1555 lines
54 KiB
C++
1555 lines
54 KiB
C++
#include <fsfw/globalfunctions/arrayprinter.h>
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#include <linux/payload/PlocMpsocHandler.h>
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#include <linux/payload/plocSupvDefs.h>
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#include <sstream>
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#include "OBSWConfig.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/globalfunctions/CRC.h"
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#include "fsfw/parameters/HasParametersIF.h"
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PlocMpsocHandler::PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid,
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CookieIF* comCookie, PlocMpsocSpecialComHelper* plocMPSoCHelper,
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Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
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: DeviceHandlerBase(objectId, uartComIFid, comCookie),
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hkReport(this),
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specialComHelper(plocMPSoCHelper),
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uartIsolatorSwitch(uartIsolatorSwitch),
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supervisorHandler(supervisorHandler),
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commandActionHelper(this) {
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if (comCookie == nullptr) {
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sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
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}
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eventQueue = QueueFactory::instance()->createMessageQueue(10);
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commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
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spParams.maxSize = sizeof(commandBuffer);
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spParams.buf = commandBuffer;
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}
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PlocMpsocHandler::~PlocMpsocHandler() {}
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ReturnValue_t PlocMpsocHandler::initialize() {
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ReturnValue_t result = returnvalue::OK;
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result = DeviceHandlerBase::initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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uartComIf = dynamic_cast<SerialComIF*>(communicationInterface);
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if (uartComIf == nullptr) {
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sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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;
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}
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result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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return result;
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}
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result = manager->subscribeToEvent(
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eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_FAILED));
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = manager->subscribeToEvent(
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eventQueue->getId(),
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event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = manager->subscribeToEvent(
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eventQueue->getId(),
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event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_SUCCESSFUL));
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = manager->subscribeToEvent(
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eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_FAILED));
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = specialComHelper->setComIF(communicationInterface);
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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specialComHelper->setComCookie(comCookie);
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specialComHelper->setSequenceCount(&sequenceCount);
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result = commandActionHelper.initialize();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return result;
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}
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void PlocMpsocHandler::performOperationHook() {
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if (commandIsPending and cmdCountdown.hasTimedOut()) {
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sif::warning << "PlocMpsocHandler: Command " << getPendingCommand() << " has timed out"
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<< std::endl;
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commandIsPending = false;
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// TODO: Better returnvalue?
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cmdDoneHandler(false, returnvalue::FAILED);
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}
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
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result = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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handleEvent(&event);
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break;
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default:
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sif::debug << "PlocMPSoCHandler::performOperationHook: Did not subscribe to this event"
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<< " message" << std::endl;
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break;
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}
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}
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CommandMessage message;
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for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message);
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result == returnvalue::OK; result = commandActionHelperQueue->receiveMessage(&message)) {
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result = commandActionHelper.handleReply(&message);
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if (result == returnvalue::OK) {
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continue;
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}
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}
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}
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ReturnValue_t PlocMpsocHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result = returnvalue::OK;
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switch (actionId) {
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case mpsoc::SET_UART_TX_TRISTATE: {
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uartIsolatorSwitch.pullLow();
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return EXECUTION_FINISHED;
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break;
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}
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case mpsoc::RELEASE_UART_TX: {
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uartIsolatorSwitch.pullHigh();
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return EXECUTION_FINISHED;
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break;
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default:
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break;
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}
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}
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if (specialComHelperExecuting) {
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return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
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}
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switch (actionId) {
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case mpsoc::TC_FLASH_WRITE_FULL_FILE: {
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mpsoc::FlashBasePusCmd flashWritePusCmd;
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result = flashWritePusCmd.extractFields(data, size);
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if (result != returnvalue::OK) {
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return result;
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}
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result = specialComHelper->startFlashWrite(flashWritePusCmd.getObcFile(),
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flashWritePusCmd.getMPSoCFile());
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if (result != returnvalue::OK) {
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return result;
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}
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specialComHelperExecuting = true;
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return EXECUTION_FINISHED;
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}
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case mpsoc::TC_FLASH_READ_FULL_FILE: {
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mpsoc::FlashReadPusCmd flashReadPusCmd;
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result = flashReadPusCmd.extractFields(data, size);
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if (result != returnvalue::OK) {
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return result;
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}
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result = specialComHelper->startFlashRead(flashReadPusCmd.getObcFile(),
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flashReadPusCmd.getMPSoCFile(),
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flashReadPusCmd.getReadSize());
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if (result != returnvalue::OK) {
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return result;
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}
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specialComHelperExecuting = true;
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return EXECUTION_FINISHED;
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}
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case (mpsoc::OBSW_RESET_SEQ_COUNT): {
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sequenceCount = 0;
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return EXECUTION_FINISHED;
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}
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default:
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break;
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}
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// For longer commands, do not set these.
