506 lines
19 KiB
C++
506 lines
19 KiB
C++
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_
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#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_
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#include <fsfw/tmtcpacket/SpacePacket.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/serialize/SerializeAdapter.h>
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#include <fsfw/timemanager/Clock.h>
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namespace PLOC_SPV {
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/** Command IDs */
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static const DeviceCommandId_t NONE = 0;
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static const DeviceCommandId_t GET_HK_REPORT = 1;
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static const DeviceCommandId_t RESTART_MPSOC = 2;
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static const DeviceCommandId_t START_MPSOC = 3;
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static const DeviceCommandId_t SHUTDOWN_MPSOC = 4;
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static const DeviceCommandId_t SEL_MPSOC_BOOT_IMAGE = 5;
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static const DeviceCommandId_t SET_BOOT_TIMEOUT = 6;
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static const DeviceCommandId_t SET_MAX_RESTART_TRIES = 7;
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static const DeviceCommandId_t RESET_MPSOC = 8;
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static const DeviceCommandId_t SET_TIME_REF = 9;
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static const DeviceCommandId_t DISABLE_PERIOIC_HK_TRANSMISSION = 10;
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static const DeviceCommandId_t GET_BOOT_STATUS_REPORT = 11;
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/** Notifies the supervisor that a new update is available for the MPSoC */
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static const DeviceCommandId_t UPDATE_AVAILABLE = 12;
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/** Reply IDs */
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static const DeviceCommandId_t ACK_REPORT = 50;
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static const DeviceCommandId_t EXE_REPORT = 51;
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static const DeviceCommandId_t HK_REPORT = 52;
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static const DeviceCommandId_t BOOT_STATUS_REPORT = 53;
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static const uint16_t SIZE_ACK_REPORT = 14;
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static const uint16_t SIZE_EXE_REPORT = 14;
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static const uint16_t SIZE_HK_REPORT = 48;
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static const uint16_t SIZE_BOOT_STATUS_REPORT = 22;
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/**
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* SpacePacket apids of telemetry packets
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*/
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static const uint16_t APID_ACK_SUCCESS = 0x200;
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static const uint16_t APID_ACK_FAILURE = 0x201;
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static const uint16_t APID_EXE_SUCCESS = 0x202;
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static const uint16_t APID_EXE_FAILURE = 0x203;
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static const uint16_t APID_HK_REPORT = 0x204;
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static const uint16_t APID_BOOT_STATUS_REPORT = 0x205;
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static const uint16_t APID_UPDATE_STATUS_REPORT = 0x206;
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static const uint16_t APID_WDG_STATUS_REPORT = 0x207;
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static const uint16_t APID_LATCHUP_STATUS_REPORT = 0x208;
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static const uint16_t APID_SOC_SYSMON = 0x209;
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static const uint16_t APID_MRAM = 0x20A;
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static const uint16_t APID_SRAM = 0x20B;
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static const uint16_t APID_NOR_DATA = 0x20C;
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static const uint16_t APID_DATA_LOGGER_DATA = 0x20D;
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/**
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* APIDs of telecommand packets
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*/
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static const uint16_t APID_RESTART_MPSOC = 0xA0;
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static const uint16_t APID_START_MPSOC = 0xA1;
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static const uint16_t APID_SHUTWOWN_MPSOC = 0xA2;
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static const uint16_t APID_SEL_MPSOC_BOOT_IMAGE = 0xA3;
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static const uint16_t APID_SET_BOOT_TIMEOUT = 0xA4;
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static const uint16_t APID_SET_MAX_RESTART_TRIES = 0xA5;
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static const uint16_t APID_RESET_MPSOC = 0xA6;
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static const uint16_t APID_GET_BOOT_STATUS_RPT = 0xA8;
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static const uint16_t APID_UPDATE_AVAILABLE = 0xB0;
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static const uint16_t APID_UPDATE_IMAGE_DATA = 0xB1;
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static const uint16_t APID_UPDATE_VERIFY = 0xB2;
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static const uint16_t APID_WTD_ENABLE = 0xC0;
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static const uint16_t APID_WTD_CONFIG_TIMEOUT = 0xC1;
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static const uint16_t APID_SET_TIME_REF = 0xC2;
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static const uint16_t APID_DISABLE_HK = 0xC3;
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static const uint16_t APID_GET_HK_REPORT = 0xC6;
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/** Offset from first byte in Space packet to first byte of data field */
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static const uint8_t DATA_FIELD_OFFSET = 6;
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/**
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* Space packet length for fixed size packets. This is the size of the whole packet data
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* field. For the length field in the space packet this size will be substracted by one.
