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plocHandler wip

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This commit is contained in:
Jakob Meier 2021-04-12 10:16:59 +02:00
parent 5909d4811b
commit 67cc196169
9 changed files with 32 additions and 23 deletions
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6
README.md
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@ -574,3 +574,9 @@ When using Eclipse, there are two special build variables in the project propert
→ C/C++ Build → Build Variables called `Q7S_SYSROOT` or `RPI_SYSROOT`. You can set → C/C++ Build → 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 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
````

5
bsp_q7s/ObjectFactory.cpp
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@ -321,7 +321,7 @@ void ObjectFactory::produce(){
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0); Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0); Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0); Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
rtdIc10->setStartUpImmediately(); // rtdIc10->setStartUpImmediately();
// rtdIc4->setStartUpImmediately(); // rtdIc4->setStartUpImmediately();
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
@ -329,9 +329,8 @@ void ObjectFactory::produce(){
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
imtqHandler->setStartUpImmediately(); imtqHandler->setStartUpImmediately();
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200, UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200,
PLOC::MAX_REPLY_SIZE); PLOC::MAX_REPLY_SIZE);
/* Testing PlocHandler on TE0720-03-1CFA */
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
plocUartCookie); plocUartCookie);
plocHandler->setStartUpImmediately(); plocHandler->setStartUpImmediately();

1
fsfw_hal Submodule

@ -0,0 +1 @@
Subproject commit 14fe32572d62db9d19707dc1f9bb6fecb1993b73

2
fsfwconfig/OBSWConfig.h
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@ -19,7 +19,7 @@ debugging. */
#define OBSW_ADD_TEST_CODE 1 #define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0 #define TEST_LIBGPIOD 0
#define TE0720 1 #define TE0720 0
#define P60DOCK_DEBUG 0 #define P60DOCK_DEBUG 0
#define PDU1_DEBUG 0 #define PDU1_DEBUG 0

3
fsfwconfig/events/subsystemIdRanges.h
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@ -21,7 +21,8 @@ enum: uint8_t {
MGM_RM3100, MGM_RM3100,
PCDU_HANDLER, PCDU_HANDLER,
HEATER_HANDLER, HEATER_HANDLER,
SA_DEPL_HANDLER SA_DEPL_HANDLER,
PLOC_HANDLER
}; };
} }

23
mission/devices/PlocHandler.cpp
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@ -68,6 +68,7 @@ ReturnValue_t PlocHandler::buildCommandFromCommand(
} }
void PlocHandler::fillCommandAndReplyMap() { void PlocHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(PLOC::TC_MEM_WRITE, 1, nullptr, PLOC::SIZE_ACK_REPORT);
this->insertInCommandAndReplyMap(PLOC::TC_MEM_READ, 1, nullptr, PLOC::SIZE_ACK_REPORT); this->insertInCommandAndReplyMap(PLOC::TC_MEM_READ, 1, nullptr, PLOC::SIZE_ACK_REPORT);
this->insertInReplyMap(PLOC::ACK_SUCCESS, 1); this->insertInReplyMap(PLOC::ACK_SUCCESS, 1);
this->insertInReplyMap(PLOC::ACK_FAILURE, 1); this->insertInReplyMap(PLOC::ACK_FAILURE, 1);
@ -78,7 +79,7 @@ ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
ReturnValue_t result = RETURN_OK; ReturnValue_t result = RETURN_OK;
*foundId = *(start) << 8 | *(start + 1) & APID_MASK; *foundId = (*(start) << 8 | *(start + 1)) & APID_MASK;
switch(*foundId) { switch(*foundId) {
case(PLOC::ACK_SUCCESS): case(PLOC::ACK_SUCCESS):
@ -100,7 +101,7 @@ ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t* foundLen) { ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t* foundLen) {
uint16_t receivedCrc = *(start + *foundLen - 2) << 8 | *(start + *foundlen - 1); uint16_t receivedCrc = *(start + *foundLen - 2) << 8 | *(start + *foundLen - 1);
if (receivedCrc != CRC::crc16ccitt(start, *foundLen, 0)) { if (receivedCrc != CRC::crc16ccitt(start, *foundLen, 0)) {
return CRC_FAILURE; return CRC_FAILURE;
@ -112,8 +113,6 @@ ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t* foundLen)
ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id, ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) { const uint8_t *packet) {