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commandIsPending = true;
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cmdCountdown.resetTimer();
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return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
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}
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void PlocMpsocHandler::doStartUp() {
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if (startupState == StartupState::IDLE) {
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startupState = StartupState::HW_INIT;
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}
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if (startupState == StartupState::HW_INIT) {
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if (handleHwStartup()) {
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startupState = StartupState::DONE;
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}
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}
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if (startupState == StartupState::DONE) {
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setMode(_MODE_TO_ON);
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hkReport.setReportingEnabled(true);
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powerState = PowerState::IDLE;
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startupState = StartupState::IDLE;
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}
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}
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void PlocMpsocHandler::doShutDown() {
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if (handleHwShutdown()) {
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hkReport.setReportingEnabled(false);
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setMode(_MODE_POWER_DOWN);
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commandIsPending = false;
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sequenceCount = 0;
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powerState = PowerState::IDLE;
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startupState = StartupState::IDLE;
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}
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}
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ReturnValue_t PlocMpsocHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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if (not commandIsPending and not specialComHelperExecuting) {
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*id = mpsoc::TC_GET_HK_REPORT;
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commandIsPending = true;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PlocMpsocHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PlocMpsocHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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spParams.buf = commandBuffer;
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ReturnValue_t result = returnvalue::OK;
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switch (deviceCommand) {
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case (mpsoc::TC_MEM_WRITE): {
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result = prepareTcMemWrite(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_MEM_READ): {
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result = prepareTcMemRead(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_FLASHDELETE): {
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result = prepareTcFlashDelete(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_REPLAY_START): {
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result = prepareTcReplayStart(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_REPLAY_STOP): {
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result = prepareTcReplayStop();
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break;
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}
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case (mpsoc::TC_DOWNLINK_PWR_ON): {
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result = prepareTcDownlinkPwrOn(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_DOWNLINK_PWR_OFF): {
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result = prepareTcDownlinkPwrOff();
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break;
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}
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case (mpsoc::TC_REPLAY_WRITE_SEQUENCE): {
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result = prepareTcReplayWriteSequence(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_GET_HK_REPORT): {
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result = prepareTcGetHkReport();
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break;
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}
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case (mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT): {
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result = prepareTcGetDirContent(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_MODE_REPLAY): {
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result = prepareTcModeReplay();
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break;
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}
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case (mpsoc::TC_MODE_IDLE): {
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result = prepareTcModeIdle();
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break;
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}
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case (mpsoc::TC_CAM_CMD_SEND): {
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result = prepareTcCamCmdSend(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_CAM_TAKE_PIC): {
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result = prepareTcCamTakePic(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_SIMPLEX_SEND_FILE): {
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result = prepareTcSimplexSendFile(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
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result = prepareTcDownlinkDataModulate(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_MODE_SNAPSHOT): {
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result = prepareTcModeSnapshot();
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break;
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}
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default:
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sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
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<< std::endl;
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result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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break;
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}
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if (result == returnvalue::OK) {
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/**
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* Flushing the receive buffer to make sure there are no data left from a faulty reply.
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*/
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uartComIf->flushUartRxBuffer(comCookie);
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}
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return result;
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}
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void PlocMpsocHandler::fillCommandAndReplyMap() {
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this->insertInCommandMap(mpsoc::TC_MEM_WRITE);
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this->insertInCommandMap(mpsoc::TC_MEM_READ);
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this->insertInCommandMap(mpsoc::TC_FLASHDELETE);
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insertInCommandMap(mpsoc::TC_FLASH_WRITE_FULL_FILE);
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insertInCommandMap(mpsoc::TC_FLASH_READ_FULL_FILE);
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this->insertInCommandMap(mpsoc::TC_REPLAY_START);
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this->insertInCommandMap(mpsoc::TC_REPLAY_STOP);
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this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_ON);
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this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_OFF);
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this->insertInCommandMap(mpsoc::TC_REPLAY_WRITE_SEQUENCE);
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this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
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this->insertInCommandMap(mpsoc::TC_MODE_IDLE);
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this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
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this->insertInCommandMap(mpsoc::TC_GET_HK_REPORT);
