eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into mueller/pl-ss

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This commit is contained in:
Robin Müller
2022-11-03 20:10:05 +01:00
parent b6cde9e8fc 10611d0415
commit 9503b2ca93
68 changed files with 1020 additions and 761 deletions
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2
linux/CMakeLists.txt
View File

@ -4,6 +4,6 @@ add_subdirectory(callbacks)
add_subdirectory(boardtest)
add_subdirectory(devices)
add_subdirectory(fsfwconfig)
add_subdirectory(obc)
add_subdirectory(ipcore)
target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp InitMission.cpp)

11
linux/ObjectFactory.cpp
View File

@ -18,13 +18,14 @@
#include <mission/devices/SusHandler.h>
#include <mission/system/fdir/RtdFdir.h>
#include <mission/system/fdir/SusFdir.h>
#include <mission/system/objects/SusAssembly.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include "OBSWConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "eive/definitions.h"
#include "mission/system/objects/SusAssembly.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/acsModeTree.h"
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
@ -354,3 +355,9 @@ void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
}
}
void ObjectFactory::addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler,
PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel) {
cfdpFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
pusFunnel.addDestination(ipCoreHandler, config::LIVE_TM);
}

6
linux/ObjectFactory.h
View File

@ -4,6 +4,9 @@
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/tmtc/CcsdsIpCoreHandler.h>
#include <mission/tmtc/CfdpTmFunnel.h>
#include <mission/tmtc/PusTmFunnel.h>
#include <optional>
#include <string>
@ -29,4 +32,7 @@ void gpioChecker(ReturnValue_t result, std::string output);
void createThermalController();
AcsController* createAcsController(bool connectSubsystem);
void addTmtcIpCoresToFunnels(CcsdsIpCoreHandler& ipCoreHandler, PusTmFunnel& pusFunnel,
CfdpTmFunnel& cfdpFunnel);
} // namespace ObjectFactory

24
linux/devices/Max31865RtdLowlevelHandler.cpp
View File

@ -50,7 +50,7 @@ ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
}
bool Max31865RtdReader::rtdIsActive(uint8_t idx) {
if (rtds[idx]->on and rtds[idx]->active and rtds[idx]->configured) {
if (rtds[idx]->on and rtds[idx]->db.active and rtds[idx]->db.configured) {
return true;
}
return false;
@ -69,7 +69,7 @@ bool Max31865RtdReader::periodicInitHandling() {
if (rtd == nullptr) {
continue;
}
if ((rtd->on or rtd->active) and not rtd->configured and rtd->cd.hasTimedOut()) {
if ((rtd->on or rtd->db.active) and not rtd->db.configured and rtd->cd.hasTimedOut()) {
ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
if (mg.lockResult != returnvalue::OK or mg.gpioResult != returnvalue::OK) {
sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
@ -95,13 +95,7 @@ bool Max31865RtdReader::periodicInitHandling() {
if (result != returnvalue::OK) {
handleSpiError(rtd, result, "clearFaultStatus");
}
rtd->configured = true;
rtd->db.configured = true;
if (rtd->active) {
rtd->db.active = true;
}
}
if (rtd->active and rtd->configured and not rtd->db.active) {
rtd->db.active = true;
}
}
@ -241,8 +235,8 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
rtdCookie->cd.resetTimer();
rtdCookie->on = true;
rtdCookie->active = false;
rtdCookie->configured = false;
rtdCookie->db.active = false;
rtdCookie->db.configured = false;
if (sendLen == 5) {
thresholdHandler(rtdCookie, sendData);
}
@ -254,10 +248,10 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
rtdCookie->cd.resetTimer();
rtdCookie->on = true;
rtdCookie->active = true;
rtdCookie->configured = false;
rtdCookie->db.active = true;
rtdCookie->db.configured = false;
} else {
rtdCookie->active = true;
rtdCookie->db.active = true;
}
if (sendLen == 5) {
thresholdHandler(rtdCookie, sendData);
@ -266,8 +260,8 @@ ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* se
}
case (EiveMax31855::RtdCommands::OFF): {
rtdCookie->on = false;
rtdCookie->active = false;
rtdCookie->configured = false;
rtdCookie->db.active = false;
rtdCookie->db.configured = false;
break;
}
case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {

2
linux/devices/Max31865RtdLowlevelHandler.h
View File

@ -23,8 +23,6 @@ struct Max31865ReaderCookie : public CookieIF {
Countdown cd = Countdown(MAX31865::WARMUP_MS);
bool on = false;
bool configured = false;
bool active = false;
bool writeLowThreshold = false;
bool writeHighThreshold = false;
uint16_t lowThreshold = 0;

24
linux/devices/startracker/StarTrackerHandler.cpp
View File

@ -240,13 +240,12 @@ void StarTrackerHandler::doStartUp() {
// the device handler's submode to the star tracker's mode
return;
case StartupState::DONE:
submode = SUBMODE_BOOTLOADER;
startupState = StartupState::IDLE;
break;
default:
return;
}
setMode(_MODE_TO_ON);
setMode(_MODE_TO_ON, SUBMODE_BOOTLOADER);
}
void StarTrackerHandler::doShutDown() {
@ -654,7 +653,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
}
ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (this->mode == MODE_NORMAL && mode == MODE_ON) {
if (getMode() == MODE_NORMAL && mode == MODE_ON) {
return TRANS_NOT_ALLOWED;
}
switch (mode) {
@ -678,7 +677,7 @@ ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t
}
void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
switch (mode) {
switch (getMode()) {
case _MODE_TO_ON:
doOnTransition(subModeFrom);
break;
@ -698,17 +697,18 @@ void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
}
void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
if (submode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_FIRMWARE) {
uint8_t dhbSubmode = getSubmode();
if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_FIRMWARE) {
bootBootloader();
} else if (submode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_FIRMWARE) {
} else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_FIRMWARE) {
setMode(MODE_ON);
} else if (submode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_BOOTLOADER) {
} else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_BOOTLOADER) {
bootFirmware(MODE_ON);
} else if (submode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_BOOTLOADER) {
} else if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_BOOTLOADER) {
setMode(MODE_ON);
} else if (submode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_NONE) {
} else if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_NONE) {
setMode(MODE_ON);
} else if (submode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_NONE) {
} else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_NONE) {
setMode(MODE_ON);
}
}
@ -2067,13 +2067,13 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
case startracker::REQ_SUBSCRIPTION:
case startracker::REQ_LOG_SUBSCRIPTION:
case startracker::REQ_DEBUG_CAMERA:
if (not(mode == MODE_ON && submode == startracker::Program::FIRMWARE)) {
if (not(getMode() == MODE_ON && getSubmode() == startracker::Program::FIRMWARE)) {
return STARTRACKER_RUNNING_BOOTLOADER;
}
break;
case startracker::FIRMWARE_UPDATE:
case startracker::FLASH_READ:
if (not(mode == MODE_ON && submode == startracker::Program::BOOTLOADER)) {
if (not(getMode() == MODE_ON && getSubmode() == startracker::Program::BOOTLOADER)) {
return STARTRACKER_RUNNING_FIRMWARE;
}
break;

7
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 233 translations.
* @brief Auto-generated event translation file. Contains 234 translations.
* @details
* Generated on: 2022-10-27 09:17:50
* Generated on: 2022-11-03 16:11:14
*/
#include "translateEvents.h"
@ -144,6 +144,7 @@ const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
const char *LOST_CARRIER_LOCK_PDEC_STRING = "LOST_CARRIER_LOCK_PDEC";
const char *LOST_BIT_LOCK_PDEC_STRING = "LOST_BIT_LOCK_PDEC";
const char *POLL_ERROR_PDEC_STRING = "POLL_ERROR_PDEC";
const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
@ -515,6 +516,8 @@ const char *translateEvents(Event event) {
return LOST_CARRIER_LOCK_PDEC_STRING;
case (12406):
return LOST_BIT_LOCK_PDEC_STRING;
case (12407):
return POLL_ERROR_PDEC_STRING;
case (12500):
return IMAGE_UPLOAD_FAILED_STRING;
case (12501):