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*/
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static const uint16_t LENGTH_EMPTY_TC = 2; // Only CRC will be transported with the data field
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/** This is the maximum length of a space packet as defined by the TAS ICD */
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static const size_t MAX_REPLY_SIZE = 1024;
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static const size_t MAX_COMMAND_SIZE = 1024;
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enum SequenceFlags {
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CONTINUED_PKT = 0b00, FIRST_PKT = 0b01, LAST_PKT = 0b10, STANDALONE_PKT = 0b11
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};
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enum PoolIds
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: lp_id_t {
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NUM_TMS,
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TEMP_PS,
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TEMP_PL,
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SOC_STATE,
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NVM0_1_STATE,
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NVM3_STATE,
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MISSION_IO_STATE,
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FMC_STATE,
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NUM_TCS,
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TEMP_SUP,
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UPTIME,
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CPULOAD,
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AVAILABLEHEAP,
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BOOT_SIGNAL,
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RESET_COUNTER,
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BOOT_AFTER_MS,
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BOOT_TIMEOUT_MS,
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ACTIVE_NVM,
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BP0_STATE,
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BP1_STATE,
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BP2_STATE
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};
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static const uint8_t HK_SET_ENTRIES = 13;
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static const uint8_t BOOT_REPORT_SET_ENTRIES = 8;
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static const uint32_t HK_SET_ID = HK_REPORT;
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static const uint32_t BOOT_REPORT_SET_ID = APID_BOOT_STATUS_REPORT;
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/**
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* @brief With this class a space packet can be created which does not contain any data.
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*/
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class EmptyPacket: public SpacePacket {
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public:
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/**
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* @brief Constructor
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*
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* @param apid The APID to set in the space packet.
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*
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* @note Sequence count of empty packet is always 1.
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*/
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EmptyPacket(uint16_t apid) :
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SpacePacket(LENGTH_EMPTY_TC - 1, true, apid, 1) {
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calcCrc();
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}
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private:
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/**
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* @brief CRC calculation which involves only the header in an empty packet
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*/
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void calcCrc() {
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/* Calculate crc */
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uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, sizeof(CCSDSPrimaryHeader));
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/* Add crc to packet data field of space packet */
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size_t serializedSize = 0;
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uint8_t* crcPos = this->localData.fields.buffer;
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SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
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SerializeIF::Endianness::BIG);
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}
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};
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/**
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* @brief This class can be used to generate the space packet selecting the boot image of
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* of the MPSoC.