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this->insertInCommandMap(mpsoc::RELEASE_UART_TX);
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this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE);
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this->insertInCommandMap(mpsoc::TC_CAM_TAKE_PIC);
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this->insertInCommandMap(mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT);
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this->insertInCommandMap(mpsoc::TC_SIMPLEX_SEND_FILE);
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this->insertInCommandMap(mpsoc::TC_DOWNLINK_DATA_MODULATE);
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this->insertInCommandMap(mpsoc::TC_MODE_SNAPSHOT);
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this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
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this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
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this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
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this->insertInReplyMap(mpsoc::TM_GET_HK_REPORT, 5, nullptr, mpsoc::SIZE_TM_HK_REPORT);
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this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, mpsoc::SP_MAX_SIZE);
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this->insertInReplyMap(mpsoc::TM_FLASH_DIRECTORY_CONTENT, 2, nullptr, mpsoc::SP_MAX_SIZE);
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}
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ReturnValue_t PlocMpsocHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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ReturnValue_t result = returnvalue::OK;
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SpacePacketReader spacePacket;
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spacePacket.setReadOnlyData(start, remainingSize);
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if (DEBUG_MPSOC_COMMUNICATION) {
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sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spacePacket.getApid()
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<< std::dec << " Size " << spacePacket.getFullPacketLen() << " SSC "
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<< spacePacket.getSequenceCount() << std::endl;
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}
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if (spacePacket.isNull()) {
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return returnvalue::FAILED;
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}
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auto res = spacePacket.checkSize();
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if (res != returnvalue::OK) {
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return res;
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}
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uint16_t apid = spacePacket.getApid();
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auto handleDedicatedReply = [&](DeviceCommandId_t replyId) {
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*foundLen = spacePacket.getFullPacketLen();
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foundPacketLen = *foundLen;
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*foundId = replyId;
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};
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switch (apid) {
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case (mpsoc::apid::ACK_SUCCESS):
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*foundLen = mpsoc::SIZE_ACK_REPORT;
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*foundId = mpsoc::ACK_REPORT;
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break;
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case (mpsoc::apid::ACK_FAILURE):
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*foundLen = mpsoc::SIZE_ACK_REPORT;
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*foundId = mpsoc::ACK_REPORT;
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break;
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case (mpsoc::apid::TM_MEMORY_READ_REPORT):
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*foundLen = tmMemReadReport.rememberRequestedSize;
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*foundId = mpsoc::TM_MEMORY_READ_REPORT;
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break;
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case (mpsoc::apid::TM_CAM_CMD_RPT):
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handleDedicatedReply(mpsoc::TM_CAM_CMD_RPT);
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break;
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case (mpsoc::apid::TM_HK_GET_REPORT): {
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handleDedicatedReply(mpsoc::TM_GET_HK_REPORT);
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break;
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}
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case (mpsoc::apid::TM_FLASH_DIRECTORY_CONTENT): {
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handleDedicatedReply(mpsoc::TM_FLASH_DIRECTORY_CONTENT);
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break;
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}
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case (mpsoc::apid::EXE_SUCCESS):
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*foundLen = mpsoc::SIZE_EXE_REPORT;
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*foundId = mpsoc::EXE_REPORT;
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break;
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case (mpsoc::apid::EXE_FAILURE):
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*foundLen = mpsoc::SIZE_EXE_REPORT;
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*foundId = mpsoc::EXE_REPORT;
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break;
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default: {
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sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid APID 0x" << std::hex
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<< std::setfill('0') << std::setw(2) << apid << std::dec << std::endl;
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*foundLen = remainingSize;
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return MPSoCReturnValuesIF::INVALID_APID;
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}
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}
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uint16_t recvSeqCnt = ((*(start + 2) << 8) | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
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if (recvSeqCnt != sequenceCount) {
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triggerEvent(MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH, sequenceCount, recvSeqCnt);
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sequenceCount = recvSeqCnt;
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}
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// This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
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sequenceCount++;
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return result;
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}
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ReturnValue_t PlocMpsocHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
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ReturnValue_t result = returnvalue::OK;
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switch (id) {
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case mpsoc::ACK_REPORT: {
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result = handleAckReport(packet);
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break;
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}
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case (mpsoc::TM_MEMORY_READ_REPORT): {
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result = handleMemoryReadReport(packet);
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break;
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}
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case (mpsoc::TM_GET_HK_REPORT): {
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result = handleGetHkReport(packet);
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break;
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}
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case (mpsoc::TM_CAM_CMD_RPT): {
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result = handleCamCmdRpt(packet);
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break;
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}
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case (mpsoc::TM_FLASH_DIRECTORY_CONTENT): {
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result = verifyPacket(packet, foundPacketLen);
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if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
