eive/eive-obsw
eive/eive-obsw
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tmtc merge conflict

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This commit is contained in:
Jakob Meier 2021-04-27 17:39:14 +02:00
commit 619058bf25
19 changed files with 1382 additions and 99 deletions
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23
README.md
View File

@ -277,7 +277,7 @@ Copying a file from Q7S to flatsat PC
scp -P 22 root@192.168.133.10:/tmp/kernel-config /tmp
````
From a windows machine files can be copied with putty tools
From a windows machine files can be copied with putty tools (note: use IPv4 address)
````
pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
````
@ -579,4 +579,23 @@ to install the required GPIO libraries before cloning the system root folder.
When using Eclipse, there are two special build variables in the project properties
&rarr; C/C++ Build &rarr; Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set
the sysroot path in those variables to get any additional includes like `gpiod.h` in the
Eclipse indexer.
Eclipse indexer.
## Xilinx UARTLIE
Get info about ttyUL* devices
````
cat /proc/tty/driver
````
## I2C
Getting information about I2C device
````
ls /sys/class/i2c-dev/i2c-0/device/device/driver
````
This shows the memory mapping of /dev/i2c-0
## Useful Q7S Linux Commands
Rebooting currently running image:
````
xsc_boot_copy -r
````

19
bsp_q7s/InitMission.cpp
View File

@ -135,6 +135,8 @@ void initmission::initTasks() {
initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
}
#if TE0720 == 0
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
@ -147,7 +149,6 @@ void initmission::initTasks() {
}
#endif
#if TE0720 == 0
FixedTimeslotTaskIF* gomSpacePstTask = factory->
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc);
@ -155,6 +156,15 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
}
#else
FixedTimeslotTaskIF * pollingSequenceTableTE0720 = factory->createFixedTimeslotTask(
"PST_TASK_TE0720", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
result = pst::pollingSequenceTE0720(pollingSequenceTableTE0720);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
}
#endif
#if OBSW_ADD_TEST_CODE == 1
@ -184,12 +194,11 @@ void initmission::initTasks() {
udpBridgeTask->startTask();
udpPollingTask->startTask();
#if TE0720 == 0
#if TE0720 == 0 && Q7S_ADD_SPI_TEST == 0
gomSpacePstTask->startTask();
#endif
#if Q7S_ADD_SPI_TEST == 0
pollingSequenceTableTaskDefault->startTask();
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
pollingSequenceTableTE0720->startTask();
#endif
pusVerification->startTask();

38
bsp_q7s/ObjectFactory.cpp
View File

@ -25,9 +25,11 @@
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <mission/devices/GyroL3GD20Handler.h>
#include <mission/devices/PlocHandler.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/PlocDefinitions.h>
#include <mission/utility/TmFunnel.h>
#include <linux/csp/CspCookie.h>
@ -406,17 +408,23 @@ void ObjectFactory::produce(){
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
imtqHandler->setStartUpImmediately();
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200,
PLOC::MAX_REPLY_SIZE);
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
plocHandler->setStartUpImmediately();
#endif /* TE0720 == 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
objects::TC_STORE);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
imtqHandler->setStartUpImmediately();
#if TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
@ -425,12 +433,22 @@ void ObjectFactory::produce(){
gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#elif TE0720 == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
PLOC::MAX_REPLY_SIZE);
/* Testing PlocHandler on TE0720-03-1CFA */
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
plocHandler->setStartUpImmediately();
#endif
#if TE0720 == 1 && TE0720_HEATER_TEST == 1
/* Configuration for MIO0 on TE0720-03-1CFA */
GpiodRegular gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
std::string("Heater0"), gpio::OUT, 0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif
#if Q7S_ADD_SPI_TEST == 1

5
bsp_q7s/devices/HeaterHandler.cpp
View File

@ -58,8 +58,9 @@ ReturnValue_t HeaterHandler::initialize() {
if(mainLineSwitcherObjectId != objects::NO_OBJECT) {
mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
if (mainLineSwitcher == nullptr) {
sif::error << "HeaterHandler::initialize: Main line switcher failed to fetch object"
<< "from object ID." << std::endl;
sif::error
<< "HeaterHandler::initialize: Failed to get main line switcher. Make sure "
<< "main line switcher object is initialized." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}

3
fsfwconfig/OBSWConfig.h
View File

@ -21,7 +21,8 @@ debugging. */
#define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0
#define TE0720 0
#define TE0720 1
#define TE0720_HEATER_TEST 0
#define P60DOCK_DEBUG 0
#define PDU1_DEBUG 0

3
fsfwconfig/events/subsystemIdRanges.h
View File

@ -21,7 +21,8 @@ enum: uint8_t {
MGM_RM3100,
PCDU_HANDLER,
HEATER_HANDLER,
SA_DEPL_HANDLER
SA_DEPL_HANDLER,
PLOC_HANDLER
};
}

1
fsfwconfig/objects/systemObjectList.h
View File

@ -52,6 +52,7 @@ namespace objects {
GYRO_2_L3G_HANDLER = 0x44000013,
IMTQ_HANDLER = 0x44000014,
PLOC_HANDLER = 0x44000015,
/* Custom device handler */
PCDU_HANDLER = 0x44001000,

32
fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -5,13 +5,13 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
{
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
@ -40,6 +40,7 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@ -64,6 +65,7 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
@ -85,9 +87,11 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
@ -111,6 +115,7 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
@ -135,6 +140,7 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
#endif /* Q7S_ADD_RTD_DEVICES */
thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
@ -289,3 +295,25 @@ ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of TE0720 PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

5
fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -35,6 +35,11 @@ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
ReturnValue_t pollingSequenceAcsTest(FixedTimeslotTaskIF* thisSequence);
/**
* @brief This polling sequence will be created when the software is compiled for the TE0720.
