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transmit enable and timeout

This commit is contained in:
Jakob Meier 2021-11-22 18:01:16 +01:00
parent ec7568337c
commit 345ccf5392
8 changed files with 234 additions and 17 deletions
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2
bsp_q7s/core/InitMission.cpp
View File

@ -110,7 +110,7 @@ void initmission::initTasks() {
// If a command has not been read before the next one arrives, the old command will be
// overwritten by the PDEC.
PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.6, missedDeadlineFunc);
"PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);

3
bsp_q7s/core/ObjectFactory.cpp
View File

@ -951,7 +951,8 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(objects::CCSDS_HANDLER, objects::PTME,
objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF);
objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF, gpioComIF,
gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr;
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);

1
generators/bsp_q7s_objects.csv
View File

@ -78,6 +78,7 @@
0x50000701;PAPB_VC1
0x50000702;PAPB_VC2
0x50000703;PAPB_VC3
0x50000704;PDEC_HANDLER
0x50000800;CCSDS_HANDLER
0x51000500;PUS_SERVICE_6
0x53000000;FSFW_OBJECTS_START

1 0x00005060 P60DOCK_TEST_TASK
78 0x50000701 PAPB_VC1
79 0x50000702 PAPB_VC2
80 0x50000703 PAPB_VC3
81 0x50000704 PDEC_HANDLER
82 0x50000800 CCSDS_HANDLER
83 0x51000500 PUS_SERVICE_6
84 0x53000000 FSFW_OBJECTS_START

2
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -37,7 +37,7 @@ debugging. */
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 1
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 0
#define OBSW_TC_FROM_PDEC 1
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0

14
linux/obc/PdecHandler.cpp
View File

@ -196,6 +196,7 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
if (newTcReceived()) {
handleNewTc();
}
checkLocks();
break;
case State::WAIT_FOR_RECOVERY:
break;
@ -237,6 +238,19 @@ bool PdecHandler::newTcReceived() {
return true;
}
void PdecHandler::checkLocks() {
uint32_t clcw = getClcw();
if (!(clcw & NO_RF_MASK) && (lastClcw & NO_RF_MASK)) {
// Rf available changed from 0 to 1
triggerEvent(CARRIER_LOCK);
}
if (!(clcw & NO_BITLOCK_MASK) && (lastClcw & NO_BITLOCK_MASK)) {
// Bit lock changed from 0 to 1
triggerEvent(BIT_LOCK);
}
lastClcw = clcw;
}
bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
bool frameValid = false;
FrameAna_t frameAna = static_cast<FrameAna_t>((pdecFar & FRAME_ANA_MASK) >> FRAME_ANA_POSITION);

34
linux/obc/PdecHandler.h
View File

@ -71,6 +71,19 @@ public:
*/
void printClcw();
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
//! P1: The frame analysis information (FrameAna field of PDEC_FAR register)
//! P2: When frame declared illegal this parameter this parameter gives information about the reason (IReason field of the PDEC_FAR register)
static const Event INVALID_TC_FRAME = MAKE_EVENT(1, severity::HIGH);
//! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
//! [EXPORT] : [COMMENT] Carrier lock detected
static const Event CARRIER_LOCK = MAKE_EVENT(3, severity::INFO);
//! [EXPORT] : [COMMENT] Bit lock detected (data valid)
static const Event BIT_LOCK = MAKE_EVENT(4, severity::INFO);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@ -102,15 +115,6 @@ private:
//! Invalid BC control command
static const ReturnValue_t INVALID_BC_CC = MAKE_RETURN_CODE(0xAE);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
//! P1: The frame analysis information (FrameAna field of PDEC_FAR register)
//! P2: When frame declared illegal this parameter this parameter gives information about the reason (IReason field of the PDEC_FAR register)
static const Event INVALID_TC_FRAME = MAKE_EVENT(1, severity::HIGH);
//! [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
@ -172,6 +176,9 @@ private:
static const uint32_t TC_SEGMENT_LEN = 1017;
static const uint32_t NO_RF_MASK = 0x8000;
static const uint32_t NO_BITLOCK_MASK = 0x4000;
/**
* TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
* the PDEC memory.
@ -260,6 +267,12 @@ private:
*/
bool newTcReceived();
/**
* @brief Checks if carrier lock or bit lock has been detected and triggers appropriate
* event.
*/
void checkLocks();
/**
* @brief Analyzes the FramAna field (frame analysis data) of a FAR report.
*
@ -362,6 +375,9 @@ private:
uint32_t pdecFar = 0;
uint8_t tcSegment[TC_SEGMENT_LEN];
// Used to check carrier and bit lock changes (default set to no rf and no bitlock)
uint32_t lastClcw = 0xC000;
};
#endif /* LINUX_OBC_PDECHANDLER_H_ */

