restructured tmtc modules a bit, added comDefinitions file
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342
linux/tmtc/CCSDSHandler.cpp
Normal file
342
linux/tmtc/CCSDSHandler.cpp
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@ -0,0 +1,342 @@
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#include "CCSDSHandler.h"
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#include <linux/obc/PdecHandler.h>
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#include <linux/obc/PtmeConfig.h>
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#include "fsfw/events/EventManagerIF.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serialize/SerializeAdapter.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
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CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
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PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock,
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gpioId_t enTxData, uint32_t transmitterTimeout)
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: SystemObject(objectId),
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ptmeId(ptmeId),
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tcDestination(tcDestination),
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parameterHelper(this),
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actionHelper(this, nullptr),
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ptmeConfig(ptmeConfig),
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gpioIF(gpioIF),
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enTxClock(enTxClock),
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enTxData(enTxData),
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TRANSMITTER_TIMEOUT(transmitterTimeout) {
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commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
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auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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CCSDSHandler::~CCSDSHandler() {}
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ReturnValue_t CCSDSHandler::performOperation(uint8_t operationCode) {
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checkEvents();
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readCommandQueue();
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handleTelemetry();
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handleTelecommands();
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checkTxTimer();
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return RETURN_OK;
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}
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void CCSDSHandler::handleTelemetry() {
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VirtualChannelMapIter iter;
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for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
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iter->second->performOperation();
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}
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}
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void CCSDSHandler::handleTelecommands() {}
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ReturnValue_t CCSDSHandler::initialize() {
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ReturnValue_t result = RETURN_OK;
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PtmeIF* ptme = ObjectManager::instance()->get<PtmeIF>(ptmeId);
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if (ptme == nullptr) {
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sif::warning << "Invalid PTME object" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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AcceptsTelecommandsIF* tcDistributor =
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ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
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if (tcDistributor == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "CCSDSHandler::initialize: Invalid TC Distributor object" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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tcDistributorQueueId = tcDistributor->getRequestQueue();
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result = parameterHelper.initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = actionHelper.initialize(commandQueue);
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if (result != RETURN_OK) {
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return result;
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}
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VirtualChannelMapIter iter;
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for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
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result = iter->second->initialize();
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if (result != RETURN_OK) {
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return result;
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}
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iter->second->setPtmeObject(ptme);
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}
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "CCSDSHandler::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = manager->registerListener(eventQueue->getId());
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if (result != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "CCSDSHandler::initialize: Failed to register CCSDS handler as event "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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;
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}
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result = manager->subscribeToEventRange(eventQueue->getId(),
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event::getEventId(PdecHandler::CARRIER_LOCK),
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event::getEventId(PdecHandler::BIT_LOCK_PDEC));
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if (result != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "CCSDSHandler::initialize: Failed to subscribe to events from PDEC "
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"handler"
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<< std::endl;
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#endif
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return result;
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}
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result = ptmeConfig->initialize();
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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#if OBSW_SYRLINKS_SIMULATED == 1
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ptmeConfig->invertTxClock(true);
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#endif /* OBSW_SYRLINKS_SIMULATED == 1*/
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return result;
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}
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void CCSDSHandler::readCommandQueue(void) {
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CommandMessage commandMessage;
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ReturnValue_t result = RETURN_FAILED;
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result = commandQueue->receiveMessage(&commandMessage);
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if (result == RETURN_OK) {
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result = parameterHelper.handleParameterMessage(&commandMessage);
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if (result == RETURN_OK) {
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return;
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}
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result = actionHelper.handleActionMessage(&commandMessage);
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if (result == RETURN_OK) {
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return;
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}
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CommandMessage reply;
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reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
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commandQueue->reply(&reply);