*/
ReturnValue_t pollingSequenceTE0720(FixedTimeslotTaskIF* thisSequence);
}

1
fsfwconfig/returnvalues/classIds.h
View File

@ -20,6 +20,7 @@ enum {
SA_DEPL_HANDLER,
SYRLINKS_HANDLER,
IMTQ_HANDLER,
PLOC_HANDLER
};
}

3
linux/uart/UartComIF.cpp
View File

@ -363,6 +363,9 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
*buffer = uartDeviceMapIter->second.replyBuffer.data();
*size = uartDeviceMapIter->second.replyLen;
/* Length is reset to 0 to prevent reading the same data twice */
uartDeviceMapIter->second.replyLen = 0;
return RETURN_OK;
}

1
mission/devices/CMakeLists.txt
View File

@ -13,6 +13,7 @@ target_sources(${TARGET_NAME} PUBLIC
SyrlinksHkHandler.cpp
Max31865PT1000Handler.cpp
IMTQHandler.cpp
PlocHandler.cpp
)

314
mission/devices/IMTQHandler.cpp
View File

@ -6,7 +6,8 @@
#include <fsfwconfig/OBSWConfig.h>
IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this) {
DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet(
this), rawMtmMeasurementSet(this) {
if (comCookie == NULL) {
sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
}
@ -20,6 +21,7 @@ void IMTQHandler::doStartUp(){
if(mode == _MODE_START_UP){
//TODO: Set to MODE_ON again
setMode(MODE_NORMAL);
communicationStep = CommunicationStep::SELF_TEST;
}
}
@ -29,7 +31,32 @@ void IMTQHandler::doShutDown(){
ReturnValue_t IMTQHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
*id = IMTQ::GET_ENG_HK_DATA;
switch (communicationStep) {
case CommunicationStep::SELF_TEST:
*id = IMTQ::SELF_TEST;
communicationStep = CommunicationStep::GET_ENG_HK_DATA;
break;
case CommunicationStep::GET_ENG_HK_DATA:
*id = IMTQ::GET_ENG_HK_DATA;
communicationStep = CommunicationStep::START_MTM_MEASUREMENT;
break;
case CommunicationStep::START_MTM_MEASUREMENT:
*id = IMTQ::START_MTM_MEASUREMENT;
communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
break;
case CommunicationStep::GET_CAL_MTM_MEASUREMENT:
*id = IMTQ::GET_CAL_MTM_MEASUREMENT;
communicationStep = CommunicationStep::GET_RAW_MTM_MEASUREMENT;
break;
case CommunicationStep::GET_RAW_MTM_MEASUREMENT:
*id = IMTQ::GET_RAW_MTM_MEASUREMENT;
communicationStep = CommunicationStep::GET_ENG_HK_DATA;
break;
default:
sif::debug << "IMTQHandler::buildNormalDeviceCommand: Invalid communication step"
<< std::endl;
break;
}
return buildCommandFromCommand(*id, NULL, 0);
}
@ -42,25 +69,49 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(IMTQ::START_ACTUATION_DIPOLE): {
/* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
commandBuffer[1] = *(commandData + 1);
commandBuffer[2] = *(commandData);
commandBuffer[3] = *(commandData + 3);
commandBuffer[4] = *(commandData + 2);
commandBuffer[5] = *(commandData + 5);
commandBuffer[6] = *(commandData + 4);
commandBuffer[7] = *(commandData + 7);
commandBuffer[8] = *(commandData + 6);
rawPacket = commandBuffer;
rawPacketLen = 9;
return RETURN_OK;
}
case(IMTQ::GET_ENG_HK_DATA): {
commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
rawPacket = commandBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case(IMTQ::START_ACTUATION_DIPOLE): {
/* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
commandBuffer[1] = *(commandData + 1);
commandBuffer[2] = *(commandData);
commandBuffer[3] = *(commandData + 3);
commandBuffer[4] = *(commandData + 2);
commandBuffer[5] = *(commandData + 5);
commandBuffer[6] = *(commandData + 4);
commandBuffer[7] = *(commandData + 7);
commandBuffer[8] = *(commandData + 6);
case(IMTQ::GET_COMMANDED_DIPOLE): {
commandBuffer[0] = IMTQ::CC::GET_COMMANDED_DIPOLE;
rawPacket = commandBuffer;
rawPacketLen = 9;
rawPacketLen = 1;
return RETURN_OK;
}
case(IMTQ::START_MTM_MEASUREMENT): {
commandBuffer[0] = IMTQ::CC::START_MTM_MEASUREMENT;
rawPacket = commandBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case(IMTQ::GET_CAL_MTM_MEASUREMENT): {
commandBuffer[0] = IMTQ::CC::GET_CAL_MTM_MEASUREMENT;
rawPacket = commandBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case(IMTQ::GET_RAW_MTM_MEASUREMENT): {
commandBuffer[0] = IMTQ::CC::GET_RAW_MTM_MEASUREMENT;
rawPacket = commandBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
default:
@ -70,8 +121,18 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(
}
void IMTQHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
IMTQ::SIZE_ENG_HK_DATA_REPLY, false, true, IMTQ::SIZE_ENG_HK_DATA_REPLY);
IMTQ::SIZE_ENG_HK_DATA_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY);
this->insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT);
this->insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
}
ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
@ -80,10 +141,30 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
ReturnValue_t result = RETURN_OK;
switch(*start) {
case(IMTQ::CC::START_ACTUATION_DIPOLE):
*foundLen = IMTQ::SIZE_STATUS_REPLY;
*foundId = IMTQ::START_ACTUATION_DIPOLE;
break;
case(IMTQ::CC::START_MTM_MEASUREMENT):
*foundLen = IMTQ::SIZE_STATUS_REPLY;
*foundId = IMTQ::START_MTM_MEASUREMENT;
break;
case(IMTQ::CC::GET_ENG_HK_DATA):
*foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
*foundId = IMTQ::GET_ENG_HK_DATA;
break;
case(IMTQ::CC::GET_COMMANDED_DIPOLE):
*foundLen = IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY;
*foundId = IMTQ::GET_COMMANDED_DIPOLE;
break;
case(IMTQ::CC::GET_CAL_MTM_MEASUREMENT):
*foundLen = IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT;
*foundId = IMTQ::GET_CAL_MTM_MEASUREMENT;
break;
case(IMTQ::CC::GET_RAW_MTM_MEASUREMENT):
*foundLen = IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT;
*foundId = IMTQ::GET_RAW_MTM_MEASUREMENT;
break;
default:
sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl;
result = IGNORE_REPLY_DATA;
@ -105,9 +186,22 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
}
switch (id) {
case (IMTQ::START_ACTUATION_DIPOLE):
case (IMTQ::START_MTM_MEASUREMENT):
/* Replies only the status byte which is already handled with parseStatusByte */
break;
case (IMTQ::GET_ENG_HK_DATA):
fillEngHkDataset(packet);
break;
case (IMTQ::GET_COMMANDED_DIPOLE):
handleGetCommandedDipoleReply(packet);
break;
case (IMTQ::GET_CAL_MTM_MEASUREMENT):
fillCalibratedMtmDataset(packet);
break;
case (IMTQ::GET_RAW_MTM_MEASUREMENT):
fillRawMtmDataset(packet);
break;
default: {
sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
@ -117,22 +211,68 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
return RETURN_OK;
}
void IMTQHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
/** Entries of engineering housekeeping dataset */
localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
/** Entries of calibrated MTM measurement dataset */
localDataPoolMap.emplace(IMTQ::MTM_CAL_X, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::MTM_CAL_Y, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::MTM_CAL_Z, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>( { 0 }));
/** Entries of raw MTM measurement dataset */
localDataPoolMap.emplace(IMTQ::MTM_RAW_X, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::MTM_RAW_Y, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
