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/**
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* @brief Enables timestamp generation when new file is created
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*/
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void enableTimestamping();
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private:
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//! [EXPORT] : [SKIP]
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static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128);
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// Size of one image part which can be sent per action request
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static const size_t SIZE_IMAGE_PART = 1024;
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static const uint32_t FLASH_REGION_SIZE = 0x20000;
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struct ImageDownload {
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static const uint32_t LAST_POSITION = 4095;
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};
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static const uint32_t MAX_POLLS = 10000;
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static const uint8_t ACTION_DATA_OFFSET = 3;
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static const uint8_t POS_OFFSET = 3;
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static const uint8_t IMAGE_DATA_OFFSET = 6;
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static const uint8_t FLASH_READ_DATA_OFFSET = 9;
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static const uint8_t REGION_OFFSET = 3;
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static const uint8_t ADDRESS_OFFSET = 4;
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static const size_t CHUNK_SIZE = 1024;
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static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
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static const uint32_t FLASH_ERASE_DELAY = 500;
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enum class InternalState {
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SLEEPING,
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POLL_ONE_REPLY,
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UPLOAD_IMAGE,
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DOWNLOAD_IMAGE,
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FLASH_READ,
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FIRMWARE_UPDATE
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};
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InternalState state = InternalState::SLEEPING;
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ArcsecDatalinkLayer datalinkLayer;
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MutexIF *lock;
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BinarySemaphore semaphore;
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Countdown replyTimeout = Countdown(20);
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struct UploadImage {
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// Name including absolute path of image to upload
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std::string uploadFile;
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};
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UploadImage uploadImage;
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struct DownloadImage {
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// Path where the downloaded image will be stored
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std::string path;
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// Default name of downloaded image, can be changed via command
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std::string filename = "image.bin";
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};
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DownloadImage downloadImage;
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struct FlashWrite {
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// File which contains data to write when executing the flash write command
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std::string fullname;
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// The first region to write to
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uint8_t firstRegion = 0;
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// Maximum region the flash write command is allowed to write to
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uint8_t lastRegion = 0;
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// Will be set with the flash write command and specifies the start address where to write the
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// flash data to
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uint32_t address = 0;
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};
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FlashWrite flashWrite;
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struct FlashRead {
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// Path where the file containing the read data will be stored
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std::string path = "";
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// Default name of file containing the data read from flash, can be changed via command
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std::string filename = "flashread.bin";
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// Will be set with the flash read command
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uint8_t startRegion = 0;
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// Number of bytes to read from flash
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uint32_t size = 0;
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};
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FlashRead flashRead;
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#ifdef XIPHOS_Q7S
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SdCardManager *sdcMan = nullptr;
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#endif
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std::array<uint8_t, startracker::MAX_FRAME_SIZE> cmdBuf{};
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std::array<uint8_t, 4096> recBuf{};
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bool replyWasReceived = false;
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const uint8_t *replyPtr = nullptr;
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size_t replyLen = 0;
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ReturnValue_t replyResult = returnvalue::OK;
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bool terminate = false;
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#ifdef EGSE
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bool timestamping = false;
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#else
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bool timestamping = true;
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#endif
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int serialPort = 0;
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struct termios tty = {};
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// Queue id of raw data receiver
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MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
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ReturnValue_t initializeInterface(CookieIF *cookie) override;
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ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF *cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
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ReturnValue_t handleSerialReception();
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/**
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* @brief Performs image uploading
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*/
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ReturnValue_t performImageUpload();
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/**
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* @brief Performs firmware update
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*
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* @return returnvalue::OK if successful, otherwise error return value
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*/
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ReturnValue_t performFirmwareUpdate();
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/**
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* @brief Performs download of last taken image from the star tracker.
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*
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* @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
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* In case the download of one position fails, the same packet will be again
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* requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
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* the download will be stopped.
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*/
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ReturnValue_t performImageDownload();
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/**
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* @brief Handles flash write procedure
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*
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* @param ID of first region to write to
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*
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* @return returnvalue::OK if successful, otherwise returnvalue::FAILED
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*/
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ReturnValue_t performFlashWrite();
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/**
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* @brief Sends a sequence of commands to the star tracker to read larger parts from the
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* flash memory.
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*/
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ReturnValue_t performFlashRead();
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/**
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* @brief Sends packet to the star tracker and reads reply by using the communication
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* interface
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* @details
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* The reply frame is stored in the data link layer helper. A pointer to the start of the frame
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* is assigned to the @replyPtr member of this class. The frame length will be assigned to
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* the @replyLen member.
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* @param size Size of data beforehand written to the commandBuffer
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* @param parameter Parameter 2 of trigger event function
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*
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* @return returnvalue::OK if successful, otherwise returnvalue::FAILED
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*/
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ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
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/**
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* @brief Checks the header (type id and status fields) of the action reply
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*
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* @return returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
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*/
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ReturnValue_t checkActionReply(size_t replySize);
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/**
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* @brief Checks the position field in a star tracker upload/download reply.
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*
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* @param expectedPosition Value of expected position
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*
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* @return returnvalue::OK if received position matches expected position, otherwise
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* returnvalue::FAILED
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*/
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ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
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#ifdef XIPHOS_Q7S
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/**
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* @brief Checks if a path points to an sd card and whether the SD card is monuted.
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*
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* @return SD_NOT_MOUNTED id SD card is not mounted, otherwise returnvalue::OK
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*/
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ReturnValue_t checkPath(std::string name);
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#endif
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/**
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* @brief Unlocks a range of flash regions
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*
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* @param from First region in range to unlock
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* @param to Last region in range to unlock
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*
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*/
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ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
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/**
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* The reply frame is stored in the data link layer helper. A pointer to the start of the frame
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* is assigned to the @replyPtr member of this class. The frame length will be assigned to
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* the @replyLen member.
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* @param failParameter
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* @return
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*/
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ReturnValue_t readOneReply(uint32_t failParameter);
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void resetReplyHandlingState();
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};
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#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */
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