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*/
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class MPSoCBootSelect: public SpacePacket {
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public:
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/**
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* @brief Constructor
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*
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* @param mem The memory to boot from: NVM0 (0), NVM1 (1)
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* @param bp0 Partition pin 0
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* @param bp1 Partition pin 1
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* @param bp2 Partition pin 2
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*/
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MPSoCBootSelect(uint8_t mem, uint8_t bp0, uint8_t bp1, uint8_t bp2) :
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SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SEL_MPSOC_BOOT_IMAGE,
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DEFAULT_SEQUENCE_COUNT), mem(mem), bp0(bp0), bp1(bp1), bp2(bp2) {
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initPacket();
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}
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private:
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static const uint16_t DATA_FIELD_LENGTH = 6;
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static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
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static const uint8_t MEM_OFFSET = 0;
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static const uint8_t BP0_OFFSET = 1;
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static const uint8_t BP1_OFFSET = 2;
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static const uint8_t BP2_OFFSET = 3;
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static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
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uint8_t mem = 0;
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uint8_t bp0 = 0;
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uint8_t bp1 = 0;
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uint8_t bp2 = 0;
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void initPacket() {
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uint8_t* data_field_start = this->localData.fields.buffer;
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std::memcpy(data_field_start + MEM_OFFSET, &mem, sizeof(mem));
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std::memcpy(data_field_start + BP0_OFFSET, &bp0, sizeof(bp0));
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std::memcpy(data_field_start + BP1_OFFSET, &bp1, sizeof(bp1));
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std::memcpy(data_field_start + BP2_OFFSET, &bp2, sizeof(bp2));
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/* Calculate crc */
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uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
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sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
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/* Add crc to packet data field of space packet */
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size_t serializedSize = 0;
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uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
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SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
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SerializeIF::Endianness::BIG);
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}
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};
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/**
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* @brief This class generates the space packet to update the time of the PLOC supervisor.
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*/
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class SetTimeRef: public SpacePacket {
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public:
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SetTimeRef(Clock::TimeOfDay_t* time) :
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SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_TIME_REF, DEFAULT_SEQUENCE_COUNT) {
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initPacket(time);
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}
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private:
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static const uint16_t DATA_FIELD_LENGTH = 34;
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static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
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static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
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void initPacket(Clock::TimeOfDay_t* time) {
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size_t serializedSize = 0;
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uint8_t* data_field_ptr = this->localData.fields.buffer;
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SerializeAdapter::serialize<uint32_t>(&time->second, &data_field_ptr, &serializedSize,
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sizeof(time->second), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&time->minute, &data_field_ptr, &serializedSize,
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sizeof(time->minute), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&time->hour, &data_field_ptr, &serializedSize,
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sizeof(time->hour), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&time->day, &data_field_ptr, &serializedSize,
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sizeof(time->day), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&time->month, &data_field_ptr, &serializedSize,
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sizeof(time->month), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&time->year, &data_field_ptr, &serializedSize,
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sizeof(time->year), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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uint32_t milliseconds = time->usecond / 1000;
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SerializeAdapter::serialize<uint32_t>(&milliseconds, &data_field_ptr, &serializedSize,
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sizeof(milliseconds), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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uint32_t isSet = 0xFFFFFFFF;
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SerializeAdapter::serialize<uint32_t>(&isSet, &data_field_ptr, &serializedSize,
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sizeof(isSet), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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/* Calculate crc */
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uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
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sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
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SerializeAdapter::serialize<uint16_t>(&crc, &data_field_ptr, &serializedSize, sizeof(crc),
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SerializeIF::Endianness::BIG);
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}
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};
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/**
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* @brief This class can be used to generate the set boot timout command.
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*/
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class SetBootTimeout: public SpacePacket {
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public:
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/**
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* @brief Constructor
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*
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* @param timeout The boot timeout in milliseconds.
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*/
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SetBootTimeout(uint32_t timeout) :
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SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_BOOT_TIMEOUT, 1), timeout(timeout) {
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initPacket();
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}
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private:
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uint32_t timeout = 0;
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/** boot timeout value (uint32_t) and crc (uint16_t) */
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static const uint16_t DATA_FIELD_LENGTH = 6;
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void initPacket() {
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size_t serializedSize = 0;
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uint8_t* data_field_ptr = this->localData.fields.buffer;
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SerializeAdapter::serialize<uint32_t>(&timeout, &data_field_ptr, &serializedSize,
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sizeof(timeout), SerializeIF::Endianness::BIG);
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/* Calculate crc */
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uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
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sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
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/* Add crc to packet data field of space packet */
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serializedSize = 0;
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SerializeAdapter::serialize<uint16_t>(&crc, &data_field_ptr, &serializedSize, sizeof(crc),
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SerializeIF::Endianness::BIG);
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}
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};
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/**
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* @brief This class can be used to generate the space packet to set the maximum boot tries.
