555 lines
22 KiB
C++
555 lines
22 KiB
C++
#include "GomspaceDeviceHandler.h"
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#include <common/config/commonObjects.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/arrayprinter.h>
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#include <cassert>
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#include "devicedefinitions/GomSpacePackets.h"
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#include "devicedefinitions/powerDefinitions.h"
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using namespace GOMSPACE;
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GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
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CookieIF* comCookie, TableConfig& tableConfig,
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FailureIsolationBase* customFdir)
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: DeviceHandlerBase(objectId, comIF, comCookie, customFdir), tableCfg(tableConfig) {
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if (comCookie == nullptr) {
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sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie" << std::endl;
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}
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}
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void GomspaceDeviceHandler::initPduConfigTable() {
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tableCfg.maxConfigTableAddress = PDU::MAX_CONFIGTABLE_ADDRESS;
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tableCfg.maxHkTableAddress = PDU::MAX_HKTABLE_ADDRESS;
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tableCfg.hkTableSize = PDU::HK_TABLE_SIZE;
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tableCfg.cfgTableSize = PDU::CONFIG_TABLE_SIZE;
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}
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GomspaceDeviceHandler::~GomspaceDeviceHandler() {}
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void GomspaceDeviceHandler::doStartUp() {}
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void GomspaceDeviceHandler::doShutDown() {}
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ReturnValue_t GomspaceDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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return returnvalue::OK;
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}
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ReturnValue_t GomspaceDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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return returnvalue::OK;
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}
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ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = childCommandHook(deviceCommand, commandData, commandDataLen);
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switch (deviceCommand) {
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case (GOMSPACE::PING): {
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result = generatePingCommand(commandData, commandDataLen);
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if (result != returnvalue::OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::REBOOT): {
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generateRebootCommand();
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break;
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}
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case (GOMSPACE::PARAM_SET): {
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result = generateSetParamCommand(commandData, commandDataLen);
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if (result != returnvalue::OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::PARAM_GET): {
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result = generateGetParamCommand(commandData, commandDataLen);
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if (result != returnvalue::OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::GNDWDT_RESET): {
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result = generateResetWatchdogCmd();
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if (result != returnvalue::OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::PRINT_SWITCH_V_I):
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case (GOMSPACE::PRINT_LATCHUPS): {
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result = printStatus(deviceCommand);
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break;
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}
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case (GOMSPACE::REQUEST_HK_TABLE): {
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auto reqType = SpecialRequestTypes::DEFAULT_COM_IF;
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if (getObjectId() == objects::PDU1_HANDLER or getObjectId() == objects::PDU2_HANDLER) {
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reqType = SpecialRequestTypes::GET_PDU_HK;
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} else if (getObjectId() == objects::ACU_HANDLER) {
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reqType = SpecialRequestTypes::GET_ACU_HK;
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} else if (getObjectId() == objects::P60DOCK_HANDLER) {
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reqType = SpecialRequestTypes::GET_P60DOCK_HK;
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}
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result = generateRequestFullTableCmd(reqType, GOMSPACE::TableIds::HK, tableCfg.hkTableSize,
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deviceCommand);
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if (result != returnvalue::OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::REQUEST_CONFIG_TABLE): {
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auto reqType = SpecialRequestTypes::DEFAULT_COM_IF;
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if (getObjectId() == objects::PDU1_HANDLER or getObjectId() == objects::PDU2_HANDLER) {
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reqType = SpecialRequestTypes::GET_PDU_CONFIG;
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} else if (getObjectId() == objects::ACU_HANDLER) {
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reqType = SpecialRequestTypes::GET_ACU_CONFIG;
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} else if (getObjectId() == objects::P60DOCK_HANDLER) {
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reqType = SpecialRequestTypes::GET_P60DOCK_CONFIG;
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}
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result = generateRequestFullTableCmd(reqType, GOMSPACE::TableIds::CONFIG,
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tableCfg.cfgTableSize, deviceCommand);
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if (result != returnvalue::OK) {
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return result;
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}
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return returnvalue::OK;
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}
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void GomspaceDeviceHandler::fillCommandAndReplyMap() {
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this->insertInCommandAndReplyMap(GOMSPACE::PING, 3);
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this->insertInCommandMap(GOMSPACE::REBOOT);
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this->insertInCommandAndReplyMap(GOMSPACE::PARAM_SET, 3);
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this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
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this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
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this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_CONFIG_TABLE, 3);
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this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
