Robin Mueller
5cc7331e90
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398 lines
15 KiB
C++
398 lines
15 KiB
C++
#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
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#define BSP_Q7S_DEVICES_STRHELPER_H_
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#include <string>
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#include "ArcsecDatalinkLayer.h"
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#include "bsp_q7s/memory/SdCardManager.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/HasReturnvaluesIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw_hal/linux/uart/UartComIF.h"
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extern "C" {
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#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
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#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
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}
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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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class StrHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
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public:
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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 write procedure failed
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static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
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//! [EXPORT] : [COMMENT] Flash read procedure failed
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static const Event FLASH_READ_FAILED = MAKE_EVENT(7, severity::LOW);
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//! [EXPORT] : [COMMENT] Download of FPGA image successful
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static const Event FPGA_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(8, severity::LOW);
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//! [EXPORT] : [COMMENT] Download of FPGA image failed
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static const Event FPGA_DOWNLOAD_FAILED = MAKE_EVENT(9, severity::LOW);
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//! [EXPORT] : [COMMENT] Upload of FPGA image successful
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static const Event FPGA_UPLOAD_SUCCESSFUL = MAKE_EVENT(10, severity::LOW);
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//! [EXPORT] : [COMMENT] Upload of FPGA image failed
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static const Event FPGA_UPLOAD_FAILED = MAKE_EVENT(11, 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(12, 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(13, severity::LOW);
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//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
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//! P1: Position of upload or download packet for which no reply was sent
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static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(14, 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(15, 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(16, 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(17, 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(18, 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(19, severity::LOW);
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StrHelper(object_id_t objectId);
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virtual ~StrHelper();
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ReturnValue_t initialize() override;
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
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void setComCookie(CookieIF* comCookie_);
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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 Starts the flash write procedure
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*
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* @param fullname Full name including absolute path of file to write to flash
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* @param region Region ID of flash region to write to
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* @param address Start address of flash write procedure
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*/
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ReturnValue_t startFlashWrite(std::string fullname, uint8_t region, uint32_t address);
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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 region Region ID of flash region to read from
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* @param address Start address of flash section to read
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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 region, uint32_t address, uint32_t length);
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/**
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* @brief Starts the download of the FPGA image
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*
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* @param path The path where the file with the downloaded data will be created
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* @param startPosition Offset in fpga image to read from
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* @param length Number of bytes to dwonload from the FPGA image
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*
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*/
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ReturnValue_t startFpgaDownload(std::string path, uint32_t startPosition, uint32_t length);
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/**
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* @brief Starts upload of new image to FPGA
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*
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* @param uploadFile Full name of file containing FPGA image data
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*/
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ReturnValue_t startFpgaUpload(std::string uploadFile);
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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 Set download FPGA image name
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*/
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void setDownloadFpgaImage(std::string filename);
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private:
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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(0xA0);
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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(0xA1);
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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(0xA2);
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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(0xA3);
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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(0xA4);
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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(0xA5);
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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(0xA6);
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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(0xA7);
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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(0xA8);
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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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class ImageDownload {
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public:
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static const uint32_t LAST_POSITION = 4095;
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};
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class FpgaDownload {
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public:
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static const uint16_t MAX_DATA = 1024;
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static const uint8_t DATA_OFFSET = 10;
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// Start position of fpga image part to download
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uint32_t startPosition = 0;
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// Length of image part to download
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uint32_t length = 0;
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// Path where downloaded FPGA image will be stored
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std::string path;
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// Name of file containing downloaded FPGA image
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std::string fileName = "fpgaimage.bin";
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};
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FpgaDownload fpgaDownload;
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class FpgaUpload {
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public:
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static const uint32_t MAX_DATA = 1024;
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// Full name of file to upload
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std::string uploadFile;
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};
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FpgaUpload fpgaUpload;
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static const uint32_t MAX_POLLS = 10000;
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static const uint8_t ACTION_DATA_OFFSET = 2;
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static const uint8_t POS_OFFSET = 2;
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static const uint8_t IMAGE_DATA_OFFSET = 5;
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static const uint8_t FLASH_READ_DATA_OFFSET = 8;
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static const uint8_t REGION_OFFSET = 2;
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static const uint8_t ADDRESS_OFFSET = 3;
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static const uint8_t LENGTH_OFFSET = 7;
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static const size_t IMAGE_DATA_SIZE = 1024;
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static const size_t MAX_FLASH_DATA = 1024;
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static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
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enum class InternalState {
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IDLE,
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UPLOAD_IMAGE,
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DOWNLOAD_IMAGE,
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FLASH_WRITE,
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FLASH_READ,
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DOWNLOAD_FPGA_IMAGE,
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UPLOAD_FPGA_IMAGE
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};
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InternalState internalState = InternalState::IDLE;
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ArcsecDatalinkLayer datalinkLayer;
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BinarySemaphore semaphore;
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class UploadImage {
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public:
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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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class DownloadImage {
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public:
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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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class FlashWrite {
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public:
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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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// Will be set with the flash write command
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uint8_t region = 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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class FlashRead {
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public:
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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 region = 0;
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// Will be set with the flash read command and specifies the start address of the flash section
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// to read
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uint32_t address = 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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SdCardManager* sdcMan = nullptr;
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uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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bool terminate = false;
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/**
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* UART communication object responsible for low level access of star tracker
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* Must be set by star tracker handler
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*/
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UartComIF* uartComIF = nullptr;
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// Communication cookie. Must be set by the star tracker handler
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CookieIF* comCookie = nullptr;
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// Queue id of raw data receiver
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MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
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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 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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* @return RETURN_OK if successful, otherwise RETURN_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 Performs the download of the FPGA image which requires to be slip over multiple
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* action requests.
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*/
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ReturnValue_t performFpgaDownload();
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/**
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* @brief Performs upload of new FPGA image. Upload sequence split over multiple commands
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* because one command can only transport 1024 bytes of image data.
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*/
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ReturnValue_t performFpgaUpload();
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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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*
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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 RETURN_OK if successful, otherwise RETURN_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 RETURN_OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
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*/
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ReturnValue_t checkActionReply();
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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 RETURN_OK if received position matches expected position, otherwise RETURN_FAILED
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*/
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ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
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/**
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* @brief Checks the region, address and length value of a flash write or read reply.
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*
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* @return RETURN_OK if values match expected values, otherwise appropriate error return
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* value.
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*/
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ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
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/**
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* @brief Checks the reply to the fpga download and upload request
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*
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* @param expectedPosition The expected position value in the reply
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* @param expectedLength The expected length field in the reply
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*/
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ReturnValue_t checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength);
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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 RETURN_OK
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*/
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ReturnValue_t checkPath(std::string name);
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};
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#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */
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