uint8_t cmdErrorField = *(packet + 1) & 0xF;
switch (cmdErrorField) {
case 0:
return RETURN_OK;
case 1:
sif::error << "IMTQHandler::parseStatusByte: Command rejected without reason" << std::endl;
return REJECTED_WITHOUT_REASON;
case 2:
sif::error << "IMTQHandler::parseStatusByte: Command has invalid command code" << std::endl;
return INVALID_COMMAND_CODE;
case 3:
sif::error << "IMTQHandler::parseStatusByte: Command has missing parameter" << std::endl;
return PARAMETER_MISSING;
case 4:
sif::error << "IMTQHandler::parseStatusByte: Command has invalid parameter" << std::endl;
return PARAMETER_INVALID;
case 5:
sif::error << "IMTQHandler::parseStatusByte: CC unavailable" << std::endl;
return CC_UNAVAILABLE;
case 7:
sif::error << "IMTQHandler::parseStatusByte: IMQT replied internal processing error"
<< std::endl;
return INTERNAL_PROCESSING_ERROR;
default:
sif::error << "IMTQHandler::parseStatusByte: CMD Error field contains unknown error code "
@ -143,36 +283,36 @@ ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
uint8_t offset = 2;
engHkDataset.digitalVoltageMv = *(packet + offset + 1) | *(packet + offset);
engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
engHkDataset.analogVoltageMv = *(packet + offset + 1) | *(packet + offset);
engHkDataset.analogVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
offset += 2;
engHkDataset.digitalCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
engHkDataset.digitalCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
offset += 2;
engHkDataset.analogCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
engHkDataset.analogCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
offset += 2;
engHkDataset.coilXcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
engHkDataset.coilXCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
offset += 2;
engHkDataset.coilYcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
engHkDataset.coilYCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
offset += 2;
engHkDataset.coilZcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
engHkDataset.coilZCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
offset += 2;
engHkDataset.coilXTemperature = (*(packet + offset + 1) | *(packet + offset));
engHkDataset.coilXTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
offset += 2;
engHkDataset.coilYTemperature = (*(packet + offset + 1) | *(packet + offset));
engHkDataset.coilYTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
offset += 2;
engHkDataset.coilZTemperature = (*(packet + offset + 1) | *(packet + offset));
engHkDataset.coilZTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
offset += 2;
engHkDataset.mcuTemperature = (*(packet + offset + 1) | *(packet + offset));
engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentA << " A" << std::endl;
sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentA << " A" << std::endl;
sif::info << "IMTQ coil X current: " << engHkDataset.coilXcurrentA << " A" << std::endl;
sif::info << "IMTQ coil Y current: " << engHkDataset.coilYcurrentA << " A" << std::endl;
sif::info << "IMTQ coil Z current: " << engHkDataset.coilZcurrentA << " A" << std::endl;
sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentmA << " mA" << std::endl;
sif::info << "IMTQ coil X current: " << engHkDataset.coilXCurrentmA << " mA" << std::endl;
sif::info << "IMTQ coil Y current: " << engHkDataset.coilYCurrentmA << " mA" << std::endl;
sif::info << "IMTQ coil Z current: " << engHkDataset.coilZCurrentmA << " mA" << std::endl;
sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C"
<< std::endl;
sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C"
@ -184,33 +324,93 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
#endif
}
void IMTQHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT_A, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT_A, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT_A, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT_A, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT_A, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}
void IMTQHandler::setModeNormal() {
mode = MODE_NORMAL;
}
void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "IMTQHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
ReturnValue_t result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "IMTQHandler::handleDeviceTM: Failed to report data" << std::endl;
return;
}
}
void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
uint8_t tmData[6];
/* Switching endianess of received dipole values */
tmData[0] = *(packet + 3);
tmData[1] = *(packet + 2);
tmData[2] = *(packet + 5);
tmData[3] = *(packet + 4);
tmData[4] = *(packet + 7);
tmData[5] = *(packet + 6);
handleDeviceTM(tmData, sizeof(tmData), IMTQ::GET_COMMANDED_DIPOLE);
}
void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
int8_t offset = 2;
calMtmMeasurementSet.mtmXnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
calMtmMeasurementSet.mtmYnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
calMtmMeasurementSet.mtmZnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset);
offset += 4;
calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
| (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
<< std::endl;
sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
<< std::endl;
sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mtmZnT << " nT"
<< std::endl;
sif::info << "IMTQ coil actuation status during MTM measurement: "
<< (unsigned int) calMtmMeasurementSet.coilActuationStatus.value << std::endl;
#endif
}
void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
int8_t offset = 2;
rawMtmMeasurementSet.mtmXnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
offset += 4;
rawMtmMeasurementSet.mtmYnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
offset += 4;
rawMtmMeasurementSet.mtmZnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
| *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
offset += 4;
rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
| (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
<< std::endl;
sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
<< std::endl;
sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT"
<< std::endl;
sif::info << "IMTQ coil actuation status during MTM measurement: "
<< (unsigned int) rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
#endif
}

42
mission/devices/IMTQHandler.h
View File

@ -52,9 +52,21 @@ private:
IMTQ::EngHkDataset engHkDataset;
IMTQ::CalibratedMtmMeasurementSet calMtmMeasurementSet;
IMTQ::RawMtmMeasurementSet rawMtmMeasurementSet;
uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
enum class CommunicationStep {
SELF_TEST,
GET_ENG_HK_DATA,
START_MTM_MEASUREMENT,
GET_CAL_MTM_MEASUREMENT,
GET_RAW_MTM_MEASUREMENT
};
CommunicationStep communicationStep = CommunicationStep::GET_ENG_HK_DATA;
/**
* @brief Each reply contains a status byte giving information about a request. This function
* parses this byte and returns the associated failure message.