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sif::warning << "PLOC MPSoC: Flash directory content reply invalid CRC" << std::endl;
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}
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/** Send data to commanding queue */
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handleDeviceTm(packet + mpsoc::DATA_FIELD_OFFSET,
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foundPacketLen - mpsoc::DATA_FIELD_OFFSET - mpsoc::CRC_SIZE,
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mpsoc::TM_FLASH_DIRECTORY_CONTENT);
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nextReplyId = mpsoc::EXE_REPORT;
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return result;
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}
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case (mpsoc::EXE_REPORT): {
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result = handleExecutionReport(packet);
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break;
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}
|
|
default: {
|
|
sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
|
|
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
void PlocMpsocHandler::setNormalDatapoolEntriesInvalid() {
|
|
PoolReadGuard pg(&hkReport);
|
|
hkReport.setValidity(false, true);
|
|
}
|
|
|
|
uint32_t PlocMpsocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 15000; }
|
|
|
|
ReturnValue_t PlocMpsocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) {
|
|
localDataPoolMap.emplace(mpsoc::poolid::STATUS, &peStatus);
|
|
localDataPoolMap.emplace(mpsoc::poolid::MODE, &peMode);
|
|
localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_PWR_ON, &peDownlinkPwrOn);
|
|
localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_REPLY_ACTIIVE, &peDownlinkReplyActive);
|
|
localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, &peDownlinkJesdSyncStatus);
|
|
localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_DAC_STATUS, &peDownlinkDacStatus);
|
|
localDataPoolMap.emplace(mpsoc::poolid::CAM_STATUS, &peCameraStatus);
|
|
localDataPoolMap.emplace(mpsoc::poolid::CAM_SDI_STATUS, &peCameraSdiStatus);
|
|
localDataPoolMap.emplace(mpsoc::poolid::CAM_FPGA_TEMP, &peCameraFpgaTemp);
|
|
localDataPoolMap.emplace(mpsoc::poolid::CAM_SOC_TEMP, &peCameraSocTemp);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_TEMP, &peSysmonTemp);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCINT, &peSysmonVccInt);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCAUX, &peSysmonVccAux);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCBRAM, &peSysmonVccBram);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPAUX, &peSysmonVccPaux);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPINT, &peSysmonVccPint);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPDRO, &peSysmonVccPdro);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB12V, &peSysmonMb12V);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB3V3, &peSysmonMb3V3);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB1V8, &peSysmonMb1V8);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC12V, &peSysmonVcc12V);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC5V, &peSysmonVcc5V);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3, &peSysmonVcc3V3);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3VA, &peSysmonVcc3V3VA);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC2V5DDR, &peSysmonVcc2V5DDR);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC1V2DDR, &peSysmonVcc1V2DDR);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V9, &peSysmonVcc0V9);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V6VTT, &peSysmonVcc0V6VTT);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_SAFE_COTS_CUR, &peSysmonSafeCotsCur);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SYSMON_NVM4_XO_CUR, &peSysmonNvm4XoCur);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, &peSemUncorrectableErrs);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SEM_CORRECTABLE_ERRS, &peSemCorrectableErrs);
|
|
localDataPoolMap.emplace(mpsoc::poolid::SEM_STATUS, &peSemStatus);
|
|
localDataPoolMap.emplace(mpsoc::poolid::REBOOT_MPSOC_REQUIRED, &peRebootMpsocRequired);
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(hkReport.getSid(), false, 10.0));
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void PlocMpsocHandler::handleEvent(EventMessage* eventMessage) {
|
|
object_id_t objectId = eventMessage->getReporter();
|
|
switch (objectId) {
|
|
case objects::PLOC_MPSOC_HELPER: {
|
|
specialComHelperExecuting = false;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
|
|
break;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcMemWrite(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
mpsoc::TcMemWrite tcMemWrite(spParams, sequenceCount);
|
|
result = tcMemWrite.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcMemWrite);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcMemRead(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
mpsoc::TcMemRead tcMemRead(spParams, sequenceCount);
|
|
result = tcMemRead.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcMemRead);
|
|
tmMemReadReport.rememberRequestedSize = tcMemRead.getMemLen() * 4 + TmMemReadReport::FIX_SIZE;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcFlashDelete(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
|
|
return MPSoCReturnValuesIF::NAME_TOO_LONG;
|
|
}
|
|
ReturnValue_t result = returnvalue::OK;
|
|
mpsoc::TcFlashDelete tcFlashDelete(spParams, sequenceCount);
|
|
std::string filename = std::string(reinterpret_cast<const char*>(commandData), commandDataLen);
|
|
result = tcFlashDelete.setPayload(filename);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcFlashDelete);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcReplayStart(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
mpsoc::TcReplayStart tcReplayStart(spParams, sequenceCount);
|
|
result = tcReplayStart.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcReplayStart);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcReplayStop() {
|
|
mpsoc::TcReplayStop tcReplayStop(spParams, sequenceCount);
|
|
finishTcPrep(tcReplayStop);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcDownlinkPwrOn(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(spParams, sequenceCount);
|
|
result = tcDownlinkPwrOn.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcDownlinkPwrOn);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcDownlinkPwrOff() {
|
|
mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(spParams, sequenceCount);
|
|
finishTcPrep(tcDownlinkPwrOff);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcGetHkReport() {
|
|
mpsoc::TcGetHkReport tcGetHkReport(spParams, sequenceCount);
|
|
finishTcPrep(tcGetHkReport);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcReplayWriteSequence(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
mpsoc::TcReplayWriteSeq tcReplayWriteSeq(spParams, sequenceCount);
|
|
ReturnValue_t result = tcReplayWriteSeq.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcReplayWriteSeq);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcModeReplay() {
|
|
mpsoc::TcModeReplay tcModeReplay(spParams, sequenceCount);
|
|
finishTcPrep(tcModeReplay);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcModeIdle() {
|
|
mpsoc::TcModeIdle tcModeIdle(spParams, sequenceCount);
|
|
finishTcPrep(tcModeIdle);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcCamCmdSend(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
mpsoc::TcCamcmdSend tcCamCmdSend(spParams, sequenceCount);
|
|
ReturnValue_t result = tcCamCmdSend.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcCamCmdSend);
|
|
nextReplyId = mpsoc::TM_CAM_CMD_RPT;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcCamTakePic(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
mpsoc::TcCamTakePic tcCamTakePic(spParams, sequenceCount);
|
|
ReturnValue_t result = tcCamTakePic.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcCamTakePic);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcSimplexSendFile(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
mpsoc::TcSimplexSendFile tcSimplexSendFile(spParams, sequenceCount);
|
|
ReturnValue_t result = tcSimplexSendFile.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcSimplexSendFile);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcGetDirContent(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
mpsoc::TcGetDirContent tcGetDirContent(spParams, sequenceCount);
|
|
ReturnValue_t result = tcGetDirContent.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcGetDirContent);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcDownlinkDataModulate(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
mpsoc::TcDownlinkDataModulate tcDownlinkDataModulate(spParams, sequenceCount);
|
|
ReturnValue_t result = tcDownlinkDataModulate.setPayload(commandData, commandDataLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
finishTcPrep(tcDownlinkDataModulate);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::prepareTcModeSnapshot() {
|
|
mpsoc::TcModeSnapshot tcModeSnapshot(spParams, sequenceCount);
|
|
finishTcPrep(tcModeSnapshot);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::finishTcPrep(mpsoc::TcBase& tcBase) {
|
|