ReturnValue_t result = RETURN_OK;
switch (id) { switch (id) {
case (PLOC::ACK_SUCCESS): case (PLOC::ACK_SUCCESS):
receiveTm(); receiveTm();
@ -133,7 +132,7 @@ ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
return RETURN_OK; return RETURN_OK;
} }
ReturnValue_t PlocHandler::receiveTm() { void PlocHandler::receiveTm() {
switch (rememberCommandId) { switch (rememberCommandId) {
case (PLOC::TC_MEM_WRITE): case (PLOC::TC_MEM_WRITE):
break; break;
@ -154,8 +153,8 @@ void PlocHandler::receiveExecutionReport() {
communicationInterface->requestReceiveMessage(comCookie, PLOC::SIZE_EXE_REPORT); communicationInterface->requestReceiveMessage(comCookie, PLOC::SIZE_EXE_REPORT);
communicationInterface->readReceivedMessage(comCookie, &receivedData, &receivedDataLen); communicationInterface->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
if(!verifyPacket(receivedData, receivedDataLen)) { if(!verifyPacket(receivedData, &receivedDataLen)) {
replyRawData(data, len, defaultRawReceiver); replyRawData(receivedData, receivedDataLen, defaultRawReceiver);
triggerEvent(EXE_RPT_INVALID_CRC); triggerEvent(EXE_RPT_INVALID_CRC);
sif::error << "PlocHandler::receiveExecutionReport: Execution report has invalid crc" sif::error << "PlocHandler::receiveExecutionReport: Execution report has invalid crc"
<< std::endl; << std::endl;
@ -167,7 +166,7 @@ void PlocHandler::receiveExecutionReport() {
void PlocHandler::handleExecutionReport(const uint8_t* receivedData, size_t receivedDataLen) { void PlocHandler::handleExecutionReport(const uint8_t* receivedData, size_t receivedDataLen) {
uint16_t apid = *(start) << 8 | *(start + 1) & APID_MASK; uint16_t apid = (*(receivedData) << 8 | *(receivedData + 1)) & APID_MASK;
switch (apid) { switch (apid) {
case (PLOC::APID_EXE_SUCCESS): { case (PLOC::APID_EXE_SUCCESS): {
@ -205,15 +204,15 @@ void PlocHandler::receiveTmMemoryReadReport() {
return; return;
} }
uint16_t apid = *(start) << 8 | *(start + 1) & APID_MASK; uint16_t apid = (*(receivedData) << 8 | *(receivedData + 1)) & APID_MASK;
if (apid != PLOC::APID_TM_READ_REPORT) { if (apid != PLOC::APID_TM_READ_REPORT) {
sif::error << "PlocHandler::receiveTmReadReport: Tm read report has invalid apid" sif::error << "PlocHandler::receiveTmReadReport: Tm read report has invalid apid"
<< std::endl; << std::endl;
return; return;
} }
if(!verifyPacket(receivedData, receivedDataLen)) { if(!verifyPacket(receivedData, &receivedDataLen)) {
replyRawData(data, len, defaultRawReceiver); replyRawData(receivedData, receivedDataLen, defaultRawReceiver);
triggerEvent(TM_READ_RPT_INVALID_CRC); triggerEvent(TM_READ_RPT_INVALID_CRC);
sif::error << "PlocHandler::receiveTmReadReport: TM read report has invalid crc" sif::error << "PlocHandler::receiveTmReadReport: TM read report has invalid crc"
<< std::endl; << std::endl;
@ -239,7 +238,7 @@ void PlocHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCom
return; return;
} }
result = actionHelper.reportData(queueId, replyId, dataSet); result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) { if (result != RETURN_OK) {
sif::debug << "PlocHandler::handleDeviceTM: Failed to report data" << std::endl; sif::debug << "PlocHandler::handleDeviceTM: Failed to report data" << std::endl;
} }

4
mission/devices/PlocHandler.h
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@ -45,6 +45,8 @@ private:
static const ReturnValue_t TC_ACK_FAILURE = MAKE_RETURN_CODE(0xA0); static const ReturnValue_t TC_ACK_FAILURE = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA1); static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA1);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_HANDLER;
static const Event REQUESTING_TM_READ_REPORT_FAILED = MAKE_EVENT(0, severity::LOW); static const Event REQUESTING_TM_READ_REPORT_FAILED = MAKE_EVENT(0, severity::LOW);
static const Event TM_READ_RPT_INVALID_CRC = MAKE_EVENT(1, severity::LOW); static const Event TM_READ_RPT_INVALID_CRC = MAKE_EVENT(1, severity::LOW);
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW); static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
@ -58,7 +60,7 @@ private:
/** /**
* @brief This function checks wheter a telemetry packet is expected or not. * @brief This function checks wheter a telemetry packet is expected or not.
