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PTME_LOCK atomic boolean and related handling
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This commit is contained in:
Robin Müller
2023-03-31 16:51:30 +02:00
parent caa7c20adf
commit 55a22c840c
14 changed files with 165 additions and 102 deletions
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178
mission/com/CcsdsIpCoreHandler.cpp
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@ -15,9 +15,11 @@
CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
GpioIF* gpioIF, PtmeGpios gpioIds)
GpioIF* gpioIF, PtmeGpios gpioIds,
std::atomic_bool& ptmeLocked)
: SystemObject(objectId),
linkState(linkState),
ptmeLocked(ptmeLocked),
tcDestination(tcDestination),
parameterHelper(this),
actionHelper(this, nullptr),
@ -35,6 +37,7 @@ CcsdsIpCoreHandler::~CcsdsIpCoreHandler() = default;
ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
readCommandQueue();
performPtmeUpdateWhenApplicable();
return returnvalue::OK;
}
@ -127,10 +130,15 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
return HasParametersIF::INVALID_VALUE;
}
parameterWrapper->set(batPriorityParam);
if (mode == MODE_ON) {
updateBatPriorityOnTxOff = true;
} else if (mode == MODE_OFF) {
updateBatPriorityFromParam();
if (newVal != batPriorityParam) {
// This ensures that the BAT priority is updated at some point when an update of the PTME is
// allowed
updateContext.updateBatPrio = true;
// If we are off, we can do the update after X cycles. Otherwise, wait until the transmitter
// goes off.
if (mode == MODE_OFF) {
initPtmeUpdateAfterXCycles();
}
}
return returnvalue::OK;
}
@ -148,36 +156,12 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
const uint8_t* data, size_t size) {
ReturnValue_t result = returnvalue::OK;
switch (actionId) {
case SET_LOW_RATE: {
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
result = ptmeConfig.setRate(RATE_100KBPS);
break;
}
case SET_HIGH_RATE: {
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
result = ptmeConfig.setRate(RATE_500KBPS);
break;
}
case ARBITRARY_RATE: {
uint32_t bitrate = 0;
SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
result = ptmeConfig.setRate(bitrate);
break;
}
case EN_TRANSMITTER: {
enableTransmit();
if (mode == HasModesIF::MODE_OFF) {
mode = HasModesIF::MODE_ON;
}
return EXECUTION_FINISHED;
}
case DISABLE_TRANSMITTER: {
disableTransmit();
if (mode == HasModesIF::MODE_ON) {
mode = HasModesIF::MODE_OFF;
}
return EXECUTION_FINISHED;
}
case ENABLE_TX_CLK_MANIPULATOR: {
result = ptmeConfig.configTxManipulator(true);
break;
@ -206,12 +190,8 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
void CcsdsIpCoreHandler::enableTransmit() {
// Reset PTME on each transmit enable.
updateBatPriorityFromParam();
#ifndef TE0720_1CFA
gpioIF->pullHigh(ptmeGpios.enableTxClock);
gpioIF->pullHigh(ptmeGpios.enableTxData);
#endif
linkState = LINK_UP;
}
@ -236,34 +216,23 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
}
void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
auto rateSet = [&](uint32_t rate) {
ReturnValue_t result = ptmeConfig.setRate(rate);
if (result == returnvalue::OK) {
this->mode = HasModesIF::MODE_ON;
}
};
triggerEvent(CHANGING_MODE, mode, submode);
if (mode == HasModesIF::MODE_ON) {
enableTransmit();
if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
com::Datarate currentDatarate = com::getCurrentDatarate();
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
rateSet(RATE_100KBPS);
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
rateSet(RATE_500KBPS);
}
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
rateSet(RATE_500KBPS);
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
rateSet(RATE_100KBPS);
if (this->submode != submode) {
initPtmeUpdateAfterXCycles();
updateContext.enableTransmitAfterPtmeUpdate = true;
updateContext.updateClockRate = true;
this->submode = submode;
this->mode = mode;
updateContext.setModeAfterUpdate = true;
return;
}
// No rate change, so enable transmitter right away.
