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print clcw command

This commit is contained in:
Jakob Meier 2021-11-22 10:38:32 +01:00
parent dc0f435dbd
commit 283921cba1
2 changed files with 87 additions and 22 deletions
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65
linux/obc/PdecHandler.cpp
View File

@ -9,14 +9,16 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/ipc/QueueFactory.h"
PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
std::string uioRamMemory, std::string uioRegisters) :
SystemObject(objectId), tcDestinationId(tcDestinationId), gpioComIF(gpioComIF), pdecReset(
pdecReset), uioConfigMemory(uioConfigMemory), uioRamMemory(uioRamMemory), uioRegisters(
uioRegisters) {
uioRegisters), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
}
PdecHandler::~PdecHandler() {
@ -62,9 +64,18 @@ ReturnValue_t PdecHandler::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = actionHelper.initialize(commandQueue);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
MessageQueueId_t PdecHandler::getCommandQueue() const {
return commandQueue->getId();
}
ReturnValue_t PdecHandler::getRegisterAddress() {
int fd = open(uioRegisters.c_str(), O_RDWR);
if (fd < 1) {
@ -168,6 +179,8 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
readCommandQueue();
switch(state) {
case State::INIT:
resetFarStatFlag();
@ -183,7 +196,6 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
if (newTcReceived()) {
handleNewTc();
}
getClcw();
break;
case State::WAIT_FOR_RECOVERY:
break;
@ -195,6 +207,24 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
return RETURN_OK;
}
void PdecHandler::readCommandQueue(void) {
CommandMessage commandMessage;
ReturnValue_t result = RETURN_FAILED;
result = commandQueue->receiveMessage(&commandMessage);
if (result == RETURN_OK) {
result = actionHelper.handleActionMessage(&commandMessage);
if (result == RETURN_OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
commandMessage.getCommand());
commandQueue->reply(&reply);
return;
}
}
bool PdecHandler::newTcReceived() {
uint32_t pdecFar = *(registerBaseAddress + PDEC_FAR_OFFSET);
@ -434,21 +464,12 @@ uint8_t PdecHandler::getOddParity(uint8_t number) {
return parityBit;
}
void PdecHandler::getClcw() {
#if OBSW_DEBUG_PDEC_HANDLER == 1
uint32_t clcw = *(registerBaseAddress + PDEC_CLCW_OFFSET);
if (debugDivider == 10) {
printClcw(clcw);
debugDivider = 0;
return;
}
debugDivider++;
#endif /* OBSW_DEBUG_PDEC_HANDLER == 1 */
uint32_t PdecHandler::getClcw() {
return *(registerBaseAddress + PDEC_CLCW_OFFSET);
}
void PdecHandler::printClcw(uint32_t clcw) {
void PdecHandler::printClcw() {
uint32_t clcw = getClcw();
uint8_t type = static_cast<uint8_t>((clcw >> 31) & 0x1);
uint8_t versionNo = static_cast<uint8_t>((clcw >> 29) & 0x3);
uint8_t status = static_cast<uint8_t>((clcw >> 26) & 0x7);
@ -487,3 +508,15 @@ void PdecHandler::printClcw(uint32_t clcw) {
sif::info << std::setw(30) << std::left << "CLCW rep value: " << std::hex
<< "0x" << static_cast<unsigned int>(repValue) << std::endl;
}
ReturnValue_t PdecHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
switch(actionId) {
case PRINT_CLCW:
printClcw();
return EXECUTION_FINISHED;
default:
return COMMAND_NOT_IMPLEMENTED;
}
}

44
linux/obc/PdecHandler.h
View File

@ -10,6 +10,8 @@
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
/**
* @brief This class controls the PDEC IP Core implemented in the programmable logic of the
@ -29,7 +31,10 @@
*
* @author J. Meier
*/
class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
class PdecHandler : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public HasActionsIF {
public:
/**
@ -51,6 +56,21 @@ public:
ReturnValue_t initialize() override;
MessageQueueId_t getCommandQueue() const;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
/**
* brief Returns the 32-bit wide communication link control word (CLCW)
*/
uint32_t getClcw();
/**
* @rief Reads and prints the CLCW. Can be useful for debugging.
*/
void printClcw();
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@ -63,6 +83,9 @@ private:
static const ReturnValue_t AD_DISCARDED_WAIT = MAKE_RETURN_CODE(0xA4);
static const ReturnValue_t AD_DISCARDED_NS_VS = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xB0);
static const ReturnValue_t NO_REPORT = MAKE_RETURN_CODE(0xA6);
//! Error in version number and reserved A and B fields
static const ReturnValue_t ERROR_VERSION_NUMBER = MAKE_RETURN_CODE(0xA7);
@ -88,6 +111,11 @@ private:
//! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
// Action IDs
static const ActionId_t PRINT_CLCW = 0;
static const uint8_t STAT_POSITION = 31;
static const uint8_t FRAME_ANA_POSITION = 28;
static const uint8_t IREASON_POSITION = 25;
@ -182,6 +210,11 @@ private:
WAIT_FOR_RECOVERY
};
/**
* @brief Reads and handles messages stored in the commandQueue
*/
void readCommandQueue(void);
/**
* @brief Opens UIO device assigned to AXI to AHB converter giving access to the PDEC
* registers. The register base address will be mapped into the virtual address space.
@ -284,9 +317,6 @@ private:
*/
uint8_t getOddParity(uint8_t number);
void getClcw();
void printClcw(uint32_t clcw);
object_id_t tcDestinationId;
AcceptsTelecommandsIF* tcDestination = nullptr;
@ -309,8 +339,12 @@ private:
// UIO device file giving access to the PDEC register space
std::string uioRegisters;
ActionHelper actionHelper;
StorageManagerIF* tcStore = nullptr;
MessageQueueIF* commandQueue = nullptr;
State state = State::INIT;
/**
@ -328,8 +362,6 @@ private:
uint32_t pdecFar = 0;
uint8_t tcSegment[TC_SEGMENT_LEN];
uint8_t debugDivider = 0;
};
#endif /* LINUX_OBC_PDECHANDLER_H_ */