@ -72,6 +84,36 @@ private:
*
*/
void fillEngHkDataset(const uint8_t* packet);
/**
* @brief This function sends a command reply to the requesting queue.
*
* @param data Pointer to the data to send.
* @param dataSize Size of the data to send.
* @param relplyId Reply id which will be inserted at the beginning of the action message.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief This function handles the reply containing the commanded dipole.
*
* @param packet Pointer to the reply data.
*/
void handleGetCommandedDipoleReply(const uint8_t* packet);
/**
* @brief This function parses the reply containing the calibrated MTM measurement and writes
* the values to the appropriate dataset.
* @param packet Pointer to the reply data.
*/
void fillCalibratedMtmDataset(const uint8_t* packet);
/**
* @brief This function copies the raw MTM measurements to the MTM raw dataset.
* @param packet Pointer to the reply data requested with the GET_RAW_MTM_MEASUREMENTS
* command.
*/
void fillRawMtmDataset(const uint8_t* packet);
};
#endif /* MISSION_DEVICES_IMTQHANDLER_H_ */

498
mission/devices/PlocHandler.cpp Normal file
View File

@ -0,0 +1,498 @@
#include "PlocHandler.h"
#include <fsfwconfig/OBSWConfig.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfwconfig/OBSWConfig.h>
PlocHandler::PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie) {
if (comCookie == NULL) {
sif::error << "PlocHandler: Invalid com cookie" << std::endl;
}
}
PlocHandler::~PlocHandler() {
}
void PlocHandler::doStartUp(){
if(mode == _MODE_START_UP){
setMode(MODE_ON);
}
}
void PlocHandler::doShutDown(){
}
ReturnValue_t PlocHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
return RETURN_OK;
}
ReturnValue_t PlocHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(PLOC::TC_MEM_WRITE): {
return prepareTcMemWriteCommand(commandData, commandDataLen);
}
case(PLOC::TC_MEM_READ): {
return prepareTcMemReadCommand(commandData, commandDataLen);
}
default:
sif::debug << "PlocHandler::buildCommandFromCommand: Command not implemented" << std::endl;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void PlocHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(PLOC::TC_MEM_WRITE);
this->insertInCommandMap(PLOC::TC_MEM_READ);
this->insertInReplyMap(PLOC::ACK_REPORT, 1, nullptr, PLOC::SIZE_ACK_REPORT);
this->insertInReplyMap(PLOC::EXE_REPORT, 3, nullptr, PLOC::SIZE_EXE_REPORT);
this->insertInReplyMap(PLOC::TM_MEMORY_READ_REPORT, 2, nullptr, PLOC::SIZE_TM_MEM_READ_REPORT);
}
ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t result = RETURN_OK;
uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
switch(apid) {
case(PLOC::APID_ACK_SUCCESS):
*foundLen = PLOC::SIZE_ACK_REPORT;
*foundId = PLOC::ACK_REPORT;
break;
case(PLOC::APID_ACK_FAILURE):
*foundLen = PLOC::SIZE_ACK_REPORT;
*foundId = PLOC::ACK_REPORT;
break;
case(PLOC::APID_TM_MEMORY_READ_REPORT):
*foundLen = PLOC::SIZE_TM_MEM_READ_REPORT;
*foundId = PLOC::TM_MEMORY_READ_REPORT;
break;
case(PLOC::APID_EXE_SUCCESS):
*foundLen = PLOC::SIZE_EXE_REPORT;
*foundId = PLOC::EXE_REPORT;
break;
case(PLOC::APID_EXE_FAILURE):
*foundLen = PLOC::SIZE_EXE_REPORT;
*foundId = PLOC::EXE_REPORT;
break;
default: {
sif::debug << "PlocHandler::scanForReply: Reply has invalid apid" << std::endl;
*foundLen = remainingSize;
return INVALID_APID;
}
}
/**
* This should normally never fail. However, this function is also responsible for incrementing
* the packet sequence count why it is called here.