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this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
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this->insertInCommandMap(GOMSPACE::PRINT_LATCHUPS);
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}
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ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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switch (rememberCommandId) {
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case (GOMSPACE::PING):
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*foundId = GOMSPACE::PING;
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*foundLen = PING_REPLY_SIZE;
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rememberCommandId = GOMSPACE::NONE;
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break;
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case (GOMSPACE::PARAM_GET): {
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*foundId = GOMSPACE::PARAM_GET;
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*foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
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rememberCommandId = GOMSPACE::NONE;
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break;
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}
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case (GOMSPACE::PARAM_SET): {
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*foundId = GOMSPACE::PARAM_SET;
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*foundLen = rememberRequestedSize;
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rememberCommandId = GOMSPACE::NONE;
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break;
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}
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case (GOMSPACE::REQUEST_HK_TABLE):
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case (GOMSPACE::REQUEST_CONFIG_TABLE): {
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if (remainingSize < rememberRequestedSize) {
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sif::error << "GomspaceDeviceHandler::scanForReply: Table reply, received data smaller "
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"than expected "
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<< rememberRequestedSize << std::endl;
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return returnvalue::FAILED;
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}
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*foundId = rememberCommandId;
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*foundLen = rememberRequestedSize;
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rememberCommandId = GOMSPACE::NONE;
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break;
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}
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default:
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return IGNORE_REPLY_DATA;
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}
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return returnvalue::OK;
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}
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ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t* packet) {
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switch (id) {
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case (GOMSPACE::PING): {
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SerializeElement<uint32_t> replyTime = *packet;
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handleDeviceTm(replyTime, true);
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break;
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}
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case (GOMSPACE::PARAM_GET): {
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// -2 to subtract address size from gomspace parameter reply packet
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uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2;
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if (payloadLength > sizeof(uint32_t)) {
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sif::error << "GomspaceDeviceHandler: PARAM_GET: Invalid payload "
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<< "size in reply" << std::endl;
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return INVALID_PAYLOAD_SIZE;
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}
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uint8_t tempPayloadBuffer[payloadLength];
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/* Extract information from received data */
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CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
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size_t size = GOMSPACE::GS_HDR_LENGTH + payloadLength;
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ReturnValue_t result =
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cspGetParamReply.deSerialize(&packet, &size, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::error << "GomspaceDeviceHandler: Failed to deserialize get parameter"
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<< "reply" << std::endl;
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return result;
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}
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uint8_t action = cspGetParamReply.getAction();
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uint8_t tableId = cspGetParamReply.getTableId();
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uint16_t address = cspGetParamReply.getAddress();
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/* Pack relevant information into a tm packet */
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ParamReply paramReply(action, tableId, address, payloadLength, tempPayloadBuffer);
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handleDeviceTm(paramReply, id, true);
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break;
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}
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case (GOMSPACE::PARAM_SET): {
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/* When setting a parameter, the p60dock sends back the state of the
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* operation */
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if (*packet != PARAM_SET_OK) {
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return returnvalue::FAILED;
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}
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setParamCallback(setParamCacher, true);
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break;
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}
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case (GOMSPACE::REQUEST_HK_TABLE): {
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letChildHandleHkReply(id, packet);
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break;
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}
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case (GOMSPACE::REQUEST_CONFIG_TABLE): {
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letChildHandleConfigReply(id, packet);
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break;
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}
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default:
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break;
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}
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return returnvalue::OK;
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}
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void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid() {}
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ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result =
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setParamCacher.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
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// This breaks layering but I really don't want to accept this command..
