354 lines
15 KiB
C++
354 lines
15 KiB
C++
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
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#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
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#include "OBSWConfig.h"
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "devices/powerSwitcherList.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw_hal/linux/gpio/Gpio.h"
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
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#include "fsfw_hal/linux/uart/UartComIF.h"
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#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
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/**
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* @brief This is the device handler for the supervisor of the PLOC which is programmed by
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* Thales.
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*
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* @details The PLOC uses the space packet protocol for communication. To each command the PLOC
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* answers with at least one acknowledgment and one execution report.
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
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* ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
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* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
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* @author J. Meier
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*/
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class PlocSupervisorHandler : public DeviceHandlerBase {
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public:
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PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
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Gpio uartIsolatorSwitch, power::Switch_t powerSwitch);
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virtual ~PlocSupervisorHandler();
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virtual ReturnValue_t initialize() override;
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protected:
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
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size_t* foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
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uint8_t expectedReplies = 1, bool useAlternateId = false,
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DeviceCommandId_t alternateReplyID = 0) override;
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size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
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//! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
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static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
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static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
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//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
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static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
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//! [EXPORT] : [COMMENT] Failed to read current system time
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static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
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//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
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//! for PS, 1 for PL and 2 for INT
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static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
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//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
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//! timeouts must be in the range between 1000 and 360000 ms.
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static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
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//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
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static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
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//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
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//! larger than 21.
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static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
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//! and 2.
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static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
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//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
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static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
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//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe
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//! commands are invalid (e.g. start address bigger than stop address)
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static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
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//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
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//! other apid.
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static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
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//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
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static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
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//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
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//! been created with the reception of the first dump packet.
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static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
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//! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
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static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
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static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC received execution failure report
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static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
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static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
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static const uint16_t APID_MASK = 0x7FF;
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static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
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uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
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/**
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* This variable is used to store the id of the next reply to receive. This is necessary
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* because the PLOC sends as reply to each command at least one acknowledgment and execution
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* report.
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*/
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DeviceCommandId_t nextReplyId = supv::NONE;
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UartComIF* uartComIf = nullptr;
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LinuxLibgpioIF* gpioComIF = nullptr;
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Gpio uartIsolatorSwitch;
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supv::HkSet hkset;
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supv::BootStatusReport bootStatusReport;
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supv::LatchupStatusReport latchupStatusReport;
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const power::Switch_t powerSwitch = power::NO_SWITCH;
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/** Number of expected replies following the MRAM dump command */
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uint32_t expectedMramDumpPackets = 0;
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uint32_t receivedMramDumpPackets = 0;
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/** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
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bool packetInBuffer = false;
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/** Points to the next free position in the space packet buffer */
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uint16_t bufferTop = 0;
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/** This buffer is used to concatenate space packets received in two different read steps */
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uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
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#ifdef TE0720_1CFA
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SdCardManager* sdcMan = nullptr;
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#endif /* BOARD_TE0720 == 0 */
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/** Path to PLOC specific files on SD card */
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std::string plocFilePath = "ploc";
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std::string activeMramFile;
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/** Setting this variable to true will enable direct downlink of MRAM packets */
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bool downlinkMramDump = false;
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ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches);
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/**
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* @brief This function checks the crc of the received PLOC reply.
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*
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* @param start Pointer to the first byte of the reply.
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* @param foundLen Pointer to the length of the whole packet.
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*
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* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
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*/
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ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
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/**
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* @brief This function handles the acknowledgment report.
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*
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* @param data Pointer to the data holding the acknowledgment report.
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*
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* @return RETURN_OK if successful, otherwise an error code.
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*/
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ReturnValue_t handleAckReport(const uint8_t* data);
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/**
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* @brief This function handles the data of a execution report.
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*
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* @param data Pointer to the received data packet.
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*
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* @return RETURN_OK if successful, otherwise an error code.
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*/
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ReturnValue_t handleExecutionReport(const uint8_t* data);
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/**
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* @brief This function handles the housekeeping report. This means verifying the CRC of the
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* reply and filling the appropriate dataset.
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*
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* @param data Pointer to the data buffer holding the housekeeping read report.
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*
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* @return RETURN_OK if successful, otherwise an error code.
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*/
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ReturnValue_t handleHkReport(const uint8_t* data);
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/**
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* @brief This function calls the function to check the CRC of the received boot status report
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* and fills the associated dataset with the boot status information.