*/
result = checkPacketSequenceCount(start);
return result;
}
ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
case PLOC::ACK_REPORT: {
result = handleAckReport(packet);
break;
}
case (PLOC::TM_MEMORY_READ_REPORT): {
result = handleMemoryReadReport(packet);
break;
}
case (PLOC::EXE_REPORT): {
result = handleExecutionReport(packet);
break;
}
default: {
sif::debug << "PlocHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return result;
}
void PlocHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t PlocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
ReturnValue_t PlocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
void PlocHandler::setModeNormal() {
mode = MODE_NORMAL;
}
ReturnValue_t PlocHandler::prepareTcMemWriteCommand(const uint8_t * commandData,
size_t commandDataLen) {
const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
const uint32_t memoryData = *(commandData + 4) << 24 | *(commandData + 5) << 16
| *(commandData + 6) << 8 | *(commandData + 7);
packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
PLOC::TcMemWrite tcMemWrite(memoryAddress, memoryData, packetSequenceCount);
if (tcMemWrite.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocHandler::prepareTcMemWriteCommand: Command too big" << std::endl;
return RETURN_FAILED;
}
memcpy(commandBuffer, tcMemWrite.getWholeData(), tcMemWrite.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcMemWrite.getFullSize();
nextReplyId = PLOC::ACK_REPORT;
return RETURN_OK;
}
ReturnValue_t PlocHandler::prepareTcMemReadCommand(const uint8_t * commandData,
size_t commandDataLen) {
const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
| *(commandData + 2) << 8 | *(commandData + 3);
packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
PLOC::TcMemRead tcMemRead(memoryAddress, packetSequenceCount);
if (tcMemRead.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocHandler::prepareTcMemReadCommand: Command too big" << std::endl;
return RETURN_FAILED;
}
memcpy(commandBuffer, tcMemRead.getWholeData(), tcMemRead.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcMemRead.getFullSize();
nextReplyId = PLOC::ACK_REPORT;
return RETURN_OK;
}
ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
if (receivedCrc != recalculatedCrc) {
return CRC_FAILURE;
}
return RETURN_OK;
}
ReturnValue_t PlocHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC::SIZE_ACK_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = PLOC::NONE;
replyRawReplyIfnotWiretapped(data, PLOC::SIZE_ACK_REPORT);
triggerEvent(CRC_FAILURE_EVENT);
sendFailureReport(PLOC::ACK_REPORT, CRC_FAILURE);
disableAllReplies();
return IGNORE_REPLY_DATA;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch(apid) {
case PLOC::APID_ACK_FAILURE: {
//TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocHandler::handleAckReport: Received Ack failure report" << std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(ACK_FAILURE, commandId);
}
sendFailureReport(PLOC::ACK_REPORT, RECEIVED_ACK_FAILURE);
disableAllReplies();
nextReplyId = PLOC::NONE;
result = IGNORE_REPLY_DATA;
break;
}
case PLOC::APID_ACK_SUCCESS: {
setNextReplyId();
break;
}
default: {
sif::debug << "PlocHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
result = RETURN_FAILED;
break;
}
}
return result;
}
ReturnValue_t PlocHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC::SIZE_EXE_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = PLOC::NONE;
return result;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case (PLOC::APID_EXE_SUCCESS): {
break;
}
case (PLOC::APID_EXE_FAILURE): {
//TODO: Interpretation of status field in execution report
sif::error << "PlocHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(EXE_FAILURE, commandId);
}
else {
sif::debug << "PlocHandler::handleExecutionReport: Unknown command id" << std::endl;
}
sendFailureReport(PLOC::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
result = IGNORE_REPLY_DATA;
break;
}
default: {
sif::error << "PlocHandler::handleExecutionReport: Unknown APID" << std::endl;
result = RETURN_FAILED;
break;
}
}
nextReplyId = PLOC::NONE;
return result;
}
ReturnValue_t PlocHandler::handleMemoryReadReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC::SIZE_TM_MEM_READ_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocHandler::handleMemoryReadReport: Memory read report has invalid crc"
<< std::endl;
}
/** Send data to commanding queue */
handleDeviceTM(data + PLOC::DATA_FIELD_OFFSET, PLOC::SIZE_MEM_READ_REPORT_DATA,
PLOC::TM_MEMORY_READ_REPORT);
nextReplyId = PLOC::EXE_REPORT;
return result;
}
ReturnValue_t PlocHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
switch (command->first) {
case PLOC::TC_MEM_WRITE:
enabledReplies = 2;
break;
case PLOC::TC_MEM_READ: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC::TM_MEMORY_READ_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id "
<< PLOC::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
}
break;
}
default:
sif::debug << "PlocHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
/**
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command,
enabledReplies, true, PLOC::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id " << PLOC::ACK_REPORT
<< " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(command,
enabledReplies, true, PLOC::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id " << PLOC::EXE_REPORT
<< " not in replyMap" << std::endl;
}
return RETURN_OK;
}
void PlocHandler::setNextReplyId() {
switch(getPendingCommand()) {
case PLOC::TC_MEM_READ:
nextReplyId = PLOC::TM_MEMORY_READ_REPORT;
break;
default:
/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = PLOC::EXE_REPORT;
break;
}
}
size_t PlocHandler::getNextReplyLength(DeviceCommandId_t commandId){
size_t replyLen = 0;
if (nextReplyId == PLOC::NONE) {
return replyLen;
}
DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles == 0) {
/* Reply inactive */
return replyLen;
}
replyLen = iter->second.replyLen;
}
else {
sif::debug << "PlocHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
return replyLen;
}
void PlocHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "PlocHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}
void PlocHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
iter = deviceReplyMap.find(PLOC::ACK_REPORT);
DeviceReplyInfo *info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
DeviceCommandId_t commandId = getPendingCommand();
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case PLOC::TC_MEM_WRITE:
break;
case PLOC::TC_MEM_READ: {
iter = deviceReplyMap.find(PLOC::TM_MEMORY_READ_REPORT);
info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
break;
}
default: {
sif::debug << "PlocHandler::disableAllReplies: Unknown command id" << commandId
<< std::endl;
break;
}
}
/* We must always disable the execution report reply here */
disableExeReportReply();
}
void PlocHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocHandler::sendFailureReport: Reply not in reply map" << std::endl;
return;
}
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocHandler::sendFailureReport: Reply has no active command" << std::endl;
return;
}
if (info->sendReplyTo != NO_COMMANDER) {
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
}
void PlocHandler::disableExeReportReply() {
DeviceReplyIter iter = deviceReplyMap.find(PLOC::EXE_REPORT);
DeviceReplyInfo *info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
/* Expected replies is set to one here. The value will set to 0 in replyToReply() */
info->command->second.expectedReplies = 0;
}
ReturnValue_t PlocHandler::checkPacketSequenceCount(const uint8_t* data) {
uint16_t receivedSequenceCount = (*(data + 2) << 8 | *(data + 3)) & PACKET_SEQUENCE_COUNT_MASK;
uint16_t expectedPacketSequenceCount = ((packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK);
if (receivedSequenceCount != expectedPacketSequenceCount) {
sif::debug
<< "PlocHandler::checkPacketSequenceCount: Packet sequence count mismatch. "
<< std::endl;
sif::debug << "Received sequence count: " << receivedSequenceCount << ". OBSW sequence "
<< "count: " << expectedPacketSequenceCount << std::endl;
}
packetSequenceCount = receivedSequenceCount;
return RETURN_OK;
}

201
mission/devices/PlocHandler.h Normal file
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@ -0,0 +1,201 @@
#ifndef MISSION_DEVICES_PLOCHANDLER_H_
#define MISSION_DEVICES_PLOCHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/PlocDefinitions.h>
#include <string.h>
/**
* @brief This is the device handler for the PLOC.