enableTransmit();
} else if (mode == HasModesIF::MODE_OFF) {
disableTransmit();
this->mode = HasModesIF::MODE_OFF;
}
this->submode = submode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
setMode(mode, submode);
}
void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
@ -274,9 +243,9 @@ void CcsdsIpCoreHandler::disableTransmit() {
gpioIF->pullLow(ptmeGpios.enableTxData);
#endif
linkState = LINK_DOWN;
if (updateBatPriorityOnTxOff) {
updateBatPriorityFromParam();
updateBatPriorityOnTxOff = false;
// Some parameters need update and transmitter is off now.
if (updateContext.updateBatPrio or updateContext.updateClockRate) {
initPtmeUpdateAfterXCycles();
}
}
@ -294,21 +263,9 @@ ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
void CcsdsIpCoreHandler::enablePrioritySelectMode() {
ptmeConfig.enableBatPriorityBit(true);
// Reset the PTME
gpioIF->pullLow(ptmeGpios.ptmeResetn);
usleep(10);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::enablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(true); }
void CcsdsIpCoreHandler::disablePrioritySelectMode() {
ptmeConfig.enableBatPriorityBit(false);
// Reset the PTME
gpioIF->pullLow(ptmeGpios.ptmeResetn);
usleep(10);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::disablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(false); }
void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
if (batPriorityParam == 0) {
@ -317,3 +274,78 @@ void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
enablePrioritySelectMode();
}
}
void CcsdsIpCoreHandler::setMode(Mode_t mode, Submode_t submode) {
this->submode = submode;
this->mode = mode;
modeHelper.modeChanged(mode, submode);
announceMode(false);
}
void CcsdsIpCoreHandler::performPtmeUpdateWhenApplicable() {
if (not updateContext.performPtmeUpdateAfterXCycles) {
return;
}
if (updateContext.ptmeUpdateCycleCount >= 2) {
if (updateContext.updateBatPrio) {
updateBatPriorityFromParam();
updateContext.updateBatPrio = false;
}
ReturnValue_t result;
if (updateContext.updateClockRate) {
if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
com::Datarate currentDatarate = com::getCurrentDatarate();
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
result = ptmeConfig.setRate(RATE_100KBPS);
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
result = ptmeConfig.setRate(RATE_500KBPS);
}
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
result = ptmeConfig.setRate(RATE_500KBPS);
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
result = ptmeConfig.setRate(RATE_100KBPS);
}
if (result != returnvalue::OK) {
sif::error << "CcsdsIpCoreHandler: Setting datarate failed" << std::endl;
}
updateContext.updateClockRate = false;
}
bool doResetPtme = true;
if (not updateContext.updateBatPrio and not updateContext.updateClockRate) {
doResetPtme = false;
}
finishPtmeUpdateAfterXCycles(doResetPtme);
return;
}
updateContext.ptmeUpdateCycleCount++;
}
void CcsdsIpCoreHandler::resetPtme() {
gpioIF->pullLow(ptmeGpios.ptmeResetn);
usleep(10);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::initPtmeUpdateAfterXCycles() {
if (not updateContext.performPtmeUpdateAfterXCycles) {
updateContext.performPtmeUpdateAfterXCycles = true;
updateContext.ptmeUpdateCycleCount = 0;
}
}
void CcsdsIpCoreHandler::finishPtmeUpdateAfterXCycles(bool doResetPtme) {
if (doResetPtme) {
resetPtme();
}
ptmeLocked = false;
updateContext.performPtmeUpdateAfterXCycles = false;
updateContext.ptmeUpdateCycleCount = 0;
if (updateContext.enableTransmitAfterPtmeUpdate) {
enableTransmit();
updateContext.enableTransmitAfterPtmeUpdate = false;
}
if (updateContext.setModeAfterUpdate) {
setMode(mode, submode);
updateContext.setModeAfterUpdate = false;
}
}