Merge pull request 'PLOC commands' (#462) from meier/ploc-commands into develop
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Reviewed-on: #462
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b43e1ef4e9
@ -31,6 +31,10 @@ static const DeviceCommandId_t TC_MODE_IDLE = 18;
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static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
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static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
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static const DeviceCommandId_t RELEASE_UART_TX = 21;
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static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
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static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
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static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
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static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
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// Will reset the sequence count of the OBSW
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static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
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@ -50,14 +54,18 @@ static const uint16_t TC_REPLAY_WRITE_SEQUENCE = 0x112;
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static const uint16_t TC_DOWNLINK_PWR_ON = 0x113;
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static const uint16_t TC_MEM_WRITE = 0x114;
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static const uint16_t TC_MEM_READ = 0x115;
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static const uint16_t TC_CAM_TAKE_PIC = 0x116;
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static const uint16_t TC_FLASHWRITE = 0x117;
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static const uint16_t TC_FLASHFOPEN = 0x119;
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static const uint16_t TC_FLASHFCLOSE = 0x11A;
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static const uint16_t TC_FLASHDELETE = 0x11C;
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static const uint16_t TC_MODE_REPLAY = 0x11F;
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static const uint16_t TC_MODE_IDLE = 0x11E;
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static const uint16_t TC_MODE_REPLAY = 0x11F;
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static const uint16_t TC_MODE_SNAPSHOT = 0x120;
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static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
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static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
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static const uint16_t TC_CAM_CMD_SEND = 0x12C;
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static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
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static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
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static const uint16_t ACK_SUCCESS = 0x400;
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static const uint16_t ACK_FAILURE = 0x401;
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@ -107,8 +115,11 @@ static const size_t MAX_DATA_SIZE = 1016;
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static const uint16_t TC_WRITE_SEQ_EXECUTION_DELAY = 80;
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// Requires approx. 2 seconds for execution. 8 => 4 seconds
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static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
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static const uint16_t TC_CAM_TAKE_PIC_EXECUTION_DELAY = 20;
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static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
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namespace status_code {
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static const uint16_t DEFAULT_ERROR_CODE = 0x1;
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static const uint16_t UNKNOWN_APID = 0x5DD;
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static const uint16_t INCORRECT_LENGTH = 0x5DE;
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static const uint16_t INCORRECT_CRC = 0x5DF;
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@ -646,6 +657,90 @@ class TcModeIdle : public TcBase {
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: TcBase(params, apid::TC_MODE_IDLE, sequenceCount) {}
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};
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/**
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* @brief Class to build mode idle command
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*/
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class TcModeSnapshot : public TcBase {
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public:
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TcModeSnapshot(ploc::SpTcParams params, uint16_t sequenceCount)
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: TcBase(params, apid::TC_MODE_SNAPSHOT, sequenceCount) {}
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};
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/**
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* @brief Class to build camera take picture command
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*/
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class TcCamTakePic : public TcBase {
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public:
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TcCamTakePic(ploc::SpTcParams params, uint16_t sequenceCount)
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: TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
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ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
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if (commandDataLen > MAX_DATA_LENGTH) {
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return INVALID_LENGTH;
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}
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std::string fileName(reinterpret_cast<const char*>(commandData));
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if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
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return FILENAME_TOO_LONG;
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}
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if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
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return INVALID_LENGTH;
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}
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spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
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std::memcpy(payloadStart, commandData, commandDataLen);
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return returnvalue::OK;
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}
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private:
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static const size_t MAX_DATA_LENGTH = 286;
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static const size_t PARAMETER_SIZE = 28;
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};
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/**
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* @brief Class to build simplex send file command
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*/
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class TcSimplexSendFile : public TcBase {
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public:
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TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
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: TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
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ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
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if (commandDataLen > MAX_DATA_LENGTH) {
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return INVALID_LENGTH;
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}
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std::string fileName(reinterpret_cast<const char*>(commandData));
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if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
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return FILENAME_TOO_LONG;
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}
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spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
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std::memcpy(payloadStart, commandData, commandDataLen);
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return returnvalue::OK;
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}
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private:
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static const size_t MAX_DATA_LENGTH = 256;
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};
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/**
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* @brief Class to build downlink data modulate command
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*/
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class TcDownlinkDataModulate : public TcBase {
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public:
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TcDownlinkDataModulate(ploc::SpTcParams params, uint16_t sequenceCount)
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: TcBase(params, apid::TC_DOWNLINK_DATA_MODULATE, sequenceCount) {}
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ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override {
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if (commandDataLen > MAX_DATA_LENGTH) {
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return INVALID_LENGTH;
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}
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spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
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std::memcpy(payloadStart, commandData, commandDataLen);
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return returnvalue::OK;
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}
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private:
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static const size_t MAX_DATA_LENGTH = 11;
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};
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class TcCamcmdSend : public TcBase {
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public:
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TcCamcmdSend(ploc::SpTcParams params, uint16_t sequenceCount)
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@ -1,5 +1,7 @@
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#include "PlocMPSoCHandler.h"
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#include <sstream>
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#include "OBSWConfig.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/globalfunctions/CRC.h"
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@ -257,6 +259,22 @@ ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t device
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result = prepareTcCamCmdSend(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_CAM_TAKE_PIC): {
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result = prepareTcCamTakePic(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_SIMPLEX_SEND_FILE): {
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result = prepareTcSimplexSendFile(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
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result = prepareTcDownlinkDataModulate(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_MODE_SNAPSHOT): {
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result = prepareTcModeSnapshot();
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break;
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}
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default:
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sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
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<< std::endl;