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if (setParamCacher.getAddress() == PDU2::CONFIG_ADDRESS_OUT_EN_Q7S and
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this->getObjectId() == objects::PDU2_HANDLER) {
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triggerEvent(power::SWITCHING_Q7S_DENIED, 0, 0);
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return returnvalue::FAILED;
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}
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if (result != returnvalue::OK) {
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sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter "
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"message"
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<< std::endl;
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return result;
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}
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result = setParamCallback(setParamCacher, false);
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if (result != returnvalue::OK) {
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return result;
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}
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/* Get and check address */
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uint16_t address = setParamCacher.getAddress();
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if (address > tableCfg.maxConfigTableAddress) {
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sif::error << "GomspaceDeviceHandler: Invalid address for set parameter "
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<< "action" << std::endl;
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return INVALID_ADDRESS;
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}
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/* CSP reply only contains the transaction state */
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uint16_t querySize = 1;
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const uint8_t* parameterPtr = setParamCacher.getParameter();
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uint8_t parameterSize = setParamCacher.getParameterSize();
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uint16_t payloadlength = sizeof(address) + parameterSize;
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/* Generate command for CspComIF */
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CspSetParamCommand setParamCmd(querySize, payloadlength, address, parameterPtr, parameterSize);
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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result = setParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
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SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::error << "GomspaceDeviceHandler: Failed to serialize command for "
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<< "CspComIF" << std::endl;
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return result;
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}
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if (cspPacketLen > MAX_PACKET_LEN) {
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sif::error << "GomspaceDeviceHandler: Invalid length of set parameter "
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"command"
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<< std::endl;
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return PACKET_TOO_LONG;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberRequestedSize = querySize;
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rememberCommandId = GOMSPACE::PARAM_SET;
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return returnvalue::OK;
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}
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ReturnValue_t GomspaceDeviceHandler::generateGetParamCommand(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result;
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/* Unpack the received action message */
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GetParamMessageUnpacker getParamMessage;
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result = getParamMessage.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::error << "Failed to deserialize message to extract information "
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"from get parameter message"
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<< std::endl;
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return result;
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}
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/* Get an check table id to read from */
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uint8_t tableId = getParamMessage.getTableId();
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if (not validTableId(tableId)) {
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sif::error << "GomspaceDeviceHandler: Invalid table id in get parameter"
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" message"
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<< std::endl;
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return INVALID_TABLE_ID;
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}
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/* Get and check address */
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uint16_t address = getParamMessage.getAddress();
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if (address > tableCfg.maxHkTableAddress and tableId == TableIds::HK) {
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sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
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<< "housekeeping table" << std::endl;
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return INVALID_ADDRESS;
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}
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if (address > tableCfg.maxConfigTableAddress and tableId == TableIds::CONFIG) {
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sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
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<< "configuration table" << std::endl;
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return INVALID_ADDRESS;
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}
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uint16_t length = sizeof(address);
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uint8_t parameterSize = getParamMessage.getParameterSize();
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if (parameterSize > sizeof(uint32_t)) {
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sif::error << "GomspaceDeviceHandler: GET_PARAM: Invalid parameter "
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<< "size" << std::endl;
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return INVALID_PARAM_SIZE;
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}
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uint16_t querySize = parameterSize + GOMSPACE::GS_HDR_LENGTH;
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/* Generate the CSP command to send to the P60 Dock */
