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improvements in ploc mpsoc handler

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This commit is contained in:
Jakob Meier 2022-01-03 08:01:55 +01:00
parent 7e0510115a
commit 632759bf8a
13 changed files with 243 additions and 218 deletions
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14
bsp_q7s/core/ObjectFactory.cpp
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@ -16,9 +16,9 @@
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/ploc/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/ploc/PlocUpdater.h"
#include "bsp_q7s/devices/ploc/PlocMemoryDumper.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
@ -1079,11 +1079,11 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#endif
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
PLOC_MPSOC::MAX_REPLY_SIZE);
UartCookie* plocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, "/dev/ttyUL1",
UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, PLOC_MPSOC::MAX_REPLY_SIZE);
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */
PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER,
objects::UART_COM_IF, plocUartCookie);
mpsocPlocHandler->setStartUpImmediately();
#endif

9
bsp_q7s/devices/CMakeLists.txt
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@ -1,7 +1,2 @@
target_sources(${TARGET_NAME} PRIVATE
PlocSupervisorHandler.cpp
PlocUpdater.cpp
PlocMemoryDumper.cpp
)
add_subdirectory(startracker)
add_subdirectory(startracker)
add_subdirectory(ploc)

5
bsp_q7s/devices/ploc/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE
PlocSupervisorHandler.cpp
PlocUpdater.cpp
PlocMemoryDumper.cpp
)

0
bsp_q7s/devices/PlocMemoryDumper.cpp → bsp_q7s/devices/ploc/PlocMemoryDumper.cpp
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0
bsp_q7s/devices/PlocMemoryDumper.h → bsp_q7s/devices/ploc/PlocMemoryDumper.h
View File

10
bsp_q7s/devices/PlocSupervisorHandler.cpp → bsp_q7s/devices/ploc/PlocSupervisorHandler.cpp
View File

@ -2,10 +2,8 @@
#include <string>
#include <fstream>
#include <filesystem>
#include "PlocSupervisorHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/timemanager/Clock.h>
@ -31,13 +29,11 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
if (uartComIf == nullptr) {
sif::warning << "PlocSupervisorHandler::initialize: Invalid uart com if" << std::endl;
return INVALID_UART_COM_IF;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
#if BOARD_TE0720 == 0
sdcMan = SdCardManager::instance();
#endif /* BOARD_TE0720 == 0 */
return result;
}
@ -603,15 +599,11 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
}
ReturnValue_t PlocSupervisorHandler::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;
}

25
bsp_q7s/devices/PlocSupervisorHandler.h → bsp_q7s/devices/ploc/PlocSupervisorHandler.h
View File

@ -1,9 +1,8 @@
#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include <bsp_q7s/memory/SdCardManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/uart/UartComIF.h>
@ -62,28 +61,26 @@ private:
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Failed to read current system time
static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Invalid communication interface specified
static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT
static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be larger than 21.
static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1 and 2.
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM wipe commands are invalid (e.g. start address bigger than stop address)
static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
//! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with other apid.
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
//! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
//! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;

0
bsp_q7s/devices/PlocUpdater.cpp → bsp_q7s/devices/ploc/PlocUpdater.cpp
View File

2
bsp_q7s/devices/PlocUpdater.h → bsp_q7s/devices/ploc/PlocUpdater.h
View File

@ -2,7 +2,7 @@
#define MISSION_DEVICES_PLOCUPDATER_H_
#include "OBSWConfig.h"
#include "devicedefinitions/PlocSupervisorDefinitions.h"
#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/ActionHelper.h"

2
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -764,7 +764,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
#if TEST_PLOC_MPSOC_HANDLER == 1
#if OBSW_ADD_PLOC_MPSOC == 1
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);