nextReplyId = mpsoc::ACK_REPORT;
|
|
ReturnValue_t result = tcBase.finishPacket();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = tcBase.getFullPacketLen();
|
|
sequenceCount++;
|
|
|
|
if (DEBUG_MPSOC_COMMUNICATION) {
|
|
sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
|
|
<< " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
|
|
<< tcBase.getSeqCount() << std::endl;
|
|
}
|
|
cmdCountdown.resetTimer();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
|
|
if (CRC::crc16ccitt(start, foundLen) != 0) {
|
|
return MPSoCReturnValuesIF::CRC_FAILURE;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::handleAckReport(const uint8_t* data) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
|
|
nextReplyId = mpsoc::NONE;
|
|
replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
|
|
triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
|
|
sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
|
|
disableAllReplies();
|
|
return IGNORE_REPLY_DATA;
|
|
}
|
|
|
|
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
|
|
|
|
switch (apid) {
|
|
case mpsoc::apid::ACK_FAILURE: {
|
|
DeviceCommandId_t commandId = getPendingCommand();
|
|
uint16_t status = mpsoc::getStatusFromRawData(data);
|
|
sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
|
|
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
|
|
triggerEvent(ACK_FAILURE, commandId, status);
|
|
}
|
|
sendFailureReport(mpsoc::ACK_REPORT, status);
|
|
disableAllReplies();
|
|
nextReplyId = mpsoc::NONE;
|
|
result = IGNORE_REPLY_DATA;
|
|
break;
|
|
}
|
|
case mpsoc::apid::ACK_SUCCESS: {
|
|
setNextReplyId();
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
|
|
result = returnvalue::FAILED;
|
|
break;
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::handleExecutionReport(const uint8_t* data) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
|
|
nextReplyId = mpsoc::NONE;
|
|
return result;
|
|
}
|
|
|
|
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
|
|
|
|
switch (apid) {
|
|
case (mpsoc::apid::EXE_SUCCESS): {
|
|
cmdDoneHandler(true, result);
|
|
break;
|
|
}
|
|
case (mpsoc::apid::EXE_FAILURE): {
|
|
DeviceCommandId_t commandId = getPendingCommand();
|
|
if (commandId == DeviceHandlerIF::NO_COMMAND_ID) {
|
|
sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
|
|
}
|
|
uint16_t status = mpsoc::getStatusFromRawData(data);
|
|
sif::warning << "MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
|
|
triggerEvent(EXE_FAILURE, commandId, status);
|
|
sendFailureReport(mpsoc::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
|
|
result = IGNORE_REPLY_DATA;
|
|
cmdDoneHandler(false, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
|
|
break;
|
|
}
|
|
default: {
|
|
sif::warning << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
|
|
result = returnvalue::FAILED;
|
|
break;
|
|
}
|
|
}
|
|
nextReplyId = mpsoc::NONE;
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::handleMemoryReadReport(const uint8_t* data) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
|
|
<< std::endl;
|
|
}
|
|
uint16_t memLen =
|
|
*(data + mpsoc::MEM_READ_RPT_LEN_OFFSET) << 8 | *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET + 1);
|
|
/** Send data to commanding queue */
|
|
handleDeviceTm(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_RPT_FIX + memLen * 4,
|
|
mpsoc::TM_MEMORY_READ_REPORT);
|
|
nextReplyId = mpsoc::EXE_REPORT;
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::handleGetHkReport(const uint8_t* data) {
|
|
ReturnValue_t result = verifyPacket(data, foundPacketLen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
SpacePacketReader packetReader(data, foundPacketLen);
|
|
const uint8_t* dataStart = data + 6;
|
|
PoolReadGuard pg(&hkReport);
|
|
size_t deserLen = mpsoc::SIZE_TM_HK_REPORT;
|
|
SerializeIF::Endianness endianness = SerializeIF::Endianness::NETWORK;
|
|
result = SerializeAdapter::deSerialize(&hkReport.status.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.mode.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.downlinkPwrOn.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.downlinkReplyActive.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.downlinkJesdSyncStatus.value, &dataStart,
|
|
&deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.downlinkDacStatus.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.camStatus.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.camSdiStatus.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.camFpgaTemp.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.sysmonTemp.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVccInt.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVccAux.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVccBram.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPaux.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPint.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPdro.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.sysmonMb12V.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.sysmonMb3V3.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.sysmonMb1V8.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc12V.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.sysmonVcc5V.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc3V3.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc3V3VA.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc2V5DDR.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc1V2DDR.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc0V9.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc0V6VTT.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonSafeCotsCur.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.sysmonNvm4XoCur.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.semUncorrectableErrs.value, &dataStart,
|
|
&deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = SerializeAdapter::deSerialize(&hkReport.semCorrectableErrs.value, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result =
|
|
SerializeAdapter::deSerialize(&hkReport.semStatus.value, &dataStart, &deserLen, endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
// Skip the weird filename
|
|
dataStart += 256;
|
|
result = SerializeAdapter::deSerialize(&hkReport.rebootMpsocRequired, &dataStart, &deserLen,
|
|
endianness);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::handleCamCmdRpt(const uint8_t* data) {
|
|
ReturnValue_t result = verifyPacket(data, foundPacketLen);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
|
|
}
|
|
SpacePacketReader packetReader(data, foundPacketLen);
|
|
const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE + sizeof(uint16_t);
|
|
std::string camCmdRptMsg(reinterpret_cast<const char*>(dataFieldPtr),
|
|
foundPacketLen - mpsoc::SPACE_PACKET_HEADER_SIZE - sizeof(uint16_t) - 3);
|
|
#if OBSW_DEBUG_PLOC_MPSOC == 1
|
|
uint8_t ackValue = *(packetReader.getFullData() + packetReader.getFullPacketLen() - 2);
|
|
sif::info << "PlocMPSoCHandler: CamCmdRpt message: " << camCmdRptMsg << std::endl;
|
|
sif::info << "PlocMPSoCHandler: CamCmdRpt Ack value: 0x" << std::hex
|
|
<< static_cast<unsigned int>(ackValue) << std::endl;
|
|
#endif /* OBSW_DEBUG_PLOC_MPSOC == 1 */
|
|
handleDeviceTm(packetReader.getPacketData() + sizeof(uint16_t),
|
|
packetReader.getPacketDataLen() - 1, mpsoc::TM_CAM_CMD_RPT);
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
|
|
uint8_t expectedReplies, bool useAlternateId,
|
|
DeviceCommandId_t alternateReplyID) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
uint8_t enabledReplies = 0;
|
|
|
|
auto enableThreeReplies = [&](DeviceCommandId_t replyId) {
|
|
enabledReplies = 3;
|
|
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, replyId);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
|
|
<< mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
};
|
|
switch (command->first) {
|
|
case mpsoc::TC_MEM_WRITE:
|
|
case mpsoc::TC_FLASHDELETE:
|
|
case mpsoc::TC_REPLAY_START:
|
|
case mpsoc::TC_REPLAY_STOP:
|
|
case mpsoc::TC_DOWNLINK_PWR_ON:
|
|
case mpsoc::TC_DOWNLINK_PWR_OFF:
|
|
case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
|
|
case mpsoc::TC_MODE_REPLAY:
|
|
case mpsoc::TC_MODE_IDLE:
|
|
case mpsoc::TC_CAM_TAKE_PIC:
|
|
case mpsoc::TC_SIMPLEX_SEND_FILE:
|
|
case mpsoc::TC_DOWNLINK_DATA_MODULATE:
|
|
case mpsoc::TC_MODE_SNAPSHOT:
|
|
enabledReplies = 2;
|
|
break;
|
|
case mpsoc::TC_GET_HK_REPORT: {
|
|
result = enableThreeReplies(mpsoc::TM_GET_HK_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
break;
|
|
}
|
|
case mpsoc::TC_MEM_READ: {
|
|
result = enableThreeReplies(mpsoc::TM_MEMORY_READ_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
break;
|
|
}
|
|
case mpsoc::TC_CAM_CMD_SEND: {
|
|
result = enableThreeReplies(mpsoc::TM_CAM_CMD_RPT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
break;
|
|
}
|
|
case mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT: {
|
|
result = enableThreeReplies(mpsoc::TM_FLASH_DIRECTORY_CONTENT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
break;
|
|
}
|
|
case mpsoc::OBSW_RESET_SEQ_COUNT:
|
|
break;
|
|
default:
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
|
|
break;
|
|
}
|
|
|
|
/**
|
|
* Every command causes at least one acknowledgment and one execution report. Therefore both
|
|
* replies will be enabled here.