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CspGetParamCommand getParamCmd(querySize, tableId, length, address);
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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result = getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
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SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::error << "GomspaceDeviceHandler: Failed to serialize command to "
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<< "get parameter" << std::endl;
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}
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if (cspPacketLen > MAX_PACKET_LEN) {
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sif::error << "GomspaceDeviceHandler: Received invalid get parameter "
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"command"
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<< std::endl;
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return PACKET_TOO_LONG;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberRequestedSize = querySize;
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rememberCommandId = GOMSPACE::PARAM_GET;
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return returnvalue::OK;
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}
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ReturnValue_t GomspaceDeviceHandler::generatePingCommand(const uint8_t* commandData,
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size_t commandDataLen) {
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CspPingCommand cspPingCommand(commandData, commandDataLen);
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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ReturnValue_t result = cspPingCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
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SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::error << "GomspaceDeviceHandler: Failed to serialize ping command" << std::endl;
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return result;
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}
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if (cspPacketLen > MAX_PACKET_LEN) {
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sif::error << "GomspaceDeviceHandler: Received invalid ping message" << std::endl;
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return PACKET_TOO_LONG;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberCommandId = GOMSPACE::PING;
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return returnvalue::OK;
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}
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void GomspaceDeviceHandler::generateRebootCommand() {
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uint8_t cspPort = GOMSPACE::REBOOT_PORT;
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uint16_t querySize = 0;
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*cspPacket = GOMSPACE::REBOOT_PORT;
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*(cspPacket + 1) = querySize;
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size_t cspPacketLen = sizeof(cspPort) + sizeof(cspPacketLen);
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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}
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ReturnValue_t GomspaceDeviceHandler::childCommandHook(DeviceCommandId_t cmd,
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const uint8_t* commandData,
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size_t commandDataLen) {
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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ReturnValue_t GomspaceDeviceHandler::setParamCallback(SetParamMessageUnpacker& unpacker,
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bool afterExecution) {
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return returnvalue::OK;
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}
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ReturnValue_t GomspaceDeviceHandler::initializePduPool(
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localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager,
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std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb) {
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using namespace PDU;
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localDataPoolMap.emplace(pool::PDU_CURRENTS, new PoolEntry<int16_t>(9));
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localDataPoolMap.emplace(pool::PDU_VOLTAGES, new PoolEntry<int16_t>(9));
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localDataPoolMap.emplace(pool::PDU_VCC, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::PDU_VBAT, new PoolEntry<int16_t>({0}));
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localDataPoolMap.emplace(pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(pool::PDU_CONV_EN, new PoolEntry<uint8_t>(3));
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localDataPoolMap.emplace(pool::PDU_OUT_ENABLE,
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new PoolEntry<uint8_t>(initOutEnb.data(), initOutEnb.size()));
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localDataPoolMap.emplace(pool::PDU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_BOOTCNT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_UPTIME, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_RESETCAUSE, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(pool::PDU_BATT_MODE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::PDU_LATCHUPS, new PoolEntry<uint16_t>(9));
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localDataPoolMap.emplace(pool::PDU_DEVICES, new PoolEntry<uint8_t>(8));
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localDataPoolMap.emplace(pool::PDU_STATUSES, new PoolEntry<uint8_t>(8));
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localDataPoolMap.emplace(pool::PDU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(pool::PDU_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
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return returnvalue::OK;
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}
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bool GomspaceDeviceHandler::validTableId(uint8_t id) {
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if (id == TableIds::CONFIG or id == TableIds::BOARD_PARAMS or id == TableIds::CALIBRATION or
|
|
id == TableIds::HK) {
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
|
|
WatchdogResetCommand watchdogResetCommand;
|
|
size_t cspPacketLen = 0;
|
|
uint8_t* buffer = cspPacket;
|
|
ReturnValue_t result = watchdogResetCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
|
|
SerializeIF::Endianness::BIG);
|
|
if (result != returnvalue::OK) {
|
|
sif::error << "GomspaceDeviceHandler: Failed to serialize watchdog reset "
|
|
<< "command" << std::endl;
|
|
return result;
|
|
}
|
|
rawPacket = cspPacket;
|
|
rawPacketLen = cspPacketLen;
|
|
rememberRequestedSize = 0; // No bytes will be queried with the ground
|
|
// watchdog command.
