eive/eive-obsw
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Merge branch 'develop' into acs-flp-safe
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This commit is contained in:
Marius Eggert
2023-03-22 09:08:04 +01:00
parent 56642a11f7 c611bc824b
commit d6331aab0b
36 changed files with 314 additions and 111 deletions
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2
mission/controller/AcsController.cpp
View File

@ -186,7 +186,7 @@ void AcsController::performSafe() {
safeCtrlFailureFlag = true;
}
safeCtrlFailureCounter++;
if (safeCtrlFailureCounter > 50) {
if (safeCtrlFailureCounter > 150) {
safeCtrlFailureFlag = false;
safeCtrlFailureCounter = 0;
}

85
mission/tmtc/CcsdsIpCoreHandler.cpp
View File

@ -14,7 +14,7 @@
CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData)
GpioIF* gpioIF, PtmeGpios gpioIds)
: SystemObject(objectId),
linkState(linkState),
tcDestination(tcDestination),
@ -22,9 +22,8 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDesti
actionHelper(this, nullptr),
modeHelper(this),
ptmeConfig(ptmeConfig),
gpioIF(gpioIF),
enTxClock(enTxClock),
enTxData(enTxData) {
ptmeGpios(gpioIds),
gpioIF(gpioIF) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue =
@ -71,6 +70,12 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if (batPriorityParam == 0) {
disablePrioritySelectMode();
} else {
enablePrioritySelectMode();
}
#if OBSW_SYRLINKS_SIMULATED == 1
// Update data on rising edge
ptmeConfig.invertTxClock(false);
@ -111,7 +116,24 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
uint16_t startAtIndex) {
return returnvalue::OK;
if ((domainId == 0) and (uniqueIdentifier == ParamId::BAT_PRIORITY)) {
uint8_t newVal = 0;
ReturnValue_t result = newValues->getElement(&newVal);
if (result != returnvalue::OK) {
return result;
}
if (newVal > 1) {
return HasParametersIF::INVALID_VALUE;
}
parameterWrapper->set(batPriorityParam);
if (mode == MODE_ON) {
updateBatPriorityOnTxOff = true;
} else if (mode == MODE_OFF) {
updateBatPriorityFromParam();
}
return returnvalue::OK;
}
return HasParametersIF::INVALID_IDENTIFIER_ID;
}
uint32_t CcsdsIpCoreHandler::getIdentifier() const { return 0; }
@ -184,8 +206,8 @@ void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
void CcsdsIpCoreHandler::enableTransmit() {
#ifndef TE0720_1CFA
gpioIF->pullHigh(enTxClock);
gpioIF->pullHigh(enTxData);
gpioIF->pullHigh(ptmeGpios.enableTxClock);
gpioIF->pullHigh(ptmeGpios.enableTxData);
#endif
linkState = LINK_UP;
}
@ -211,14 +233,8 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
}
void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
auto rateHigh = [&]() {
ReturnValue_t result = ptmeConfig.setRate(RATE_500KBPS);
if (result == returnvalue::OK) {
this->mode = HasModesIF::MODE_ON;
}
};
auto rateLow = [&]() {
ReturnValue_t result = ptmeConfig.setRate(RATE_100KBPS);
auto rateSet = [&](uint32_t rate) {
ReturnValue_t result = ptmeConfig.setRate(rate);
if (result == returnvalue::OK) {
this->mode = HasModesIF::MODE_ON;
}
@ -228,14 +244,14 @@ void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
com::Datarate currentDatarate = com::getCurrentDatarate();
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
rateLow();
rateSet(RATE_100KBPS);
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
rateHigh();
rateSet(RATE_500KBPS);
}
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
rateHigh();
rateSet(RATE_500KBPS);
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
rateLow();
rateSet(RATE_100KBPS);
}
} else if (mode == HasModesIF::MODE_OFF) {
@ -250,11 +266,16 @@ void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
void CcsdsIpCoreHandler::disableTransmit() {
ptmeConfig.enableBatPriorityBit(false);
#ifndef TE0720_1CFA
gpioIF->pullLow(enTxClock);
gpioIF->pullLow(enTxData);
gpioIF->pullLow(ptmeGpios.enableTxClock);
gpioIF->pullLow(ptmeGpios.enableTxData);
#endif
linkState = LINK_DOWN;
if (updateBatPriorityOnTxOff) {
updateBatPriorityFromParam();
updateBatPriorityOnTxOff = false;
}
}
const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
@ -270,3 +291,25 @@ ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& p
ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
void CcsdsIpCoreHandler::enablePrioritySelectMode() {
ptmeConfig.enableBatPriorityBit(true);
// Reset the PTME
gpioIF->pullLow(ptmeGpios.ptmeResetn);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::disablePrioritySelectMode() {
ptmeConfig.enableBatPriorityBit(false);
// Reset the PTME
gpioIF->pullLow(ptmeGpios.ptmeResetn);
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
}
void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
if (batPriorityParam == 0) {
disablePrioritySelectMode();
} else {
enablePrioritySelectMode();
}
}