82
mission/devices/PlocMPSoCHandler.cpp
View File

@ -4,8 +4,9 @@
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie) {
PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, uartComIFid, comCookie) {
if (comCookie == NULL) {
sif::error << "PlocMPSoCHandler: Invalid com cookie" << std::endl;
}
@ -14,11 +15,27 @@ PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, Cook
PlocMPSoCHandler::~PlocMPSoCHandler() {
}
ReturnValue_t PlocMPSoCHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
if (uartComIf == nullptr) {
sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return result;
}
void PlocMPSoCHandler::doStartUp(){
if(mode == _MODE_START_UP){
setMode(MODE_ON);
}
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
void PlocMPSoCHandler::doShutDown(){
@ -27,7 +44,7 @@ void PlocMPSoCHandler::doShutDown(){
ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
return RETURN_OK;
return NOTHING_TO_SEND;
}
ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(
@ -38,18 +55,30 @@ ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(
ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
switch(deviceCommand) {
case(PLOC_MPSOC::TC_MEM_WRITE): {
return prepareTcMemWriteCommand(commandData, commandDataLen);
result = prepareTcMemWriteCommand(commandData, commandDataLen);
break;
}
case(PLOC_MPSOC::TC_MEM_READ): {
return prepareTcMemReadCommand(commandData, commandDataLen);
result = prepareTcMemReadCommand(commandData, commandDataLen);
break;
}
default:
sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented" << std::endl;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
break;
}
return HasReturnvaluesIF::RETURN_FAILED;
if (result == RETURN_OK) {
/**
* Flushing the receive buffer to make sure there are no data left from a faulty reply.
*/
uartComIf->flushUartRxBuffer(comCookie);
}
return result;
}
void PlocMPSoCHandler::fillCommandAndReplyMap() {
@ -94,13 +123,7 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t *start,
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;
}
@ -182,20 +205,15 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemReadCommand(const uint8_t * commandD
rawPacket = commandBuffer;
rawPacketLen = tcMemRead.getFullSize();
nextReplyId = PLOC_MPSOC::ACK_REPORT;
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::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;
}
@ -290,11 +308,8 @@ ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
}
ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_MPSOC::SIZE_TM_MEM_READ_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
<< std::endl;
@ -302,9 +317,7 @@ ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
/** Send data to commanding queue */
handleDeviceTM(data + PLOC_MPSOC::DATA_FIELD_OFFSET, PLOC_MPSOC::SIZE_MEM_READ_REPORT_DATA,
PLOC_MPSOC::TM_MEMORY_READ_REPORT);
nextReplyId = PLOC_MPSOC::EXE_REPORT;
return result;
}
@ -483,15 +496,14 @@ void PlocMPSoCHandler::disableExeReportReply() {
}
ReturnValue_t PlocMPSoCHandler::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
<< "PlocMPSoCHandler::checkPacketSequenceCount: Packet sequence count mismatch. "
<< std::endl;
sif::debug << "Received sequence count: " << receivedSequenceCount << ". OBSW sequence "
<< "count: " << expectedPacketSequenceCount << std::endl;
uint16_t receivedSeqCnt = (*(data + 2) << 8 | *(data + 3)) & PACKET_SEQUENCE_COUNT_MASK;
uint16_t expectedSeqCnt = ((packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK);
if (receivedSeqCnt != expectedSeqCnt) {
sif::warning << "PlocMPSoCHandler::checkPacketSequenceCount: Packet sequence count "
"mismatch. Received: " << receivedSeqCnt << ", Expected: "
<< expectedSeqCnt << std::endl;
triggerEvent(SEQ_CNT_MISMATCH, expectedSeqCnt, receivedSeqCnt);
}
packetSequenceCount = receivedSequenceCount;
packetSequenceCount = receivedSeqCnt;
return RETURN_OK;
}

34
mission/devices/PlocMPSoCHandler.h
View File

@ -4,6 +4,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/PlocMPSoCDefinitions.h>
#include <cstring>
#include <fsfw_hal/linux/uart/UartComIF.h>
/**
* @brief This is the device handler for the MPSoC which is programmed by the ILH of the
@ -21,9 +22,10 @@
class PlocMPSoCHandler: public DeviceHandlerBase {
public:
PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie);
virtual ~PlocMPSoCHandler();
virtual ReturnValue_t initialize() override;
/**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
*/
@ -54,17 +56,29 @@ private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_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
//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_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
//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive execution failure report
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
static const Event CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected count
//! P1: Expected sequence count
//! P2: Received sequence count
static const Event SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
@ -90,6 +104,8 @@ private:
*/
DeviceCommandId_t nextReplyId = PLOC_MPSOC::NONE;
UartComIF* uartComIf = nullptr;
/**
* @brief This function fills the commandBuffer to initiate the write memory command.
*

278
mission/devices/devicedefinitions/PlocMPSoCDefinitions.h
View File

@ -7,166 +7,174 @@
namespace PLOC_MPSOC {
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 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;
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:
/**
* 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.
* @brief Constructor
*
* @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.
* @param memAddr The memory address to read from.
*/
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:
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;
};
static const uint8_t OFFSET_ADDRESS = 0;
static const uint8_t OFFSET_MEM_LEN_FIELD = 4;
static const uint8_t CRC_OFFSET = 6;
const uint16_t MEM_LEN = 1;
/**
* @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.
* @brief This function builds the packet data field for the mem read command.
*
* @param memAddr Pointer to the memory address to read from.
*/
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);
void fillPacketDataField(const uint32_t* memAddr) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
size_t serializedSize = 0;
result = SerializeAdapter::serialize<uint32_t>(memAddr,
this->localData.fields.buffer + OFFSET_ADDRESS, &serializedSize, sizeof(*memAddr),
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "TcMemRead::fillPacketDataField: Failed to serialize address field"
<< std::endl;
}
result = SerializeAdapter::serialize<uint16_t>(&MEM_LEN,
this->localData.fields.buffer + OFFSET_MEM_LEN_FIELD, &serializedSize,
sizeof(MEM_LEN), SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "TcMemRead::fillPacketDataField: Failed to serialize mem len field"
<< std::endl;
}
// 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 */
result = SerializeAdapter::serialize<uint16_t>(&crc,
this->localData.fields.buffer + CRC_OFFSET, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "TcMemRead::fillPacketDataField: Failed to serialize crc field"
<< std::endl;
}
}
};
private:
/**
* @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);
}
/**
* @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) {
private:
/* 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);
/**
* @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 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 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 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,
/* 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);
/* 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);
}
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;
};
/** 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_PLOCMPSOCDEFINITIONS_H_ */