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*/
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ReturnValue_t handleBootStatusReport(const uint8_t* data);
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ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
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/**
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* @brief Depending on the current active command, this function sets the reply id of the
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* next reply after a successful acknowledgment report has been received. This is
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* required by the function getNextReplyLength() to identify the length of the next
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* reply to read.
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*/
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void setNextReplyId();
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/**
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* @brief This function handles action message replies in case the telemetry has been
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* requested by another object.
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*
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* @param data Pointer to the telemetry data.
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* @param dataSize Size of telemetry in bytes.
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* @param replyId Id of the reply. This will be added to the ActionMessage.
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*/
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void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
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/**
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* @brief This function prepares a space packet which does not transport any data in the
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* packet data field apart from the crc.
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*/
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void prepareEmptyCmd(uint16_t apid);
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/**
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* @brief This function initializes the space packet to select the boot image of the MPSoC.
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*/
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void prepareSelBootImageCmd(const uint8_t* commandData);
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void prepareDisableHk();
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/**
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* @brief This function fills the commandBuffer with the data to update the time of the
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* PLOC supervisor.
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*/
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ReturnValue_t prepareSetTimeRefCmd();
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/**
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* @brief This function fills the commandBuffer with the data to change the boot timeout
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* value in the PLOC supervisor.
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*/
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void prepareSetBootTimeoutCmd(const uint8_t* commandData);
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void prepareRestartTriesCmd(const uint8_t* commandData);
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/**
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* @brief This function fills the command buffer with the packet to enable or disable the
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* watchdogs on the PLOC.
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*/
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void prepareWatchdogsEnableCmd(const uint8_t* commandData);
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/**
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* @brief This function fills the command buffer with the packet to set the watchdog timer
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* of one of the three watchdogs (PS, PL, INT).
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*/
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ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);
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ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
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DeviceCommandId_t deviceCommand);
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ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
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ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
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ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
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ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
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void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
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void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
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void prepareSetAdcThresholdCmd(const uint8_t* commandData);
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void prepareEnableNvmsCmd(const uint8_t* commandData);
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void prepareSelectNvmCmd(const uint8_t* commandData);
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ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
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ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
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ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
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void preparePrintCpuStatsCmd(const uint8_t* commandData);
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void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
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void prepareSetGpioCmd(const uint8_t* commandData);
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void prepareReadGpioCmd(const uint8_t* commandData);
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/**
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* @brief Copies the content of a space packet to the command buffer.
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*/
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void packetToOutBuffer(uint8_t* packetData, size_t fullSize);
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/**
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* @brief In case an acknowledgment failure reply has been received this function disables
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* all previously enabled commands and resets the exepected replies variable of an
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* active command.
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*/
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void disableAllReplies();
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/**
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* @brief This function sends a failure report if the active action was commanded by an other
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* object.
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*
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* @param replyId The id of the reply which signals a failure.
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* @param status A status byte which gives information about the failure type.
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*/
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void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
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/**
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* @brief This function disables the execution report reply. Within this function also the
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* the variable expectedReplies of an active command will be set to 0.
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*/
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void disableExeReportReply();
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/**
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* @brief Function is called in scanForReply and fills the spacePacketBuffer with the read
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* data until a full packet has been received.
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*/
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ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
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/**
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* @brief This function generates the Service 8 packets for the MRAM dump data.
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*/
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ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);
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/**
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* @brief With this function the number of expected replies following an MRAM dump command
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* will be increased. This is necessary to release the command in case not all replies
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* have been received.
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*/
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void increaseExpectedMramReplies(DeviceCommandId_t id);
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/**
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* @brief Function checks if the packet written to the space packet buffer is really a
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* MRAM dump packet.
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*/
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ReturnValue_t checkMramPacketApid();
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/**
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* @brief Writes the data of the MRAM dump to a file. The file will be created when receiving
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* the first packet.
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*/
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ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);
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/**
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* @brief Extracts the length field of a spacePacket referenced by the spacePacket pointer.
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*
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* @param spacePacket Pointer to the buffer holding the space packet.
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*
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* @return The value stored in the length field of the data field.
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*/
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uint16_t readSpacePacketLength(uint8_t* spacePacket);
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/**
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* @brief Extracts the sequence flags from a space packet referenced by the spacePacket
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* pointer.
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*
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* @param spacePacket Pointer to the buffer holding the space packet.
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*
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* @return uint8_t where the two least significant bits hold the sequence flags.
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*/
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uint8_t readSequenceFlags(uint8_t* spacePacket);
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ReturnValue_t createMramDumpFile();
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ReturnValue_t getTimeStampString(std::string& timeStamp);
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};
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#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */
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