*/ */
ReturnValue_t receiveTm(); void receiveTm();
/** /**
* @brief This function checks the crc of the received PLOC reply. * @brief This function checks the crc of the received PLOC reply.

2
mission/devices/devicedefinitions/IMTQHandlerDefinitions.h
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@ -18,7 +18,7 @@ namespace IMTQ {
static const uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY; static const uint8_t MAX_REPLY_SIZE = SIZE_ENG_HK_DATA_REPLY;
static const uint8_t MAX_COMMAND_SIZE = 9; static const uint8_t MAX_COMMAND_SIZE = 9;
static const uint8_t POOL_ENTRIES = 8; static const uint8_t POOL_ENTRIES = 11;
/** /**
* Command code definitions. Each command or reply of an IMTQ request will begin with one of * Command code definitions. Each command or reply of an IMTQ request will begin with one of

7
mission/devices/devicedefinitions/PlocDefinitions.h
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@ -21,6 +21,7 @@ namespace PLOC {
* SpacePacket apids of PLOC telecommands and telemetry. * SpacePacket apids of PLOC telecommands and telemetry.
*/ */
static const uint16_t APID_TC_MEM_WRITE = 0x714; static const uint16_t APID_TC_MEM_WRITE = 0x714;
static const uint16_t APID_TC_MEM_READ = 0x715;
static const uint16_t APID_TM_READ_REPORT = 0x404; static const uint16_t APID_TM_READ_REPORT = 0x404;
static const uint16_t APID_EXE_SUCCESS = 0x402; static const uint16_t APID_EXE_SUCCESS = 0x402;
static const uint16_t APID_EXE_FAILURE = 0x403; static const uint16_t APID_EXE_FAILURE = 0x403;
@ -62,7 +63,7 @@ namespace PLOC {
*/ */
void fillPacketDataField(const uint32_t* memAddrPtr) { void fillPacketDataField(const uint32_t* memAddrPtr) {
/* Add memAddr to packet data field */ /* Add memAddr to packet data field */
memcpy(this->localData.fields.buffer, memAddrPtr, sizeof(memAddrPtr)); memcpy(this->localData.fields.buffer, memAddrPtr, sizeof(*memAddrPtr));
/* Add memLen to packet data field */ /* Add memLen to packet data field */
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 0; this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 0;
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 1; this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 1;
@ -107,13 +108,13 @@ namespace PLOC {
*/ */
void fillPacketDataField(const uint32_t* memAddrPtr, const uint32_t* memoryDataPtr) { void fillPacketDataField(const uint32_t* memAddrPtr, const uint32_t* memoryDataPtr) {
/* Add memAddr to packet data field */ /* Add memAddr to packet data field */
memcpy(this->localData.fields.buffer, memAddrPtr, sizeof(memAddrPtr)); memcpy(this->localData.fields.buffer, memAddrPtr, sizeof(*memAddrPtr));
/* Add memLen to packet data field */ /* Add memLen to packet data field */
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 0; this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 0;
this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 1; this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 1;
/* Add memData to packet data field */ /* Add memData to packet data field */
memcpy(this->localData.fields.buffer + OFFSET_MEM_DATA_FIELD, memAddrPtr, memcpy(this->localData.fields.buffer + OFFSET_MEM_DATA_FIELD, memAddrPtr,
sizeof(memAddrPtr)); sizeof(*memAddrPtr));
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + LENGTH_TC_MEM_WRITE - CRC_SIZE, 0); sizeof(CCSDSPrimaryHeader) + LENGTH_TC_MEM_WRITE - CRC_SIZE, 0);
/* Add crc to packet data field of space packet */ /* Add crc to packet data field of space packet */