|
|
rememberCommandId = GOMSPACE::GNDWDT_RESET;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t GomspaceDeviceHandler::generateRequestFullTableCmd(SpecialRequestTypes reqType,
|
|
uint8_t tableId,
|
|
uint16_t tableReplySize,
|
|
DeviceCommandId_t id) {
|
|
uint16_t querySize = tableReplySize;
|
|
if (reqType == SpecialRequestTypes::DEFAULT_COM_IF) {
|
|
sif::warning << "Default communication for table requests not implemented anymore" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
auto* cspCookie = dynamic_cast<CspCookie*>(comCookie);
|
|
cspCookie->setRequest(reqType, tableReplySize);
|
|
cspCookie->setCspPort(CspPorts::P60_PORT_RPARAM_ENUM);
|
|
rememberRequestedSize = querySize;
|
|
rememberCommandId = id;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
uint32_t GomspaceDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
|
|
|
|
void GomspaceDeviceHandler::setModeNormal() { mode = MODE_NORMAL; }
|
|
|
|
ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
|
|
sif::info << "No printHkTable implementation given.." << std::endl;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU::PduAuxHk& auxHk,
|
|
const uint8_t* packet) {
|
|
PoolReadGuard pg0(&coreHk);
|
|
PoolReadGuard pg1(&auxHk);
|
|
if (pg0.getReadResult() != returnvalue::OK or pg1.getReadResult() != returnvalue::OK) {
|
|
sif::warning << "Reading PDU1 datasets failed!" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
/* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
|
|
* address. */
|
|
// dataOffset += 12;
|
|
for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
|
|
coreHk.currents[idx] = as<int16_t>(packet + (idx * 2));
|
|
}
|
|
for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
|
|
coreHk.voltages[idx] = as<uint16_t>(packet + 0x12 + (idx * 2));
|
|
}
|
|
auxHk.vcc.value = as<int16_t>(packet + 0x24);
|
|
auxHk.vbat.value = as<int16_t>(packet + 0x26);
|
|
coreHk.temperature = as<int16_t>(packet + 0x28) * 0.1;
|
|
|
|
for (uint8_t idx = 0; idx < 3; idx++) {
|
|
auxHk.converterEnable[idx] = packet[0x2a + idx];
|
|
}
|
|
|
|
for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
|
|
coreHk.outputEnables[idx] = packet[0x2e + idx];
|
|
}
|
|
auxHk.bootcause = as<uint32_t>(packet + 0x38);
|
|
coreHk.bootcount = as<uint32_t>(packet + 0x3c);
|
|
auxHk.uptime = as<uint32_t>(packet + 0x40);
|
|
auxHk.resetcause = as<uint16_t>(packet + 0x44);
|
|
coreHk.battMode = *(packet + 0x46);
|
|
|
|
for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
|
|
auxHk.latchups[idx] = as<uint16_t>(packet + 0x48 + (idx * 2));
|
|
}
|
|
|
|
for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
|
|
auxHk.deviceTypes[idx] = *(packet + 0x5a + idx);
|
|
}
|
|
for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
|
|
auxHk.devicesStatus[idx] = *(packet + 0x62 + idx);
|
|
}
|
|
|
|
auxHk.gndWdtReboots = as<uint32_t>(packet + 0x6c);
|
|
auxHk.i2cWdtReboots = as<uint32_t>(packet + 0x70);
|
|
auxHk.canWdtReboots = as<uint32_t>(packet + 0x74);
|
|
auxHk.csp1WdtReboots = as<uint32_t>(packet + 0x78);
|
|
auxHk.csp2WdtReboots = as<uint32_t>(packet + 0x78 + 4);
|
|
auxHk.groundWatchdogSecondsLeft = as<uint32_t>(packet + 0x80);
|
|
auxHk.i2cWatchdogSecondsLeft = as<uint32_t>(packet + 0x84);
|
|
auxHk.canWatchdogSecondsLeft = as<uint32_t>(packet + 0x88);
|
|
auxHk.csp1WatchdogPingsLeft = *(packet + 0x8c);
|
|
auxHk.csp2WatchdogPingsLeft = *(packet + 0x8c + 1);
|
|
coreHk.setChanged(true);
|
|
if (not coreHk.isValid()) {
|
|
coreHk.setValidity(true, true);
|
|
}
|
|
if (not auxHk.isValid()) {
|
|
auxHk.setValidity(true, true);
|
|
}
|
|
return returnvalue::OK;
|
|
}
|