2
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -2,7 +2,7 @@
* @brief Auto-generated object translation file.
* @details
* Contains 142 translations.
* Generated on: 2022-10-27 09:17:50
* Generated on: 2022-11-03 16:11:14
*/
#include "translateObjects.h"

0
linux/obc/AxiPtmeConfig.cpp → linux/ipcore/AxiPtmeConfig.cpp
View File

0
linux/obc/AxiPtmeConfig.h → linux/ipcore/AxiPtmeConfig.h
View File

0
linux/obc/CMakeLists.txt → linux/ipcore/CMakeLists.txt
View File

2
linux/obc/PapbVcInterface.cpp → linux/ipcore/PapbVcInterface.cpp
View File

@ -1,5 +1,5 @@
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/obc/PapbVcInterface.h>
#include <linux/ipcore/PapbVcInterface.h>
#include "fsfw/serviceinterface/ServiceInterface.h"

2
linux/obc/PapbVcInterface.h → linux/ipcore/PapbVcInterface.h
View File

@ -6,7 +6,7 @@
#include "OBSWConfig.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "linux/obc/VcInterfaceIF.h"
#include "linux/ipcore/VcInterfaceIF.h"
/**
* @brief This class handles the transmission of data to a virtual channel of the PTME IP Core

5
linux/obc/PdecConfig.cpp → linux/ipcore/PdecConfig.cpp
View File

@ -31,3 +31,8 @@ uint32_t PdecConfig::getConfigWord(uint8_t wordNo) {
}
return configWords[wordNo];
}
uint32_t PdecConfig::getImrReg() {
return static_cast<uint32_t>(enableNewFarIrq << 2) |
static_cast<uint32_t>(enableTcAbortIrq << 1) | static_cast<uint32_t>(enableTcNewIrq);
}

4
linux/obc/PdecConfig.h → linux/ipcore/PdecConfig.h
View File

@ -23,6 +23,7 @@ class PdecConfig {
* @brief Returns the configuration word by specifying the position.
*/
uint32_t getConfigWord(uint8_t wordNo);
uint32_t getImrReg();
private:
// TC transfer frame configuration parameters
@ -45,6 +46,9 @@ class PdecConfig {
static const uint8_t CONFIG_WORDS_NUM = 2;
uint32_t configWords[CONFIG_WORDS_NUM];
bool enableTcNewIrq = true;
bool enableTcAbortIrq = true;
bool enableNewFarIrq = true;
void initialize();
};