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return;
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}
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}
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MessageQueueId_t CCSDSHandler::getCommandQueue() const { return commandQueue->getId(); }
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void CCSDSHandler::addVirtualChannel(VcId_t vcId, VirtualChannel* virtualChannel) {
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if (vcId > common::NUMBER_OF_VIRTUAL_CHANNELS) {
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sif::warning << "CCSDSHandler::addVirtualChannel: Invalid virtual channel ID" << std::endl;
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return;
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}
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if (virtualChannel == nullptr) {
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sif::warning << "CCSDSHandler::addVirtualChannel: Invalid virtual channel interface"
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<< std::endl;
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return;
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}
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auto status = virtualChannelMap.emplace(vcId, virtualChannel);
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if (status.second == false) {
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sif::warning << "CCSDSHandler::addVirtualChannel: Failed to add virtual channel to "
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"virtual channel map"
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<< std::endl;
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return;
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}
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}
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MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) {
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if (virtualChannel < common::NUMBER_OF_VIRTUAL_CHANNELS) {
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VirtualChannelMapIter iter = virtualChannelMap.find(virtualChannel);
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if (iter != virtualChannelMap.end()) {
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return iter->second->getReportReceptionQueue();
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} else {
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sif::warning << "CCSDSHandler::getReportReceptionQueue: Virtual channel with ID "
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<< static_cast<unsigned int>(virtualChannel) << " not in virtual channel map"
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<< std::endl;
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return MessageQueueIF::NO_QUEUE;
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}
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} else {
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sif::debug << "CCSDSHandler::getReportReceptionQueue: Invalid virtual channel requested";
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}
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return MessageQueueIF::NO_QUEUE;
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}
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ReturnValue_t CCSDSHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
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ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues, uint16_t startAtIndex) {
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return RETURN_OK;
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}
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uint16_t CCSDSHandler::getIdentifier() { return 0; }
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MessageQueueId_t CCSDSHandler::getRequestQueue() {
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// Forward packets directly to TC distributor
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return tcDistributorQueueId;
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}
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ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result = RETURN_OK;
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switch (actionId) {
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case SET_LOW_RATE: {
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result = ptmeConfig->setRate(RATE_100KBPS);
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break;
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}
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case SET_HIGH_RATE: {
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result = ptmeConfig->setRate(RATE_500KBPS);
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break;
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}
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case ARBITRARY_RATE: {
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uint32_t bitrate = 0;
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SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
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result = ptmeConfig->setRate(bitrate);
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break;
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}
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case EN_TRANSMITTER: {
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enableTransmit();
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return EXECUTION_FINISHED;
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}
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case DISABLE_TRANSMITTER: {
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disableTransmit();
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return EXECUTION_FINISHED;
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}
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case ENABLE_TX_CLK_MANIPULATOR: {
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result = ptmeConfig->configTxManipulator(true);
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break;
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}
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case DISABLE_TX_CLK_MANIPULATOR: {
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result = ptmeConfig->configTxManipulator(false);
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break;
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}
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case UPDATE_ON_RISING_EDGE: {
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result = ptmeConfig->invertTxClock(false);
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break;
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}
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case UPDATE_ON_FALLING_EDGE: {
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result = ptmeConfig->invertTxClock(true);
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break;
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}
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default:
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return COMMAND_NOT_IMPLEMENTED;
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}
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if (result != RETURN_OK) {
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return result;
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}
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return EXECUTION_FINISHED;
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}
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void CCSDSHandler::checkEvents() {
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
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result = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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handleEvent(&event);
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break;
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default:
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sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message"
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<< std::endl;
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break;
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}
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}
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}
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void CCSDSHandler::handleEvent(EventMessage* eventMessage) {