|
|
*/
|
|
result =
|
|
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::ACK_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::ACK_REPORT
|
|
<< " not in replyMap" << std::endl;
|
|
}
|
|
|
|
result =
|
|
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::EXE_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::EXE_REPORT
|
|
<< " not in replyMap" << std::endl;
|
|
}
|
|
|
|
switch (command->first) {
|
|
case mpsoc::TC_REPLAY_WRITE_SEQUENCE: {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
// Overwrite delay cycles because replay write sequence command can required up to
|
|
// 30 seconds for execution
|
|
iter->second.delayCycles = mpsoc::TC_WRITE_SEQ_EXECUTION_DELAY;
|
|
break;
|
|
}
|
|
case mpsoc::TC_DOWNLINK_PWR_ON: {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON_EXECUTION_DELAY;
|
|
break;
|
|
}
|
|
case mpsoc::TC_CAM_TAKE_PIC: {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
iter->second.delayCycles = mpsoc::TC_CAM_TAKE_PIC_EXECUTION_DELAY;
|
|
break;
|
|
}
|
|
case mpsoc::TC_SIMPLEX_SEND_FILE: {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
iter->second.delayCycles = mpsoc::TC_SIMPLEX_SEND_FILE_DELAY;
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void PlocMpsocHandler::setNextReplyId() {
|
|
switch (getPendingCommand()) {
|
|
case mpsoc::TC_MEM_READ:
|
|
nextReplyId = mpsoc::TM_MEMORY_READ_REPORT;
|
|
break;
|
|
case mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT: {
|
|
nextReplyId = mpsoc::TM_FLASH_DIRECTORY_CONTENT;
|
|
break;
|
|
}
|
|
case mpsoc::TC_GET_HK_REPORT: {
|
|
nextReplyId = mpsoc::TM_GET_HK_REPORT;
|
|
break;
|
|
}
|
|
default:
|
|
/* If no telemetry is expected the next reply is always the execution report */
|
|
nextReplyId = mpsoc::EXE_REPORT;
|
|
break;
|
|
}
|
|
}
|
|
|
|
size_t PlocMpsocHandler::getNextReplyLength(DeviceCommandId_t commandId) {
|
|
size_t replyLen = 0;
|
|
|
|
if (nextReplyId == mpsoc::NONE) {
|
|
return replyLen;
|
|
}
|
|
|
|
DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
|
|
|
|
if (iter != deviceReplyMap.end()) {
|
|
if (iter->second.delayCycles == 0) {
|
|
/* Reply inactive */
|
|
return replyLen;
|
|
}
|
|
switch (nextReplyId) {
|
|
case mpsoc::TM_MEMORY_READ_REPORT: {
|
|
replyLen = tmMemReadReport.rememberRequestedSize;
|
|
break;
|
|
}
|
|
case mpsoc::TM_CAM_CMD_RPT:
|
|
// Read acknowledgment, camera and execution report in one go because length of camera
|
|
// report is not fixed
|
|
replyLen = mpsoc::SP_MAX_SIZE;
|
|
break;
|
|
case mpsoc::TM_FLASH_DIRECTORY_CONTENT:
|
|
// I think the reply size is not fixed either.
|
|
replyLen = mpsoc::SP_MAX_SIZE;
|
|
break;
|
|
default: {
|
|
replyLen = iter->second.replyLen;
|
|
break;
|
|
}
|
|
}
|
|
} else {
|
|
sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
|
|
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
|
|
}
|
|
|
|
return replyLen;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::doSendReadHook() {
|
|
// Prevent DHB from polling UART during commands executed by the mpsoc helper task
|
|
if (specialComHelperExecuting) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
MessageQueueIF* PlocMpsocHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
|
|
|
|
void PlocMpsocHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
|
|
|
|
void PlocMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
|
|
ReturnValue_t returnCode) {
|
|
switch (actionId) {
|
|
case supv::START_MPSOC: {
|
|
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
|
|
break;
|
|
}
|
|
case supv::SHUTDOWN_MPSOC: {
|
|
triggerEvent(MPSOC_SHUTDOWN_FAILED);
|
|
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
powerState = PowerState::SUPV_FAILED;
|
|
}
|
|
|
|
void PlocMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
|
|
return;
|
|
}
|
|
|
|
void PlocMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
|
|
if (actionId == supv::ACK_REPORT) {
|
|
// I seriously don't know why this happens..