235
linux/obc/PdecHandler.cpp → linux/ipcore/PdecHandler.cpp
View File

@ -1,7 +1,9 @@
#include "PdecHandler.h"
#include <fcntl.h>
#include <poll.h>
#include <sys/mman.h>
#include <unistd.h>
#include <cstring>
#include <sstream>
@ -12,18 +14,21 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
#include "pdec.h"
using namespace pdec;
// If this is ever shared, protect it with a mutex!
uint32_t PdecHandler::CURRENT_FAR = 0;
PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
std::string uioRamMemory, std::string uioRegisters)
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, UioNames names)
: SystemObject(objectId),
tcDestinationId(tcDestinationId),
gpioComIF(gpioComIF),
pdecReset(pdecReset),
uioConfigMemory(uioConfigMemory),
uioRamMemory(uioRamMemory),
uioRegisters(uioRegisters),
actionHelper(this, nullptr) {
actionHelper(this, nullptr),
uioNames(names) {
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@ -47,29 +52,39 @@ ReturnValue_t PdecHandler::initialize() {
ReturnValue_t result = returnvalue::OK;
UioMapper regMapper(uioRegisters);
UioMapper regMapper(uioNames.registers);
result = regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
UioMapper configMemMapper(uioConfigMemory);
UioMapper configMemMapper(uioNames.configMemory);
result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
UioMapper ramMapper(uioRamMemory);
UioMapper ramMapper(uioNames.ramMemory);
result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
writePdecConfig();
if (OP_MODE == Modes::IRQ and uioNames.irq == nullptr) {
sif::error << "Can not use IRQ mode if IRQ UIO name is invalid" << std::endl;
return returnvalue::FAILED;
}
PdecConfig pdecConfig;
writePdecConfigDuringReset(pdecConfig);
result = releasePdec();
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
// This configuration must be done while the PDEC is not held in reset.
if (OP_MODE == Modes::IRQ) {
// Configure interrupt mask register to enable interrupts
*(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
}
result = actionHelper.initialize(commandQueue);
if (result != returnvalue::OK) {
return result;
@ -78,59 +93,16 @@ ReturnValue_t PdecHandler::initialize() {
return returnvalue::OK;
}
MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
void PdecHandler::writePdecConfig() {
PdecConfig pdecConfig;
*(memoryBaseAddress + FRAME_HEADER_OFFSET) = pdecConfig.getConfigWord(0);
*(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = pdecConfig.getConfigWord(1);
// Configure all MAP IDs as invalid
for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
}
// All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
(NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
// Write map id clock frequencies
for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
*(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
}
}
ReturnValue_t PdecHandler::resetFarStatFlag() {
uint32_t pdecFar = *(registerBaseAddress + PDEC_FAR_OFFSET);
if (pdecFar != FAR_RESET) {
sif::warning << "PdecHandler::resetFarStatFlag: FAR register did not match expected value."
<< " Read value: 0x" << std::hex << static_cast<unsigned int>(pdecFar)
<< std::endl;
return returnvalue::FAILED;
}
#if OBSW_DEBUG_PDEC_HANDLER == 1
sif::debug << "PdecHandler::resetFarStatFlag: read FAR with value: 0x" << std::hex << pdecFar
<< std::endl;
#endif /* OBSW_DEBUG_PDEC_HANDLER == 1 */
return returnvalue::OK;
}
ReturnValue_t PdecHandler::releasePdec() {
ReturnValue_t result = returnvalue::OK;
result = gpioComIF->pullHigh(pdecReset);
if (result != returnvalue::OK) {
sif::error << "PdecHandler::releasePdec: Failed to release PDEC reset signal" << std::endl;
}
return result;
}
ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
ReturnValue_t result = returnvalue::OK;
if (OP_MODE == Modes::POLLED) {
return polledOperation();
} else if (OP_MODE == Modes::IRQ) {
return irqOperation();
}
}
ReturnValue_t PdecHandler::polledOperation() {
ReturnValue_t result = returnvalue::OK;
readCommandQueue();
switch (state) {
@ -153,13 +125,94 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
case State::WAIT_FOR_RECOVERY:
break;
default:
sif::debug << "PdecHandler::performOperation: Invalid state" << std::endl;
sif::error << "PdecHandler::performOperation: Invalid state" << std::endl;
break;
}
return returnvalue::OK;
}
ReturnValue_t PdecHandler::irqOperation() {
ReturnValue_t result = returnvalue::OK;
int fd = open(uioNames.irq, O_RDWR);
if (fd < 0) {
sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
<< std::endl;
return returnvalue::FAILED;
}