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*/
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class SetRestartTries: public SpacePacket {
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public:
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/**
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* @brief Constructor
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*
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* @param restartTries Maximum restart tries to set.
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*/
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SetRestartTries(uint8_t restartTries) :
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SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_MAX_RESTART_TRIES, 1), restartTries(
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restartTries) {
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initPacket();
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}
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private:
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uint8_t restartTries = 0;
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/** Restart tries value (uint8_t) and crc (uint16_t) */
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static const uint16_t DATA_FIELD_LENGTH = 3;
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void initPacket() {
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uint8_t* data_field_ptr = this->localData.fields.buffer;
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*data_field_ptr = restartTries;
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uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
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sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
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size_t serializedSize = 0;
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uint8_t* crcPtr = data_field_ptr + 1;
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SerializeAdapter::serialize<uint16_t>(&crc, &crcPtr, &serializedSize, sizeof(crc),
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SerializeIF::Endianness::BIG);
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}
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};
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/**
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* @brief This dataset stores the boot status report of the supervisor.
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*/
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class BootStatusReport: public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
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public:
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BootStatusReport(HasLocalDataPoolIF* owner) :
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StaticLocalDataSet(owner, BOOT_REPORT_SET_ID) {
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}
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BootStatusReport(object_id_t objectId) :
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StaticLocalDataSet(sid_t(objectId, BOOT_REPORT_SET_ID)) {
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}
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/** Information about boot status of MPSoC */
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lp_var_t<uint8_t> bootSignal = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_SIGNAL, this);
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lp_var_t<uint8_t> resetCounter = lp_var_t<uint8_t>(sid.objectId, PoolIds::RESET_COUNTER, this);
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/** Time the MPSoC needs for last boot */
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lp_var_t<uint32_t> bootAfterMs = lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_AFTER_MS, this);
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/** The currently set boot timeout */
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lp_var_t<uint32_t> bootTimeoutMs = lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_TIMEOUT_MS, this);
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lp_var_t<uint8_t> activeNvm = lp_var_t<uint8_t>(sid.objectId, PoolIds::ACTIVE_NVM, this);
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/** States of the boot partition pins */
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lp_var_t<uint8_t> bp0State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP0_STATE, this);
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lp_var_t<uint8_t> bp1State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP1_STATE, this);
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lp_var_t<uint8_t> bp2State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP2_STATE, this);
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};
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/**
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* @brief This class packages the command to notify the supervisor that a new update for the
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* MPSoC is available.
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*/
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class UpdateAvailable: public SpacePacket {
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public:
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/**
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* @brief Constructor
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*
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* @param imageSelect
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* @param imagePartition
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* @param imageSize
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* @param imageCrc
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* @param numberOfPackets
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*/
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UpdateAvailable(uint8_t imageSelect, uint8_t imagePartition, uint32_t imageSize,
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uint32_t imageCrc, uint32_t numberOfPackets) :
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SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_UPDATE_AVAILABLE,
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DEFAULT_SEQUENCE_COUNT), imageSelect(imageSelect), imagePartition(
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imagePartition), imageSize(imageSize), imageCrc(imageCrc), numberOfPackets(
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numberOfPackets) {
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initPacket();
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}
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private:
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static const uint16_t DATA_FIELD_LENGTH = 16;
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static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
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static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
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uint8_t imageSelect = 0;
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uint8_t imagePartition = 0;
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uint32_t imageSize = 0;
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uint32_t imageCrc = 0;
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uint32_t numberOfPackets = 0;
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void initPacket() {
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size_t serializedSize = 0;
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uint8_t* data_field_ptr = this->localData.fields.buffer;
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SerializeAdapter::serialize<uint8_t>(&imageSelect, &data_field_ptr, &serializedSize,
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sizeof(imageSelect), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint8_t>(&imagePartition, &data_field_ptr, &serializedSize,
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sizeof(imagePartition), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&imageSize, &data_field_ptr, &serializedSize,
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sizeof(imageSize), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&imageCrc, &data_field_ptr, &serializedSize,
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sizeof(imageCrc), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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SerializeAdapter::serialize<uint32_t>(&numberOfPackets, &data_field_ptr, &serializedSize,
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sizeof(numberOfPackets), SerializeIF::Endianness::BIG);
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serializedSize = 0;
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uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
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sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
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serializedSize = 0;
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uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
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SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
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SerializeIF::Endianness::BIG);
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}
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|
};
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|
|
|
/**
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|
* @brief With this class the space packet can be generated to disable to periodic transmission
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|
* of housekeeping data. Normally, this will be disabled by default. However, adding this
|
|
* command can be useful for debugging.