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Event event = eventMessage->getEvent();
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switch (event) {
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case PdecHandler::BIT_LOCK_PDEC: {
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handleBitLockEvent();
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break;
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}
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case PdecHandler::CARRIER_LOCK: {
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handleCarrierLockEvent();
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break;
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}
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default:
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sif::debug << "CCSDSHandler::handleEvent: Did not subscribe to this event" << std::endl;
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break;
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}
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}
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void CCSDSHandler::handleBitLockEvent() {
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if (transmitterCountdown.isBusy()) {
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// Transmitter already enabled
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return;
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}
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enableTransmit();
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}
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void CCSDSHandler::handleCarrierLockEvent() {
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if (!enableTxWhenCarrierLock) {
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return;
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}
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enableTransmit();
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}
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void CCSDSHandler::forwardLinkstate() {
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VirtualChannelMapIter iter;
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for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
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iter->second->setLinkState(linkState);
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}
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}
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void CCSDSHandler::enableTransmit() {
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if (transmitterCountdown.isBusy()) {
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// Transmitter already enabled
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return;
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}
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transmitterCountdown.setTimeout(TRANSMITTER_TIMEOUT);
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#ifndef TE0720_1CFA
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gpioIF->pullHigh(enTxClock);
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gpioIF->pullHigh(enTxData);
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#endif /* BOARD_TE0720 == 0 */
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linkState = UP;
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// Set link state of all virtual channels to link up
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forwardLinkstate();
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}
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void CCSDSHandler::checkTxTimer() {
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if (linkState == DOWN) {
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return;
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}
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if (transmitterCountdown.hasTimedOut()) {
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disableTransmit();
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}
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}
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void CCSDSHandler::disableTransmit() {
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#ifdef TE0720_1CFA
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gpioIF->pullLow(enTxClock);
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gpioIF->pullLow(enTxData);
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#endif /* BOARD_TE0720 == 0 */
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linkState = DOWN;
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forwardLinkstate();
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transmitterCountdown.setTimeout(0);
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}
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180
linux/tmtc/CCSDSHandler.h
Normal file
180
linux/tmtc/CCSDSHandler.h
Normal file
@ -0,0 +1,180 @@
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#ifndef CCSDSHANDLER_H_
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#define CCSDSHANDLER_H_
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#include <unordered_map>
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#include "OBSWConfig.h"
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#include "fsfw/action/ActionHelper.h"
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#include "fsfw/action/HasActionsIF.h"
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#include "fsfw/events/EventMessage.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/parameters/ParameterHelper.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/timemanager/Countdown.h"
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#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
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#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
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#include "fsfw_hal/common/gpio/GpioIF.h"
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#include "fsfw_hal/common/gpio/gpioDefinitions.h"
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#include "linux/obc/PtmeConfig.h"
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#include "mission/tmtc/VirtualChannel.h"
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/**
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* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
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* programmable logic of the Q7S.
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*
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* @details After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
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* of 200 kbps due to convolutional code added by syrlinks transceiver)
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*
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* @author J. Meier
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*/
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class CCSDSHandler : public SystemObject,
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public ExecutableObjectIF,
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public AcceptsTelemetryIF,
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public AcceptsTelecommandsIF,
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public HasReturnvaluesIF,
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public ReceivesParameterMessagesIF,
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public HasActionsIF {
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public:
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using VcId_t = uint8_t;
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/**
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* @brief Constructor
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*
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* @param objectId Object ID of the CCSDS handler
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* @param ptmeId Object ID of the PTME object providing access to the PTME IP Core.
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* @param tcDestination Object ID of object handling received TC space packets
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* @param txRateSetter Object providing the functionality to switch the input bitrate of
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* the S-Band transceiver.