struct pollfd fds = {.fd = fd, .events = POLLIN, .revents = 0};
// Used to unmask IRQ
uint32_t info = 1;
ssize_t nb = 0;
int ret = 0;
// Clear interrupts with dummy read before unmasking the interrupt
ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
while (true) {
readCommandQueue();
switch (state) {
case State::INIT:
resetFarStatFlag();
if (result != returnvalue::OK) {
// Requires reconfiguration and reinitialization of PDEC
triggerEvent(INVALID_FAR);
state = State::WAIT_FOR_RECOVERY;
return result;
}
state = State::RUNNING;
break;
case State::RUNNING: {
nb = write(fd, &info, sizeof(info));
if (nb != static_cast<ssize_t>(sizeof(info))) {
sif::error << "PdecHandler::irqOperation: Unmasking IRQ failed" << std::endl;
close(fd);
}
ret = poll(&fds, 1, IRQ_TIMEOUT_MS);
if (ret == 0) {
// No TCs for timeout period
checkLocks();
lockCheckCd.resetTimer();
} else if (ret >= 1) {
nb = read(fd, &info, sizeof(info));
if (nb == static_cast<ssize_t>(sizeof(info))) {
uint32_t pisr = *(registerBaseAddress + PDEC_PISR_OFFSET);
if ((pisr & TC_NEW_MASK) == TC_NEW_MASK) {
// handle TC
handleNewTc();
}
if ((pisr & TC_ABORT_MASK) == TC_ABORT_MASK) {
tcAbortCounter += 1;
}
if ((pisr & NEW_FAR_MASK) == NEW_FAR_MASK) {
// Read FAR here
CURRENT_FAR = readFar();
}
if (lockCheckCd.hasTimedOut()) {
checkLocks();
lockCheckCd.resetTimer();
}
// Clear interrupts with dummy read
ret = *(registerBaseAddress + PDEC_PIR_OFFSET);
}
} else {
sif::error << "PdecHandler::irqOperation: Poll error with errno " << errno << ": "
<< strerror(errno) << std::endl;
triggerEvent(POLL_ERROR_PDEC, errno);
}
break;
}
case State::WAIT_FOR_RECOVERY:
break;
default:
sif::error << "PdecHandler::performOperation: Invalid state" << std::endl;
break;
}
}
return returnvalue::OK;
}
void PdecHandler::readCommandQueue(void) {
CommandMessage commandMessage;
ReturnValue_t result = returnvalue::FAILED;
@ -177,13 +230,65 @@ void PdecHandler::readCommandQueue(void) {
}
}
MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
void PdecHandler::writePdecConfigDuringReset(PdecConfig& pdecConfig) {
*(memoryBaseAddress + FRAME_HEADER_OFFSET) = pdecConfig.getConfigWord(0);
*(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = pdecConfig.getConfigWord(1);
// Configure all MAP IDs as invalid
for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) =
NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
}
// All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
(NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
// Write map id clock frequencies
for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
*(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
}
}
ReturnValue_t PdecHandler::resetFarStatFlag() {
uint32_t pdecFar = readFar();
if ((pdecFar & FAR_STAT_MASK) != 0) {
sif::warning << "PdecHandler::resetFarStatFlag: FAR register stat bit is not 0."
<< " Read value for FAR: 0x" << std::hex << static_cast<unsigned int>(pdecFar)
<< std::endl;
CURRENT_FAR = pdecFar;
return returnvalue::FAILED;
}
#if OBSW_DEBUG_PDEC_HANDLER == 1
sif::debug << "PdecHandler::resetFarStatFlag: read FAR with value: 0x" << std::hex << pdecFar
<< std::endl;
#endif /* OBSW_DEBUG_PDEC_HANDLER == 1 */
CURRENT_FAR = pdecFar;
return returnvalue::OK;
}
ReturnValue_t PdecHandler::releasePdec() {
ReturnValue_t result = returnvalue::OK;
result = gpioComIF->pullHigh(pdecReset);
if (result != returnvalue::OK) {
sif::error << "PdecHandler::releasePdec: Failed to release PDEC reset signal" << std::endl;
}
return result;
}
bool PdecHandler::newTcReceived() {
uint32_t pdecFar = *(registerBaseAddress + PDEC_FAR_OFFSET);
uint32_t pdecFar = readFar();
if (pdecFar >> STAT_POSITION != NEW_FAR_RECEIVED) {
CURRENT_FAR = pdecFar;
return false;
}
if (!checkFrameAna(pdecFar)) {
CURRENT_FAR = pdecFar;
return false;
}
return true;
@ -331,7 +436,6 @@ void PdecHandler::handleNewTc() {
printTC(tcLength);
#endif /* OBSW_DEBUG_PDEC_HANDLER */
#if OBSW_TC_FROM_PDEC == 1
store_address_t storeId;
result = tcStore->addData(&storeId, tcSegment + 1, tcLength - 1);
if (result != returnvalue::OK) {
@ -349,7 +453,6 @@ void PdecHandler::handleNewTc() {
tcStore->deleteData(storeId);
return;
}
#endif /* OBSW_TC_FROM_PDEC == 1 */
return;
}
@ -500,6 +603,8 @@ void PdecHandler::printPdecMon() {
sif::info << std::setw(30) << std::left << "Start sequence lock: " << lock << std::endl;
}
uint32_t PdecHandler::readFar() { return *(registerBaseAddress + PDEC_FAR_OFFSET); }
std::string PdecHandler::getMonStatusString(uint32_t status) {
switch (status) {
case TC_CHANNEL_INACTIVE:

168
linux/obc/PdecHandler.h → linux/ipcore/PdecHandler.h
View File

@ -1,6 +1,8 @@
#ifndef LINUX_OBC_PDECHANDLER_H_
#define LINUX_OBC_PDECHANDLER_H_
#include <fsfw/timemanager/Countdown.h>
#include "OBSWConfig.h"
#include "PdecConfig.h"
#include "fsfw/action/ActionHelper.h"
@ -13,6 +15,13 @@
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
struct UioNames {
const char* configMemory;
const char* ramMemory;
const char* registers;
const char* irq;
};
/**
* @brief This class controls the PDEC IP Core implemented in the programmable logic of the
* Zynq-7020. All registers and memories of the PDEC IP Core are accessed via UIO
@ -33,6 +42,10 @@
*/
class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasActionsIF {
public:
static constexpr dur_millis_t IRQ_TIMEOUT_MS = 500;
enum class Modes { POLLED, IRQ };
/**
* @brief Constructor
* @param objectId Object ID of PDEC handler system object
@ -43,8 +56,7 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
* @param uioregsiters String of uio device file same mapped to the PDEC register space
*/
PdecHandler(object_id_t objectId, object_id_t tcDestinationId, LinuxLibgpioIF* gpioComIF,
gpioId_t pdecReset, std::string uioConfigMemory, std::string uioRamMemory,
std::string uioRegisters);
gpioId_t pdecReset, UioNames names);
virtual ~PdecHandler();
@ -74,10 +86,13 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
//! [EXPORT] : [COMMENT] Lost bit lock
static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
static constexpr Event POLL_ERROR_PDEC = event::makeEvent(SUBSYSTEM_ID, 7, severity::MEDIUM);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
static constexpr Modes OP_MODE = Modes::IRQ;
static const ReturnValue_t ABANDONED_CLTU = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t FRAME_DIRTY = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t FRAME_ILLEGAL_ONE_REASON = MAKE_RETURN_CODE(0xA2);
@ -112,48 +127,6 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
// Print PDEC monitor register
static const ActionId_t PRINT_PDEC_MON = 1;
static const uint8_t STAT_POSITION = 31;
static const uint8_t FRAME_ANA_POSITION = 28;
static const uint8_t IREASON_POSITION = 25;
static const uint8_t NEW_FAR_RECEIVED = 0;
static const uint32_t FRAME_ANA_MASK = 0x70000000;
static const uint32_t IREASON_MASK = 0x0E000000;
static const uint32_t TC_CHANNEL_INACTIVE = 0x0;
static const uint32_t TC_CHANNEL_ACTIVE = 0x1;
static const uint32_t TC_CHANNEL_TIMEDOUT = 0x2;
static const uint32_t TC0_STATUS_MASK = 0x3;
static const uint32_t TC1_STATUS_MASK = 0xC;
static const uint32_t TC2_STATUS_MASK = 0x300;
static const uint32_t TC3_STATUS_MASK = 0xC00;
static const uint32_t TC4_STATUS_MASK = 0x30000;
static const uint32_t TC5_STATUS_MASK = 0xc00000;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_MASK = 0xc00000;
static const uint32_t TC0_STATUS_POS = 0;
static const uint32_t TC1_STATUS_POS = 2;
static const uint32_t TC2_STATUS_POS = 4;
static const uint32_t TC3_STATUS_POS = 6;
static const uint32_t TC4_STATUS_POS = 8;
static const uint32_t TC5_STATUS_POS = 10;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_POS = 12;
/**
* UIO is 4 byte aligned. Thus offset is calculated with "true offset" / 4
* Example: PDEC_FAR = 0x2840 => Offset in virtual address space is 0xA10
*/
static const uint32_t PDEC_FAR_OFFSET = 0xA10;
static const uint32_t PDEC_CLCW_OFFSET = 0xA12;
static const uint32_t PDEC_BFREE_OFFSET = 0xA24;
static const uint32_t PDEC_BPTR_OFFSET = 0xA25;
static const uint32_t PDEC_SLEN_OFFSET = 0xA26;
static const uint32_t PDEC_MON_OFFSET = 0xA27;