|
|
// sif::warning
|
|
// << "PlocMpsocHandler::completionSuccessfulReceived: Only received ACK report. Consider
|
|
// "
|
|
// "increasing the MPSoC boot timer."
|
|
// << std::endl;
|
|
} else if (actionId != supv::EXE_REPORT) {
|
|
sif::warning << "PlocMpsocHandler::completionSuccessfulReceived: Did not expect the action "
|
|
<< "ID " << actionId << std::endl;
|
|
return;
|
|
}
|
|
switch (powerState) {
|
|
case PowerState::PENDING_STARTUP: {
|
|
mpsocBootTransitionCd.resetTimer();
|
|
powerState = PowerState::DONE;
|
|
break;
|
|
}
|
|
case PowerState::PENDING_SHUTDOWN: {
|
|
powerState = PowerState::DONE;
|
|
break;
|
|
}
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void PlocMpsocHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
|
|
handleActionCommandFailure(actionId);
|
|
}
|
|
|
|
void PlocMpsocHandler::handleDeviceTm(const uint8_t* data, size_t dataSize,
|
|
DeviceCommandId_t replyId) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
if (wiretappingMode == RAW) {
|
|
/* Data already sent in doGetRead() */
|
|
return;
|
|
}
|
|
|
|
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
|
|
if (iter == deviceReplyMap.end()) {
|
|
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
|
|
return;
|
|
}
|
|
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
|
|
|
|
if (queueId == NO_COMMANDER) {
|
|
return;
|
|
}
|
|
|
|
result = actionHelper.reportData(queueId, replyId, data, dataSize);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
|
|
}
|
|
}
|
|
|
|
void PlocMpsocHandler::disableAllReplies() {
|
|
using namespace mpsoc;
|
|
DeviceReplyMap::iterator iter;
|
|
|
|
/* Disable ack reply */
|
|
iter = deviceReplyMap.find(ACK_REPORT);
|
|
DeviceReplyInfo* info = &(iter->second);
|
|
info->delayCycles = 0;
|
|
info->command = deviceCommandMap.end();
|
|
|
|
DeviceCommandId_t commandId = getPendingCommand();
|
|
|
|
auto disableCommandWithReply = [&](DeviceCommandId_t replyId) {
|
|
iter = deviceReplyMap.find(replyId);
|
|
info = &(iter->second);
|
|
info->delayCycles = 0;
|
|
info->active = false;
|
|
info->command = deviceCommandMap.end();
|
|
};
|
|
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
|
|
switch (commandId) {
|
|
case TC_MEM_WRITE:
|
|
case TC_FLASHDELETE:
|
|
case TC_REPLAY_START:
|
|
case TC_REPLAY_STOP:
|
|
case TC_DOWNLINK_PWR_ON:
|
|
case TC_DOWNLINK_PWR_OFF:
|
|
case TC_REPLAY_WRITE_SEQUENCE:
|
|
case TC_MODE_REPLAY:
|
|
case TC_MODE_IDLE:
|
|
case TC_CAM_TAKE_PIC:
|
|
case TC_SIMPLEX_SEND_FILE:
|
|
case TC_DOWNLINK_DATA_MODULATE:
|
|
case TC_MODE_SNAPSHOT:
|
|
break;
|
|
case TC_MEM_READ: {
|
|
disableCommandWithReply(TM_MEMORY_READ_REPORT);
|
|
break;
|
|
}
|
|
case TC_GET_HK_REPORT: {
|
|
disableCommandWithReply(TM_GET_HK_REPORT);
|
|
break;
|
|
}
|
|
case TC_FLASH_GET_DIRECTORY_CONTENT: {
|
|
disableCommandWithReply(TM_FLASH_DIRECTORY_CONTENT);
|
|
break;
|
|
}
|
|
case TC_CAM_CMD_SEND: {
|
|
disableCommandWithReply(TM_CAM_CMD_RPT);
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id: " << commandId
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* We always need to disable the execution report reply here */
|
|
disableExeReportReply();
|
|
nextReplyId = mpsoc::NONE;
|
|
}
|
|
|
|
void PlocMpsocHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
|
|
DeviceReplyIter iter = deviceReplyMap.find(replyId);
|
|
if (iter == deviceReplyMap.end()) {
|
|
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
|
|
return;
|
|
}
|
|
DeviceCommandInfo* info = &(iter->second.command->second);
|
|
if (info == nullptr) {
|
|
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply has no active command" << std::endl;
|
|
return;
|
|
}
|
|
if (info->sendReplyTo != NO_COMMANDER) {
|
|
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
|
|
}
|
|
info->isExecuting = false;
|
|
}
|
|
|
|
void PlocMpsocHandler::disableExeReportReply() {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
DeviceReplyInfo* info = &(iter->second);
|
|
info->delayCycles = 0;
|
|
info->command = deviceCommandMap.end();
|
|
/* Expected replies is set to one here. The value will be set to 0 in replyToReply() */
|
|
info->command->second.expectedReplies = 0;
|
|
}
|
|
|
|
void PlocMpsocHandler::stopSpecialComHelper() {
|
|
if (specialComHelper != nullptr) {
|
|
specialComHelper->stopProcess();
|
|
}
|
|
specialComHelperExecuting = false;
|
|
}
|
|
|
|
bool PlocMpsocHandler::handleHwStartup() {
|
|
#if OBSW_MPSOC_JTAG_BOOT == 1
|
|
uartIsolatorSwitch.pullHigh();
|
|
startupState = StartupState::WAIT_CYCLES;
|
|
return true;
|
|
#endif
|
|
if (powerState == PowerState::IDLE) {
|
|
if (skipSupvCommandingToOn) {
|
|
powerState = PowerState::DONE;
|
|
}
|
|
if (supv::SUPV_ON) {
|
|
commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
|
|
supvTransitionCd.resetTimer();
|
|
powerState = PowerState::PENDING_STARTUP;
|
|
} else {
|
|
triggerEvent(SUPV_NOT_ON, 1);
|
|
// Set back to OFF for now, failing the transition.