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|
*/
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|
class DisablePeriodicHkTransmission: public SpacePacket {
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|
public:
|
|
|
|
/**
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|
* @brief Constructor
|
|
*/
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|
DisablePeriodicHkTransmission() :
|
|
SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_DISABLE_HK, 1) {
|
|
initPacket();
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|
}
|
|
|
|
private:
|
|
|
|
uint8_t disableHk = 0;
|
|
|
|
/** Restart tries value (uint8_t) and crc (uint16_t) */
|
|
static const uint16_t DATA_FIELD_LENGTH = 3;
|
|
|
|
void initPacket() {
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|
uint8_t* data_field_ptr = this->localData.fields.buffer;
|
|
*data_field_ptr = disableHk;
|
|
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
|
|
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
|
|
size_t serializedSize = 0;
|
|
uint8_t* crcPtr = data_field_ptr + 1;
|
|
SerializeAdapter::serialize<uint16_t>(&crc, &crcPtr, &serializedSize, sizeof(crc),
|
|
SerializeIF::Endianness::BIG);
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @brief This dataset stores the housekeeping data of the supervisor.
|
|
*/
|
|
class HkSet: public StaticLocalDataSet<HK_SET_ENTRIES> {
|
|
public:
|
|
|
|
HkSet(HasLocalDataPoolIF* owner) :
|
|
StaticLocalDataSet(owner, HK_SET_ID) {
|
|
}
|
|
|
|
HkSet(object_id_t objectId) :
|
|
StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {
|
|
}
|
|
|
|
lp_var_t<uint32_t> tempPs = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
|
|
lp_var_t<uint32_t> tempPl = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
|
|
lp_var_t<uint32_t> tempSup = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_SUP, this);
|
|
lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, PoolIds::UPTIME, this);
|
|
lp_var_t<uint32_t> cpuLoad = lp_var_t<uint32_t>(sid.objectId, PoolIds::CPULOAD, this);
|
|
lp_var_t<uint32_t> availableHeap = lp_var_t<uint32_t>(sid.objectId, PoolIds::AVAILABLEHEAP,
|
|
this);
|
|
lp_var_t<uint32_t> numTcs = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TCS, this);
|
|
lp_var_t<uint32_t> numTms = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TMS, this);
|
|
lp_var_t<uint32_t> socState = lp_var_t<uint32_t>(sid.objectId, PoolIds::SOC_STATE, this);
|
|
lp_var_t<uint8_t> nvm0_1_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM0_1_STATE, this);
|
|
lp_var_t<uint8_t> nvm3_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM3_STATE, this);
|
|
lp_var_t<uint8_t> missionIoState = lp_var_t<uint8_t>(sid.objectId, PoolIds::MISSION_IO_STATE,
|
|
this);
|
|
lp_var_t<uint8_t> fmcState = lp_var_t<uint8_t>(sid.objectId, PoolIds::FMC_STATE, this);
|
|
};
|
|
}
|
|
|
|
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_ */
|