42
mission/tmtc/CcsdsIpCoreHandler.h
View File

@ -25,12 +25,25 @@
#include "linux/ipcore/PtmeConfig.h"
#include "mission/comDefs.h"
struct PtmeGpios {
gpioId_t enableTxClock = gpio::NO_GPIO;
gpioId_t enableTxData = gpio::NO_GPIO;
gpioId_t ptmeResetn = gpio::NO_GPIO;
};
/**
* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
* programmable logic of the Q7S.
*
* @details After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver)
* @details
* After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver). The IP core handler exposes
* a parameter to enable the priority selection mode for the PTME core.
*
* If the transmitter is on, the selection mode will be enabled when the transmitter goes off.
* If the transmitter is off, the update of the PTME will be done immediately on a parameter update.
* This is done because changing this parameter requires a reset of the PTME core to avoid bugs
* while the transmitter is enabled.
*
* @author J. Meier
*/
@ -39,11 +52,12 @@ class CcsdsIpCoreHandler : public SystemObject,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public HasModesIF,
// public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
public ReceivesParameterMessagesIF,
public HasActionsIF {
public:
enum ParamId : uint8_t { BAT_PRIORITY = 0 };
static const bool LINK_UP = true;
static const bool LINK_DOWN = false;
using VcId_t = uint8_t;
@ -61,8 +75,7 @@ class CcsdsIpCoreHandler : public SystemObject,
* @param enTxData GPIO ID of RS485 tx data enable
*/
CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination, PtmeConfig& ptmeConfig,
std::atomic_bool& linkState, GpioIF* gpioIF, gpioId_t enTxClock,
gpioId_t enTxData);
std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds);
~CcsdsIpCoreHandler();
@ -138,15 +151,14 @@ class CcsdsIpCoreHandler : public SystemObject,
MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
PtmeConfig& ptmeConfig;
PtmeGpios ptmeGpios;
// BAT priority bit on by default to enable priority selection mode for the PTME.
uint8_t batPriorityParam = 1;
bool updateBatPriorityOnTxOff = false;
GpioIF* gpioIF = nullptr;
// GPIO to enable RS485 transceiver for TX clock
gpioId_t enTxClock = gpio::NO_GPIO;
// GPIO to enable RS485 transceiver for TX data signal
gpioId_t enTxData = gpio::NO_GPIO;
void readCommandQueue(void);
void handleTelemetry();
/**
* @brief Forward link state to virtual channels.
@ -163,6 +175,16 @@ class CcsdsIpCoreHandler : public SystemObject,
* RS485 transceiver chips to high.
*/
void disableTransmit();
/**
* The following set of functions configure the mode of the PTME bandwith allocation table (BAT)
* module. This consists of the following 2 steps:
* 1. Update the BAT priority bit in the PTME wrapper
* 2. Reset the PTME as specified in the datasheet.
*/
void enablePrioritySelectMode();
void disablePrioritySelectMode();
void updateBatPriorityFromParam();
};
#endif /* CCSDSHANDLER_H_ */