*
* @details The PLOC uses the space packet protocol for communication. To each command the PLOC
* answers with at least one acknowledgment and one execution report.
*
* @author J. Meier
*/
class PlocHandler: public DeviceHandlerBase {
public:
PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
virtual ~PlocHandler();
/**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
*/
void setModeNormal();
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData,size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_HANDLER;
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0); //!> Space Packet received from PLOC has invalid CRC
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1); //!> Received ACK failure reply from PLOC
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2); //!> Received execution failure reply from PLOC
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3); //!> Received space packet with invalid APID from PLOC
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_HANDLER;
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW); //!> PLOC crc failure in telemetry packet
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW); //!> PLOC receive acknowledgment failure report
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW); //!> PLOC receive execution failure report
static const Event CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW); //!> PLOC reply has invalid crc
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
uint8_t commandBuffer[PLOC::MAX_COMMAND_SIZE];
/**
* @brief This object is incremented each time a packet is sent or received. By checking the
* packet sequence count of a received packet, no packets can be lost without noticing
* it. Only the least significant 14 bits represent the packet sequence count in a
* space packet. Thus the maximum value amounts to 16383 (0x3FFF).
* @note Normally this should never happen because the PLOC replies are always sent in a
* fixed order. However, the PLOC software checks this value and will return an ACK
* failure report in case the sequence count is not incremented with each transferred
* space packet.
*/
uint16_t packetSequenceCount = 0x3FFF;
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = PLOC::NONE;
/**
* @brief This function fills the commandBuffer to initiate the write memory command.
*
* @param commandData Pointer to action command data.
* @param commanDataLen Size of command data in bytes.
*
* @return RETURN_OK if successful, else RETURN_FAILURE.
*/
ReturnValue_t prepareTcMemWriteCommand(const uint8_t * commandData, size_t commandDataLen);
/**
* @brief This function fills the commandBuffer to initiate the write reads command.
*
* @param commandData Pointer to action command data.
* @param commanDataLen Size of command data in bytes.
*
* @return RETURN_OK if successful, else RETURN_FAILURE.
*/
ReturnValue_t prepareTcMemReadCommand(const uint8_t * commandData, size_t commandDataLen);
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the memory read report.
*
* @param data Pointer to the data buffer holding the memory read report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an
* active command.
*/
void disableAllReplies();
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
/**
* @brief This function checks and increments the packet sequence count of a received space
* packet.
*
* @param data Pointer to a space packet.
*
* @return RETURN_OK if successful
*
* @details There should be never a case in which a wrong packet sequence count is received
* because the communication scheme between PLOC and OBC always follows a strict
* procedure. Thus this function mainly serves for debugging purposes to detected an
* invalid handling of the packet sequence count.
*/
ReturnValue_t checkPacketSequenceCount(const uint8_t* data);
};
#endif /* MISSION_DEVICES_PLOCHANDLER_H_ */

118
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
View File

@ -6,46 +6,74 @@ namespace IMTQ {
static const DeviceCommandId_t NONE = 0x0;
static const DeviceCommandId_t GET_ENG_HK_DATA = 0x1;
static const DeviceCommandId_t START_ACTUATION_DIPOLE = 0x2;
static const DeviceCommandId_t GET_COMMANDED_DIPOLE = 0x3;
/** Generates new measurement of the magnetic field */
static const DeviceCommandId_t START_MTM_MEASUREMENT = 0x4;
/** Requests the calibrated magnetometer measurement */
static const DeviceCommandId_t GET_CAL_MTM_MEASUREMENT = 0x5;
/** Requests the raw values measured by the built-in MTM XEN1210 */
static const DeviceCommandId_t GET_RAW_MTM_MEASUREMENT = 0x6;
static const DeviceCommandId_t SELF_TEST = 0x7;
static const uint8_t GET_TEMP_REPLY_SIZE = 2;
static const uint8_t CFGR_CMD_SIZE = 3;
static const uint8_t POINTER_REG_SIZE = 1;
static const uint32_t ENG_HK_DATA_SET_ID = GET_ENG_HK_DATA;
static const uint32_t CAL_MTM_SET = GET_CAL_MTM_MEASUREMENT;
static const uint8_t SIZE_ENG_HK_COMMAND = 1;
static const uint8_t SIZE_STATUS_REPLY = 2;
static const uint8_t SIZE_ENG_HK_DATA_REPLY = 24;
static const uint8_t SIZE_GET_COMMANDED_DIPOLE_REPLY = 8;
static const uint8_t SIZE_GET_CAL_MTM_MEASUREMENT = 15;
static const uint8_t SIZE_GET_RAW_MTM_MEASUREMENT = 15;
static const uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY;
static const uint8_t MAX_COMMAND_SIZE = 9;
static const uint8_t POOL_ENTRIES = 11;
/** Define entries in IMTQ specific dataset */
static const uint8_t ENG_HK_SET_POOL_ENTRIES = 11;
static const uint8_t CAL_MTM_POOL_ENTRIES = 4;
/**
* Command code definitions. Each command or reply of an IMTQ request will begin with one of
* the following command codes.