137
mission/tmtc/CCSDSHandler.cpp
View File

@ -1,24 +1,32 @@
#include "OBSWConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/events/EventManagerIF.h"
#include <linux/obc/PdecHandler.h>
#include "CCSDSHandler.h"
CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF) :
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData) :
SystemObject(objectId), ptmeId(ptmeId), tcDestination(tcDestination), parameterHelper(this), actionHelper(
this, nullptr), txRateSetterIF(txRateSetterIF) {
this, nullptr), txRateSetterIF(txRateSetterIF), gpioIF(gpioIF), enTxClock(
enTxClock), enTxData(enTxData) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 2);
}
CCSDSHandler::~CCSDSHandler() {
}
ReturnValue_t CCSDSHandler::performOperation(uint8_t operationCode) {
checkEvents();
readCommandQueue();
handleTelemetry();
handleTelecommands();
checkTxTimer();
return RETURN_OK;
}
@ -71,6 +79,27 @@ ReturnValue_t CCSDSHandler::initialize() {
iter->second->setPtmeObject(ptme);
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CCSDSHandler::initialize: Invalid event manager" << std::endl;
#endif
return RETURN_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK), event::getEventId(PdecHandler::BIT_LOCK));
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CCSDSHandler::initialize: Failed to subscribe to events from PDEC "
"handler" << std::endl;
#endif
return result;
}
return result;
}
@ -157,13 +186,113 @@ ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
switch(actionId) {
case SET_LOW_RATE:
case SET_LOW_RATE: {
txRateSetterIF->setRate(BitRates::RATE_400KHZ);
return EXECUTION_FINISHED;
case SET_HIGH_RATE:
}
case SET_HIGH_RATE: {
txRateSetterIF->setRate(BitRates::RATE_2000KHZ);
return EXECUTION_FINISHED;
}
case EN_TRANSMITTER: {
enableTransmit();
return EXECUTION_FINISHED;
}
case DIS_TRANSMITTER: {
disableTransmit();
return EXECUTION_FINISHED;
}
default:
return COMMAND_NOT_IMPLEMENTED;
}
}
void CCSDSHandler::checkEvents() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event);
result == RETURN_OK; result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message"
<< std::endl;
break;
}
}
}
void CCSDSHandler::handleEvent(EventMessage* eventMessage) {
Event event = eventMessage->getEvent();
switch(event){
case PdecHandler::BIT_LOCK: {
handleBitLockEvent();
break;
}
case PdecHandler::CARRIER_LOCK: {
handleCarrierLockEvent();
break;
}
default:
sif::debug << "CCSDSHandler::handleEvent: Did not subscribe to this event"
<< std::endl;
break;
}
}
void CCSDSHandler::handleBitLockEvent() {
if(transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
enableTransmit();
}
void CCSDSHandler::handleCarrierLockEvent() {
if (!enableTxWhenCarrierLock) {
return;
}
enableTransmit();
}
void CCSDSHandler::forwardLinkstate() {
VirtualChannelMapIter iter;
for(iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
iter->second->setLinkState(linkState);
}
}
void CCSDSHandler::enableTransmit() {
if(transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
transmitterCountdown.setTimeout(TRANSMITTER_TIMEOUT);
#if BOARD_TE0720 == 0
gpioIF->pullLow(enTxClock);
gpioIF->pullLow(enTxData);
#endif /* BOARD_TE0720 == 0 */
linkState = UP;
// Set link state of all virtual channels to link up
forwardLinkstate();
}
void CCSDSHandler::checkTxTimer() {
if(linkState == DOWN) {
return;
}
if (transmitterCountdown.hasTimedOut()) {
disableTransmit();
}
}
void CCSDSHandler::disableTransmit() {
#if BOARD_TE0720 == 0
gpioIF->pullHigh(enTxClock);
gpioIF->pullHigh(enTxData);
#endif /* BOARD_TE0720 == 0 */
linkState = DOWN;
forwardLinkstate();
}

58
mission/tmtc/CCSDSHandler.h
View File

@ -10,7 +10,11 @@
#include "fsfw/parameters/ParameterHelper.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/timemanager/Countdown.h"
#include "fsfw/events/EventMessage.h"
#include "linux/obc/TxRateSetterIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "VirtualChannel.h"
#include <unordered_map>
@ -39,9 +43,12 @@ public:
* @param tcDestination Object ID of object handling received TC space packets
* @param txRateSetter Object providing the functionality to switch the input bitrate of
* the S-Band transceiver.
* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
* @param enTxClock GPIO ID of RS485 tx clock enable
* @param enTxData GPIO ID of RS485 tx data enable
*/
CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF);
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
~CCSDSHandler();
@ -76,10 +83,19 @@ private:
static const ActionId_t SET_LOW_RATE = 0;
static const ActionId_t SET_HIGH_RATE = 1;
static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DIS_TRANSMITTER = 3;
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
// syrlinks must not be transmitting more than 15 minutes (according to datasheet)
// static const uint32_t TRANSMITTER_TIMEOUT = 900000; //900000 ms = 15 min
static const uint32_t TRANSMITTER_TIMEOUT = 10000; //900000 ms = 15 min
static const bool UP = true;
static const bool DOWN = false;
using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
using VirtualChannelMapIter = VirtualChannelMap::iterator;
@ -91,6 +107,7 @@ private:
object_id_t tcDestination;
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* eventQueue = nullptr;
ParameterHelper parameterHelper;
@ -100,9 +117,48 @@ private:
TxRateSetterIF* txRateSetterIF = nullptr;
GpioIF* gpioIF = nullptr;
gpioId_t enTxClock = gpio::NO_GPIO;
gpioId_t enTxData = gpio::NO_GPIO;
// Countdown to disable transmitter after 15 minutes
Countdown transmitterCountdown;
// When true transmitting is started as soon as carrier lock has been detected
bool enableTxWhenCarrierLock = false;
bool linkState = DOWN;
void readCommandQueue(void);
void handleTelemetry();
void handleTelecommands();
void checkEvents();
void handleEvent(EventMessage* eventMessage);
void handleBitLockEvent();
void handleCarrierLockEvent();
/**
* @brief Forward link state to virtual channels.
*/
void forwardLinkstate();
/**
* @brief Starts transmit timer and enables transmitter.
*/
void enableTransmit();
/**
* @brief Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
* timer has expired.
*/
void checkTxTimer();
/**
* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
* RS485 transceiver chips to high.
*/
void disableTransmit();
};
#endif /* CCSDSHANDLER_H_ */