#ifdef TE0720_1CFA
static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
static const int RAM_MAP_SIZE = 0x4000;
@ -227,16 +200,69 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
enum class State : uint8_t { INIT, RUNNING, WAIT_FOR_RECOVERY };
static uint32_t CURRENT_FAR;
Countdown lockCheckCd = Countdown(IRQ_TIMEOUT_MS);
object_id_t tcDestinationId;
AcceptsTelecommandsIF* tcDestination = nullptr;
LinuxLibgpioIF* gpioComIF = nullptr;
/**
* Reset signal is required to hold PDEC in reset state until the configuration has been
* written to the appropriate memory space.
* Can also be used to reboot PDEC in case of erros.
*/
gpioId_t pdecReset = gpio::NO_GPIO;
uint32_t tcAbortCounter = 0;
ActionHelper actionHelper;
StorageManagerIF* tcStore = nullptr;
MessageQueueIF* commandQueue = nullptr;
State state = State::INIT;
/**
* Pointer pointing to base address of the PDEC memory space.
* This address is equivalent with the base address of the section named configuration area in
* the PDEC datasheet.
*/
uint32_t* memoryBaseAddress = nullptr;
uint32_t* ramBaseAddress = nullptr;
// Pointer pointing to base address of register space
uint32_t* registerBaseAddress = nullptr;
uint8_t tcSegment[TC_SEGMENT_LEN];
// Used to check carrier and bit lock changes (default set to no rf and no bitlock)
uint32_t lastClcw = 0xC000;
bool carrierLock = false;
bool bitLock = false;
UioNames uioNames;
/**
* @brief Reads and handles messages stored in the commandQueue
*/
void readCommandQueue(void);
ReturnValue_t polledOperation();
ReturnValue_t irqOperation();
uint32_t readFar();
/**
* @brief This functions writes the configuration parameters to the configuration
* section of the PDEC.
*/
void writePdecConfig();
void writePdecConfigDuringReset(PdecConfig& config);
/**
* @brief Reading the FAR resets the set stat flag which signals a new TC. Without clearing
@ -343,58 +369,6 @@ class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasAc
void printPdecMon();
std::string getMonStatusString(uint32_t status);
object_id_t tcDestinationId;
AcceptsTelecommandsIF* tcDestination = nullptr;
LinuxLibgpioIF* gpioComIF = nullptr;
/**
* Reset signal is required to hold PDEC in reset state until the configuration has been
* written to the appropriate memory space.
* Can also be used to reboot PDEC in case of erros.
*/
gpioId_t pdecReset = gpio::NO_GPIO;
// UIO device file giving access to the PDEC configuration memory section
std::string uioConfigMemory;
// UIO device file giving access to the PDEC RAM section
std::string uioRamMemory;
// UIO device file giving access to the PDEC register space
std::string uioRegisters;
ActionHelper actionHelper;
StorageManagerIF* tcStore = nullptr;
MessageQueueIF* commandQueue = nullptr;
State state = State::INIT;
/**
* Pointer pointing to base address of the PDEC memory space.
* This address is equivalent with the base address of the section named configuration area in
* the PDEC datasheet.
*/
uint32_t* memoryBaseAddress = nullptr;
uint32_t* ramBaseAddress = nullptr;
// Pointer pointing to base address of register space
uint32_t* registerBaseAddress = nullptr;
uint32_t pdecFar = 0;
uint8_t tcSegment[TC_SEGMENT_LEN];
// Used to check carrier and bit lock changes (default set to no rf and no bitlock)
uint32_t lastClcw = 0xC000;
bool carrierLock = false;
bool bitLock = false;
};
#endif /* LINUX_OBC_PDECHANDLER_H_ */

2
linux/obc/Ptme.cpp → linux/ipcore/Ptme.cpp
View File

@ -1,5 +1,5 @@
#include <fcntl.h>
#include <linux/obc/Ptme.h>
#include <linux/ipcore/Ptme.h>
#include <sys/mman.h>
#include <unistd.h>