*/
namespace CC {
static const uint8_t START_MTM_MEASUREMENT = 0x4;
static const uint8_t START_ACTUATION_DIPOLE = 0x6;
static const uint8_t SOFTWARE_RESET = 0xAA;
static const uint8_t GET_ENG_HK_DATA = 0x4A;
static const uint8_t GET_COMMANDED_DIPOLE = 0x46;
static const uint8_t GET_RAW_MTM_MEASUREMENT = 0x42;
static const uint8_t GET_CAL_MTM_MEASUREMENT = 0x43;
};
enum IMTQPoolIds: lp_id_t {
DIGITAL_VOLTAGE_MV,
ANALOG_VOLTAGE_MV,
DIGITAL_CURRENT_A,
ANALOG_CURRENT_A,
COIL_X_CURRENT_A,
COIL_Y_CURRENT_A,
COIL_Z_CURRENT_A,
DIGITAL_CURRENT,
ANALOG_CURRENT,
COIL_X_CURRENT,
COIL_Y_CURRENT,
COIL_Z_CURRENT,
COIL_X_TEMPERATURE,
COIL_Y_TEMPERATURE,
COIL_Z_TEMPERATURE,
MCU_TEMPERATURE
MCU_TEMPERATURE,
MTM_CAL_X,
MTM_CAL_Y,
MTM_CAL_Z,
ACTUATION_CAL_STATUS,
MTM_RAW_X,
MTM_RAW_Y,
MTM_RAW_Z,
ACTUATION_RAW_STATUS
};
class EngHkDataset:
public StaticLocalDataSet<POOL_ENTRIES> {
public StaticLocalDataSet<ENG_HK_SET_POOL_ENTRIES> {
public:
EngHkDataset(HasLocalDataPoolIF* owner):
@ -60,16 +88,16 @@ public:
DIGITAL_VOLTAGE_MV, this);
lp_var_t<uint16_t> analogVoltageMv = lp_var_t<uint16_t>(sid.objectId,
ANALOG_VOLTAGE_MV, this);
lp_var_t<float> digitalCurrentA = lp_var_t<float>(sid.objectId,
DIGITAL_CURRENT_A, this);
lp_var_t<float> analogCurrentA = lp_var_t<float>(sid.objectId,
ANALOG_CURRENT_A, this);
lp_var_t<float> coilXcurrentA = lp_var_t<float>(sid.objectId,
COIL_X_CURRENT_A, this);
lp_var_t<float> coilYcurrentA = lp_var_t<float>(sid.objectId,
COIL_Y_CURRENT_A, this);
lp_var_t<float> coilZcurrentA = lp_var_t<float>(sid.objectId,
COIL_Z_CURRENT_A, this);
lp_var_t<float> digitalCurrentmA = lp_var_t<float>(sid.objectId,
DIGITAL_CURRENT, this);
lp_var_t<float> analogCurrentmA = lp_var_t<float>(sid.objectId,
ANALOG_CURRENT, this);
lp_var_t<float> coilXCurrentmA = lp_var_t<float>(sid.objectId,
COIL_X_CURRENT, this);
lp_var_t<float> coilYCurrentmA = lp_var_t<float>(sid.objectId,
COIL_Y_CURRENT, this);
lp_var_t<float> coilZCurrentmA = lp_var_t<float>(sid.objectId,
COIL_Z_CURRENT, this);
/** All temperatures in [°C] */
lp_var_t<uint16_t> coilXTemperature = lp_var_t<uint16_t>(sid.objectId,
COIL_X_TEMPERATURE, this);
@ -81,6 +109,60 @@ public:
MCU_TEMPERATURE, this);
};
/**
* @brief This dataset holds the raw MTM measurements.
*/
class CalibratedMtmMeasurementSet:
public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
CalibratedMtmMeasurementSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, CAL_MTM_SET) {
}
CalibratedMtmMeasurementSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
}
/** The unit of all measurements is nT */
lp_var_t<int32_t> mtmXnT = lp_var_t<int32_t>(sid.objectId,
MTM_CAL_X, this);
lp_var_t<int32_t> mtmYnT = lp_var_t<int32_t>(sid.objectId,
MTM_CAL_Y, this);
lp_var_t<int32_t> mtmZnT = lp_var_t<int32_t>(sid.objectId,
MTM_CAL_Z, this);
/** 1 if coils were actuating during measurement otherwise 0 */
lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
ACTUATION_CAL_STATUS, this);
};
/**
* @brief This dataset holds the last calibrated MTM measurement.
*/
class RawMtmMeasurementSet:
public StaticLocalDataSet<CAL_MTM_POOL_ENTRIES> {
public:
RawMtmMeasurementSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, CAL_MTM_SET) {
}
RawMtmMeasurementSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, CAL_MTM_SET)) {
}
/** The unit of all measurements is nT */
lp_var_t<float> mtmXnT = lp_var_t<float>(sid.objectId,
MTM_RAW_X, this);
lp_var_t<float> mtmYnT = lp_var_t<float>(sid.objectId,
MTM_RAW_Y, this);
lp_var_t<float> mtmZnT = lp_var_t<float>(sid.objectId,
MTM_RAW_Z, this);
/** 1 if coils were actuating during measurement otherwise 0 */
lp_var_t<uint8_t> coilActuationStatus = lp_var_t<uint8_t>(sid.objectId,
ACTUATION_RAW_STATUS, this);
};
/**
* @brief This class can be used to ease the generation of an action message commanding the
* IMTQHandler to configure the magnettorquer with the desired dipoles.