|
|
setMode(MODE_OFF);
|
|
}
|
|
}
|
|
if (powerState == PowerState::SUPV_FAILED) {
|
|
setMode(MODE_OFF);
|
|
powerState = PowerState::IDLE;
|
|
return false;
|
|
}
|
|
if (powerState == PowerState::PENDING_STARTUP) {
|
|
if (supvTransitionCd.hasTimedOut()) {
|
|
// Process with transition nonetheless..
|
|
triggerEvent(SUPV_REPLY_TIMEOUT);
|
|
powerState = PowerState::DONE;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
if (powerState == PowerState::DONE) {
|
|
if (mpsocBootTransitionCd.hasTimedOut()) {
|
|
// Wait a bit for the MPSoC to fully boot.
|
|
uartIsolatorSwitch.pullHigh();
|
|
powerState = PowerState::IDLE;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool PlocMpsocHandler::handleHwShutdown() {
|
|
stopSpecialComHelper();
|
|
uartIsolatorSwitch.pullLow();
|
|
#if OBSW_MPSOC_JTAG_BOOT == 1
|
|
powerState = PowerState::DONE;
|
|
return true;
|
|
#endif
|
|
|
|
if (powerState == PowerState::IDLE) {
|
|
if (supv::SUPV_ON) {
|
|
commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
|
|
supvTransitionCd.resetTimer();
|
|
powerState = PowerState::PENDING_SHUTDOWN;
|
|
} else {
|
|
triggerEvent(SUPV_NOT_ON, 0);
|
|
powerState = PowerState::DONE;
|
|
}
|
|
}
|
|
if (powerState == PowerState::PENDING_SHUTDOWN) {
|
|
if (supvTransitionCd.hasTimedOut()) {
|
|
powerState = PowerState::DONE;
|
|
// Process with transition nonetheless..
|
|
triggerEvent(SUPV_REPLY_TIMEOUT);
|
|
return true;
|
|
} else {
|
|
// Wait till power state is OFF.
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
void PlocMpsocHandler::handleActionCommandFailure(ActionId_t actionId) {
|
|
switch (actionId) {
|
|
case supv::ACK_REPORT:
|
|
case supv::EXE_REPORT:
|
|
break;
|
|
default:
|
|
sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect the action ID "
|
|
<< actionId << std::endl;
|
|
return;
|
|
}
|
|
switch (powerState) {
|
|
case PowerState::PENDING_STARTUP: {
|
|
sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
|
|
<< std::endl;
|
|
// This is commonly the case when the MPSoC is already operational. Thus the power state is
|
|
// set to on here
|
|
break;
|
|
}
|
|
case PowerState::PENDING_SHUTDOWN: {
|
|
// FDIR will intercept event and switch PLOC power off
|
|
triggerEvent(MPSOC_SHUTDOWN_FAILED);
|
|
sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
powerState = PowerState::SUPV_FAILED;
|
|
return;
|
|
}
|
|
|
|
LocalPoolDataSetBase* PlocMpsocHandler::getDataSetHandle(sid_t sid) {
|
|
if (sid == hkReport.getSid()) {
|
|
return &hkReport;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
bool PlocMpsocHandler::dontCheckQueue() {
|
|
// The TC and TMs need to be handled strictly sequentially, so while a command is pending,
|
|
// more specifically while replies are still expected, do not check the queue.
|
|
return commandIsPending;
|
|
}
|
|
|
|
void PlocMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
|
|
commandIsPending = false;
|
|
auto commandIter = deviceCommandMap.find(getPendingCommand());
|
|
if (commandIter != deviceCommandMap.end()) {
|
|
commandIter->second.isExecuting = false;
|
|
if (commandIter->second.sendReplyTo != MessageQueueIF::NO_QUEUE) {
|
|
actionHelper.finish(success, commandIter->second.sendReplyTo, getPendingCommand(), result);
|
|
}
|
|
}
|
|
disableAllReplies();
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
|
|
uint32_t* msToReachTheMode) {
|
|
if (commandedMode != MODE_OFF) {
|
|
PoolReadGuard pg(&enablePl);
|
|
if (pg.getReadResult() == returnvalue::OK) {
|
|
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
|
|
return NON_OP_STATE_OF_CHARGE;
|
|
}
|
|
}
|
|
}
|
|
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
|
|
ParameterWrapper* parameterWrapper,
|
|
const ParameterWrapper* newValues,
|
|
uint16_t startAtIndex) {
|
|
if (uniqueId == mpsoc::ParamId::SKIP_SUPV_ON_COMMANDING) {
|
|
uint8_t value = 0;
|
|
newValues->getElement(&value);
|
|
if (value > 1) {
|
|
return HasParametersIF::INVALID_VALUE;
|
|
}
|
|
parameterWrapper->set(skipSupvCommandingToOn);
|
|
}
|
|
return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
|
|
startAtIndex);
|
|
}
|