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@ -288,6 +306,10 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
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this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
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this->insertInCommandMap(mpsoc::RELEASE_UART_TX);
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this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE);
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this->insertInCommandMap(mpsoc::TC_CAM_TAKE_PIC);
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this->insertInCommandMap(mpsoc::TC_SIMPLEX_SEND_FILE);
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this->insertInCommandMap(mpsoc::TC_DOWNLINK_DATA_MODULATE);
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this->insertInCommandMap(mpsoc::TC_MODE_SNAPSHOT);
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this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
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this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
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this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
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@ -537,6 +559,53 @@ ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcCamTakePic(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = returnvalue::OK;
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mpsoc::TcCamTakePic tcCamTakePic(spParams, sequenceCount);
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result = tcCamTakePic.buildPacket(commandData, commandDataLen);
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if (result != returnvalue::OK) {
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return result;
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}
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finishTcPrep(tcCamTakePic.getFullPacketLen());
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcSimplexSendFile(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = returnvalue::OK;
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mpsoc::TcSimplexSendFile tcSimplexSendFile(spParams, sequenceCount);
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result = tcSimplexSendFile.buildPacket(commandData, commandDataLen);
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if (result != returnvalue::OK) {
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return result;
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}
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finishTcPrep(tcSimplexSendFile.getFullPacketLen());
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkDataModulate(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = returnvalue::OK;
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mpsoc::TcDownlinkDataModulate tcDownlinkDataModulate(spParams, sequenceCount);
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result = tcDownlinkDataModulate.buildPacket(commandData, commandDataLen);
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if (result != returnvalue::OK) {
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return result;
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}
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finishTcPrep(tcDownlinkDataModulate.getFullPacketLen());
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcModeSnapshot() {
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ReturnValue_t result = returnvalue::OK;
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mpsoc::TcModeSnapshot tcModeSnapshot(spParams, sequenceCount);
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result = tcModeSnapshot.buildPacket();
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if (result != returnvalue::OK) {
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return result;
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}
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finishTcPrep(tcModeSnapshot.getFullPacketLen());
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return returnvalue::OK;
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}
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void PlocMPSoCHandler::finishTcPrep(size_t packetLen) {
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nextReplyId = mpsoc::ACK_REPORT;
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rawPacket = commandBuffer;
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@ -694,6 +763,10 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
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case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
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case mpsoc::TC_MODE_REPLAY:
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case mpsoc::TC_MODE_IDLE:
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case mpsoc::TC_CAM_TAKE_PIC:
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case mpsoc::TC_SIMPLEX_SEND_FILE:
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case mpsoc::TC_DOWNLINK_DATA_MODULATE:
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case mpsoc::TC_MODE_SNAPSHOT:
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enabledReplies = 2;
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break;
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case mpsoc::TC_MEM_READ: {
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@ -753,8 +826,17 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
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}
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case mpsoc::TC_DOWNLINK_PWR_ON: {
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DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
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//
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iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON;
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iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON_EXECUTION_DELAY;
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break;
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}
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case mpsoc::TC_CAM_TAKE_PIC: {
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DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
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iter->second.delayCycles = mpsoc::TC_CAM_TAKE_PIC_EXECUTION_DELAY;
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break;
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}
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case mpsoc::TC_SIMPLEX_SEND_FILE: {
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DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
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iter->second.delayCycles = mpsoc::TC_SIMPLEX_SEND_FILE_DELAY;
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break;
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}
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default:
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@ -917,6 +999,18 @@ void PlocMPSoCHandler::disableAllReplies() {
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/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
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switch (commandId) {
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case TC_MEM_WRITE:
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case TC_FLASHDELETE:
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case TC_REPLAY_START:
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case TC_REPLAY_STOP:
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case TC_DOWNLINK_PWR_ON:
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case TC_DOWNLINK_PWR_OFF:
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case TC_REPLAY_WRITE_SEQUENCE:
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case TC_MODE_REPLAY:
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case TC_MODE_IDLE:
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case TC_CAM_TAKE_PIC:
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case TC_SIMPLEX_SEND_FILE:
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case TC_DOWNLINK_DATA_MODULATE:
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case TC_MODE_SNAPSHOT:
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break;
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case TC_MEM_READ: {
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iter = deviceReplyMap.find(TM_MEMORY_READ_REPORT);
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@ -1048,6 +1142,10 @@ std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
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return "Flash file already closed";
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break;
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}
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case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
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return "Flash file open failed";
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break;
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}
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case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
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return "Flash file not open";
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break;
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@ -1084,7 +1182,14 @@ std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
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return "Flash uncorrectable mismatch";
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break;
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}
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case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
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return "Default error code";
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break;
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}
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default:
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std::stringstream ss;
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ss << "0x" << std::hex << status;
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return ss.str();
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break;
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}
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return "";
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@ -169,6 +169,10 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
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ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcModeIdle();
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ReturnValue_t prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t prepareTcModeSnapshot();
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void finishTcPrep(size_t packetLen);
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/**
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@ -49,7 +49,7 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
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} else if (rwCmdSpeed[i] < -maxRwSpeed) {
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rwCmdSpeed[i] = -maxRwSpeed;
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}
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}
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}
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}
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void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, int16_t *dipolMomentActuator,
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@ -14,6 +14,7 @@ struct SpTcParams {
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SpTcParams(SpacePacketCreator& creator, uint8_t* buf, size_t maxSize)
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: creator(creator), buf(buf), maxSize(maxSize) {}
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// Set full payload length. Must also consider the two CRC bytes
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void setFullPayloadLen(size_t fullPayloadLen_) { fullPayloadLen = fullPayloadLen_; }
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SpacePacketCreator& creator;
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2
tmtc
2
tmtc
@ -1 +1 @@
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Subproject commit d8367f7e62a47516d7772c129c18ee8f7b07703b
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Subproject commit f21ee37a01379907ca72932264e5236a6c30f8a1
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