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* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
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* @param enTxClock GPIO ID of RS485 tx clock enable
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* @param enTxData GPIO ID of RS485 tx data enable
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*/
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CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
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PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
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||||
uint32_t transmitterTimeout = 900000);
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||||
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~CCSDSHandler();
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||||
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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||||
ReturnValue_t initialize();
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MessageQueueId_t getCommandQueue() const;
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||||
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||||
/**
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* @brief Function to add a virtual channel
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||||
*
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||||
* @param virtualChannelId ID of the virtual channel to add
|
||||
* @param virtualChannel Pointer to virtual channel object
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||||
*/
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||||
void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
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||||
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||||
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
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||||
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
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||||
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
|
||||
uint16_t startAtIndex);
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||||
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||||
uint16_t getIdentifier() override;
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||||
MessageQueueId_t getRequestQueue() override;
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||||
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||||
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size);
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||||
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||||
private:
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static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
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||||
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||||
static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
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||||
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||||
static const ActionId_t SET_LOW_RATE = 0;
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||||
static const ActionId_t SET_HIGH_RATE = 1;
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static const ActionId_t EN_TRANSMITTER = 2;
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||||
static const ActionId_t DISABLE_TRANSMITTER = 3;
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||||
static const ActionId_t ARBITRARY_RATE = 4;
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static const ActionId_t ENABLE_TX_CLK_MANIPULATOR = 5;
|
||||
static const ActionId_t DISABLE_TX_CLK_MANIPULATOR = 6;
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||||
// Will update data with respect to tx clock signal of cadu bitstream on rising edge
|
||||
static const ActionId_t UPDATE_ON_RISING_EDGE = 7;
|
||||
// Will update data with respect to tx clock signal of cadu bitstream on falling edge
|
||||
static const ActionId_t UPDATE_ON_FALLING_EDGE = 8;
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||||
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||||
// Syrlinks supports two bitrates (200 kbps and 1000 kbps)
|
||||
// Due to convolutional code added by the syrlinks the input frequency must be half the
|
||||
// target frequency
|
||||
static const uint32_t RATE_100KBPS = 100000;
|
||||
static const uint32_t RATE_500KBPS = 500000;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Received action message with unknown action id
|
||||
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
|
||||
|
||||
static const bool UP = true;
|
||||
static const bool DOWN = false;
|
||||
|
||||
using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
|
||||
using VirtualChannelMapIter = VirtualChannelMap::iterator;
|
||||
|
||||
VirtualChannelMap virtualChannelMap;
|
||||
|
||||
// Object ID of PTME object
|
||||
object_id_t ptmeId;
|
||||
|
||||
object_id_t tcDestination;
|
||||
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
|
||||
ParameterHelper parameterHelper;
|
||||
|
||||
ActionHelper actionHelper;
|
||||
|
||||
MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
|
||||
|
||||
PtmeConfig* ptmeConfig = nullptr;
|
||||
|
||||
GpioIF* gpioIF = nullptr;
|
||||
gpioId_t enTxClock = gpio::NO_GPIO;
|
||||
gpioId_t enTxData = gpio::NO_GPIO;
|
||||
|
||||
// syrlinks must not be transmitting more than 15 minutes (according to datasheet)
|
||||
// Value can be configured via CTOR argument to allow test setups
|
||||
const uint32_t TRANSMITTER_TIMEOUT = 900000; // 900000 ms = 15 min
|
||||
|
||||
// Countdown to disable transmitter after 15 minutes
|
||||
Countdown transmitterCountdown;
|
||||
|
||||
// When true transmitting is started as soon as carrier lock has been detected
|
||||
bool enableTxWhenCarrierLock = false;
|
||||
|
||||
bool linkState = DOWN;
|
||||
|
||||
void readCommandQueue(void);
|
||||
void handleTelemetry();
|
||||
void handleTelecommands();
|
||||
void checkEvents();
|
||||
void handleEvent(EventMessage* eventMessage);
|
||||
|
||||
void handleBitLockEvent();
|
||||
void handleCarrierLockEvent();
|
||||
|
||||
/**
|
||||
* @brief Forward link state to virtual channels.
|
||||
*/
|
||||
void forwardLinkstate();
|
||||
|
||||
/**
|
||||
* @brief Starts transmit timer and enables transmitter.
|
||||
*/
|
||||
void enableTransmit();
|
||||
|
||||
/**
|
||||
* @brief Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
|
||||
* timer has expired.
|
||||
*/
|
||||
void checkTxTimer();
|
||||
|
||||
/**
|
||||
* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
|
||||
* RS485 transceiver chips to high.
|
||||
*/
|
||||
void disableTransmit();
|
||||
};
|
||||
|
||||
#endif /* CCSDSHANDLER_H_ */
|
||||
5
linux/tmtc/CMakeLists.txt
Normal file
5
linux/tmtc/CMakeLists.txt
Normal file
@ -0,0 +1,5 @@
|
||||
target_sources(${OBSW_NAME} PUBLIC
|
||||
CCSDSHandler.cpp
|
||||
)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user