172
mission/devices/devicedefinitions/PlocDefinitions.h Normal file
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@ -0,0 +1,172 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_
#include <fsfw/tmtcpacket/SpacePacket.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serialize/SerializeAdapter.h>
namespace PLOC {
static const DeviceCommandId_t NONE = 0x0;
static const DeviceCommandId_t TC_MEM_WRITE = 0x1;
static const DeviceCommandId_t TC_MEM_READ = 0x2;
static const DeviceCommandId_t ACK_REPORT = 0x3;
static const DeviceCommandId_t EXE_REPORT = 0x5;
static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 0x6;
static const uint16_t SIZE_ACK_REPORT = 14;
static const uint16_t SIZE_EXE_REPORT = 14;
static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
/**
* SpacePacket apids of PLOC telecommands and telemetry.
*/
static const uint16_t APID_TC_MEM_WRITE = 0x714;
static const uint16_t APID_TC_MEM_READ = 0x715;
static const uint16_t APID_TM_MEMORY_READ_REPORT = 0x404;
static const uint16_t APID_ACK_SUCCESS = 0x400;
static const uint16_t APID_ACK_FAILURE = 0x401;
static const uint16_t APID_EXE_SUCCESS = 0x402;
static const uint16_t APID_EXE_FAILURE = 0x403;
/** Offset from first byte in Space packet to first byte of data field */
static const uint8_t DATA_FIELD_OFFSET = 6;
/**
* The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
* 8.
*/
static const uint8_t SIZE_MEM_READ_REPORT_DATA = 10;
/**
* PLOC space packet length for fixed size packets. This is the size of the whole packet data
* field. For the length field in the space packet this size will be substracted by one.
*/
static const uint16_t LENGTH_TC_MEM_WRITE = 12;
static const uint16_t LENGTH_TC_MEM_READ = 8;
static const size_t MAX_REPLY_SIZE = SIZE_TM_MEM_READ_REPORT;
static const size_t MAX_COMMAND_SIZE = 18;
/**
* @brief This class helps to build the memory read command for the PLOC.
*
* @details The last two bytes of the packet data field contain a CRC calculated over the whole
* space packet. This is the CRC-16-CCITT as specified in
* ECSS-E-ST-70-41C – Telemetry and telecommand packet utilization.
*/
class TcMemRead : public SpacePacket {
public:
/**
* @brief Constructor
*
* @param memAddr The memory address to read from.
*/
TcMemRead(const uint32_t memAddr, uint16_t sequenceCount) :
SpacePacket(LENGTH_TC_MEM_READ - 1, true, APID_TC_MEM_READ, sequenceCount) {
fillPacketDataField(&memAddr);
}
private:
/**
* @brief This function builds the packet data field for the mem read command.
*
* @param memAddrPtr Pointer to the memory address to read from.
*/
void fillPacketDataField(const uint32_t* memAddrPtr) {
/* Add memAddr to packet data field */
size_t serializedSize = 0;
uint8_t* memoryAddressPos = this->localData.fields.buffer;
SerializeAdapter::serialize<uint32_t>(memAddrPtr, &memoryAddressPos, &serializedSize,
sizeof(*memAddrPtr), SerializeIF::Endianness::LITTLE);
/* Add memLen to packet data field */
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 1;
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 0;
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + LENGTH_TC_MEM_READ - CRC_SIZE);
/* Add crc to packet data field of space packet */
serializedSize = 0;
uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize,
sizeof(crc), SerializeIF::Endianness::BIG);
}
static const uint8_t OFFSET_MEM_LEN_FIELD = 4;
static const uint8_t CRC_OFFSET = 6;
};
/**
* @brief This class helps to generate the space packet to write to a memory address within
* the PLOC.
* @details The last two bytes of the packet data field contain a CRC calculated over the whole
* space packet. This is the CRC-16-CCITT as specified in
* ECSS-E-ST-70-41C – Telemetry and telecommand packet utilization.
*/
class TcMemWrite : public SpacePacket {
public:
/**
* @brief Constructor
*
* @param memAddr The PLOC memory address where to write to.
* @param memoryData The data to write to the specified memory address.
* @param sequenceCount The subsequence count. Must be incremented with each new packet.
*/
TcMemWrite(const uint32_t memAddr, const uint32_t memoryData, uint16_t sequenceCount) :
SpacePacket(LENGTH_TC_MEM_WRITE - 1, true, APID_TC_MEM_WRITE, sequenceCount) {
fillPacketDataField(&memAddr, &memoryData);
}
private:
/**
* @brief This function builds the packet data field for the mem write command.
*
* @param memAddrPtr Pointer to the PLOC memory address where to write to.
* @param memoryDataPtr Pointer to the memoryData to write
*/
void fillPacketDataField(const uint32_t* memAddrPtr, const uint32_t* memoryDataPtr) {
/* Add memAddr to packet data field */
size_t serializedSize = 0;
uint8_t* memoryAddressPos = this->localData.fields.buffer;
SerializeAdapter::serialize<uint32_t>(memAddrPtr, &memoryAddressPos, &serializedSize,
sizeof(*memAddrPtr), SerializeIF::Endianness::BIG);
/* Add memLen to packet data field */
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 1;
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 0;
/* Add memData to packet data field */
serializedSize = 0;
uint8_t* memoryDataPos = this->localData.fields.buffer + OFFSET_MEM_DATA_FIELD;
SerializeAdapter::serialize<uint32_t>(memoryDataPtr, &memoryDataPos, &serializedSize,
sizeof(*memoryDataPtr), SerializeIF::Endianness::BIG);
/* Calculate crc */
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + LENGTH_TC_MEM_WRITE - CRC_SIZE);
serializedSize = 0;
uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
/* Add crc to packet data field of space packet */
SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize,
sizeof(crc), SerializeIF::Endianness::BIG);
}
/** Offsets from base address of packet data field */
static const uint8_t OFFSET_MEM_LEN_FIELD = 4;
static const uint8_t OFFSET_MEM_DATA_FIELD = 6;
static const uint8_t CRC_OFFSET = 10;
};
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_ */

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Subproject commit 7cc06ef0e0882d286bab8156ca756e0211e5ebae
Subproject commit 06750809cb52044392e0683896538a652f11a512