327 lines
15 KiB
C++
327 lines
15 KiB
C++
#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
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#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
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#include <linux/payload/PlocMpsocSpecialComHelper.h>
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#include <linux/payload/mpsocRetvals.h>
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#include <linux/payload/plocMpsocHelpers.h>
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#include <linux/payload/plocSupvDefs.h>
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#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
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#include <string>
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#include "fsfw/action/CommandActionHelper.h"
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#include "fsfw/action/CommandsActionsIF.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/tmtcservices/SourceSequenceCounter.h"
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#include "fsfw_hal/linux/gpio/Gpio.h"
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#include "fsfw_hal/linux/serial/SerialComIF.h"
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static constexpr bool DEBUG_MPSOC_COMMUNICATION = false;
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/**
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* @brief This is the device handler for the MPSoC of the payload computer.
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*
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* @details The PLOC uses the space packet protocol for communication. Each command will be
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* answered 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_MPSoC ICD:
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* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
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*
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* @note The sequence count in the space packets must be incremented with each received and sent
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* packet otherwise the MPSoC will reply with an acknowledgment failure report.
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*
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* NOTE: This is not an example for a good device handler, DO NOT USE THIS AS A REFERENCE HANDLER.
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* @author J. Meier, R. Mueller
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*/
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class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
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public:
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/**
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* @brief Constructor
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*
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* @param ojectId Object ID of the MPSoC handler
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* @param uartcomIFid Object ID of the UART communication interface
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* @param comCookie UART communication cookie
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* @param plocMPSoCHelper Pointer to MPSoC helper object
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* @param uartIsolatorSwitch Gpio object representing the GPIO connected to the UART isolator
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* module in the programmable logic
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* @param supervisorHandler Object ID of the supervisor handler
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*/
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PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
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PlocMpsocSpecialComHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
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object_id_t supervisorHandler);
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virtual ~PlocMpsocHandler();
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virtual ReturnValue_t initialize() override;
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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void performOperationHook() override;
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MessageQueueIF* getCommandQueuePtr() override;
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void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
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void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
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void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
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void completionSuccessfulReceived(ActionId_t actionId) override;
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void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) 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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ReturnValue_t doSendReadHook() override;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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bool dontCheckQueue() override;
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private:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
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//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
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static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
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//! P1: Command Id which leads the acknowledgment failure report
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//! P2: The status field inserted by the MPSoC into the data field
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static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC receive execution failure report
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//! P1: Command Id which leads the execution failure report
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//! P2: The status field inserted by the MPSoC into the data field
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static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
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static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
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//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
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//! count P1: Expected sequence count P2: Received sequence count
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static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
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//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
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//! thus also to shutdown the supervisor.
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static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
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//! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
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//! ON transition.
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static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
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static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, 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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mpsoc::HkReport hkReport;
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Countdown mpsocBootTransitionCd = Countdown(6500);
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Countdown supvTransitionCd = Countdown(3000);
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MessageQueueIF* eventQueue = nullptr;
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MessageQueueIF* commandActionHelperQueue = nullptr;
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SourceSequenceCounter sequenceCount = SourceSequenceCounter(0);
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uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
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SpacePacketCreator creator;
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ploc::SpTcParams spParams = ploc::SpTcParams(creator);
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PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
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PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
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PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
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PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
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PoolEntry<float> peSysmonTemp = PoolEntry<float>();
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PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
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PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
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PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
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PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
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PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
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PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
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PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
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PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
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PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
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PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
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PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
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PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
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PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
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PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
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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 = mpsoc::NONE;
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SerialComIF* uartComIf = nullptr;
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PlocMpsocSpecialComHelper* specialComHelper = nullptr;
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Gpio uartIsolatorSwitch;
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object_id_t supervisorHandler = 0;
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CommandActionHelper commandActionHelper;
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// Used to block incoming commands when MPSoC helper class is currently executing a command
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bool specialComHelperExecuting = false;
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bool commandIsPending = false;
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struct TmMemReadReport {
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static const uint8_t FIX_SIZE = 14;
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size_t rememberRequestedSize = 0;
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};
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TmMemReadReport tmMemReadReport;
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Countdown cmdCountdown = Countdown(10000);
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struct TelemetryBuffer {
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uint16_t length = 0;
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uint8_t buffer[mpsoc::SP_MAX_SIZE];
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};
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size_t foundPacketLen = 0;
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TelemetryBuffer tmBuffer;
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enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
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enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
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PowerState powerState = PowerState::IDLE;
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uint8_t skipSupvCommandingToOn = false;
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/**
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* @brief Handles events received from the PLOC MPSoC helper
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*/
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void handleEvent(EventMessage* eventMessage);
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ReturnValue_t prepareTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcMemRead(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcReplayStop();
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ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcDownlinkPwrOff();
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ReturnValue_t prepareTcGetHkReport();
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ReturnValue_t prepareTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcModeIdle();
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ReturnValue_t prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcModeSnapshot();
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ReturnValue_t finishTcPrep(mpsoc::TcBase& tcBase);
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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 returnvalue::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 returnvalue::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 returnvalue::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 memory read report.
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*
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* @param data Pointer to the data buffer holding the memory read report.
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*
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* @return returnvalue::OK if successful, otherwise an error code.
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*/
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ReturnValue_t handleMemoryReadReport(const uint8_t* data);
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ReturnValue_t handleGetHkReport(const uint8_t* data);
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ReturnValue_t handleCamCmdRpt(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 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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ReturnValue_t prepareTcModeReplay();
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void cmdDoneHandler(bool success, ReturnValue_t result);
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bool handleHwStartup();
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bool handleHwShutdown();
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void stopSpecialComHelper();
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void handleActionCommandFailure(ActionId_t actionId);
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pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
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ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
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uint32_t* msToReachTheMode) override;
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ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues, uint16_t startAtIndex) override;
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};
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#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */
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