4
linux/obc/Ptme.h → linux/ipcore/Ptme.h
View File

@ -9,8 +9,8 @@
#include "OBSWConfig.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "linux/obc/PtmeIF.h"
#include "linux/obc/VcInterfaceIF.h"
#include "linux/ipcore/PtmeIF.h"
#include "linux/ipcore/VcInterfaceIF.h"
/**
* @brief This class handles the interfacing to the telemetry (PTME) IP core responsible for the

0
linux/obc/PtmeConfig.cpp → linux/ipcore/PtmeConfig.cpp
View File

2
linux/obc/PtmeConfig.h → linux/ipcore/PtmeConfig.h
View File

@ -4,7 +4,7 @@
#include "AxiPtmeConfig.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "linux/obc/PtmeConfig.h"
#include "linux/ipcore/PtmeConfig.h"
#include "returnvalues/classIds.h"
/**

0
linux/obc/PtmeIF.h → linux/ipcore/PtmeIF.h
View File

0
linux/obc/VcInterfaceIF.h → linux/ipcore/VcInterfaceIF.h
View File

61
linux/ipcore/pdec.h Normal file
View File

@ -0,0 +1,61 @@
#ifndef LINUX_OBC_PDEC_H_
#define LINUX_OBC_PDEC_H_
#include <cstdint>
namespace pdec {
static const uint8_t STAT_POSITION = 31;
static const uint8_t FRAME_ANA_POSITION = 28;
static const uint8_t IREASON_POSITION = 25;
static const uint8_t NEW_FAR_RECEIVED = 0;
static constexpr uint32_t NEW_FAR_MASK = 1 << 2;
static constexpr uint32_t TC_ABORT_MASK = 1 << 1;
static constexpr uint32_t TC_NEW_MASK = 1 << 0;
static constexpr uint32_t FAR_STAT_MASK = 1 << 31;
static const uint32_t FRAME_ANA_MASK = 0x70000000;
static const uint32_t IREASON_MASK = 0x0E000000;
static const uint32_t TC_CHANNEL_INACTIVE = 0x0;
static const uint32_t TC_CHANNEL_ACTIVE = 0x1;
static const uint32_t TC_CHANNEL_TIMEDOUT = 0x2;
static const uint32_t TC0_STATUS_MASK = 0x3;
static const uint32_t TC1_STATUS_MASK = 0xC;
static const uint32_t TC2_STATUS_MASK = 0x300;
static const uint32_t TC3_STATUS_MASK = 0xC00;
static const uint32_t TC4_STATUS_MASK = 0x30000;
static const uint32_t TC5_STATUS_MASK = 0xc00000;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_MASK = 0xc00000;
static const uint32_t TC0_STATUS_POS = 0;
static const uint32_t TC1_STATUS_POS = 2;
static const uint32_t TC2_STATUS_POS = 4;
static const uint32_t TC3_STATUS_POS = 6;
static const uint32_t TC4_STATUS_POS = 8;
static const uint32_t TC5_STATUS_POS = 10;
// Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
static const uint32_t LOCK_POS = 12;
/**
* UIO is 4 byte aligned. Thus offset is calculated with "true offset" / 4
* Example: PDEC_FAR = 0x2840 => Offset in virtual address space is 0xA10
*/
static constexpr uint32_t PDEC_PISR_OFFSET = 0xA02;
static constexpr uint32_t PDEC_PIR_OFFSET = 0xA03;
static constexpr uint32_t PDEC_IMR_OFFSET = 0xA04;
static const uint32_t PDEC_FAR_OFFSET = 0xA10;
static const uint32_t PDEC_CLCW_OFFSET = 0xA12;
static const uint32_t PDEC_BFREE_OFFSET = 0xA24;
static const uint32_t PDEC_BPTR_OFFSET = 0xA25;
static const uint32_t PDEC_SLEN_OFFSET = 0xA26;
static const uint32_t PDEC_MON_OFFSET = 0xA27;
} // namespace pdec
#endif /* LINUX_OBC_PDEC_H_ */