bit rate setter

bsp_q7s/core/InitMission.cpp

@@ -110,7 +110,7 @@ void initmission::initTasks() {
     // If a command has not been read before the next one arrives, the old command will be
     // overwritten by the PDEC.
     PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-            "PDEC_HANDLER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+            "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.6, missedDeadlineFunc);
     result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);

linux/obc/CMakeLists.txt

@@ -3,6 +3,7 @@ target_sources(${TARGET_NAME} PUBLIC
 	Ptme.cpp
 	PdecHandler.cpp
 	PdecConfig.cpp
+	PtmeRateSetter.cpp
 )
 
 

linux/obc/PtmeRateSetter.cpp

@@ -0,0 +1,27 @@
+#include "PtmeRateSetter.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+PtmeRateSetter::PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif) :
+        bitrateSel(bitrateSel), gpioif(gpioif) {
+}
+
+PtmeRateSetter::~PtmeRateSetter() {
+}
+
+ReturnValue_t PtmeRateSetter::setRate(BitRates rate) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    switch(rate) {
+    case RATE_2000KHZ:
+        result = gpioif->pullHigh(bitrateSel);
+        break;
+    case RATE_400KHZ:
+        result = gpioif->pullLow(bitrateSel);
+        break;
+    default:
+        sif::debug << "PtmeRateSetter::setRate: Invalid rate" << std::endl;
+        result = HasReturnvaluesIF::RETURN_FAILED;
+        break;
+    }
+    return result;
+}
+

linux/obc/PtmeRateSetter.h

@@ -0,0 +1,40 @@
+#ifndef LINUX_OBC_PTMERATESETTER_H_
+#define LINUX_OBC_PTMERATESETTER_H_
+
+#include "TxRateSetterIF.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+/**
+ * @brief   Class to set the downlink bit rate by using the cadu_rate_switcher implemented in
+ *          the programmable logic.
+ *
+ * @details The cadu_rate_switcher module sets the input rate to the syrlinks transceiver either
+ *          to 2000 kHz (bitrateSel = 1) or 400 kHz (bitrate = 0).
+ *
+ * @author  J. Meier
+ */
+class PtmeRateSetter: public TxRateSetterIF {
+public:
+
+    /**
+     * @brief Constructor
+     *
+     * @param bitrateSel    GPIO ID of the GPIO connected to the bitrate_sel input of the
+     *                      cadu_rate_switcher.
+     * @param gpioif        GPIO interface to drive the bitrateSel GPIO
+     */
+    PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif);
+    virtual ~PtmeRateSetter();
+
+    virtual ReturnValue_t setRate(BitRates rate);
+
+private:
+
+    gpioId_t bitrateSel = gpio::NO_GPIO;
+
+    GpioIF* gpioif = nullptr;
+};
+
+#endif /* LINUX_OBC_PTMERATESETTER_H_ */

linux/obc/TxRateSetterIF.h

@@ -0,0 +1,25 @@
+#ifndef LINUX_OBC_TXRATESETTERIF_H_
+#define LINUX_OBC_TXRATESETTERIF_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+enum BitRates : uint32_t {
+        RATE_2000KHZ,
+        RATE_400KHZ
+};
+
+/**
+ * @brief  Abstract class for objects implementing the functionality to switch the
+ *         downlink bit rate.
+ *
+ * @author  J. Meier
+ */
+class TxRateSetterIF {
+public:
+    TxRateSetterIF() {};
+    virtual ~TxRateSetterIF() {};
+
+    virtual ReturnValue_t setRate(BitRates bitRate) = 0;
+};
+
+#endif /* LINUX_OBC_TXRATESETTERIF_H_ */

mission/tmtc/CCSDSHandler.cpp

@@ -5,8 +5,10 @@
 
 #include "CCSDSHandler.h"
 
-CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination) :
-        SystemObject(objectId), ptmeId(ptmeId), tcDestination(tcDestination), parameterHelper(this) {
+CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
+        TxRateSetterIF* txRateSetterIF) :
+        SystemObject(objectId), ptmeId(ptmeId), tcDestination(tcDestination), parameterHelper(this), actionHelper(
+                this, nullptr), txRateSetterIF(txRateSetterIF) {
     commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
 }
 
@@ -55,6 +57,11 @@ ReturnValue_t CCSDSHandler::initialize() {
 		return result;
 	}
 
+	result = actionHelper.initialize(commandQueue);
+    if (result != RETURN_OK) {
+        return result;
+    }
+
 	VirtualChannelMapIter iter;
     for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
         result = iter->second->initialize();
@@ -77,10 +84,15 @@ void CCSDSHandler::readCommandQueue(void) {
         if (result == RETURN_OK) {
             return;
         }
+        result = actionHelper.handleActionMessage(&commandMessage);
+        if (result == RETURN_OK) {
+            return;
+        }
         CommandMessage reply;
         reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
                 commandMessage.getCommand());
         commandQueue->reply(&reply);
+        return;
     }
 }
 
@@ -140,3 +152,18 @@ MessageQueueId_t CCSDSHandler::getRequestQueue() {
     // Forward packets directly to TC distributor
     return tcDistributorQueueId;
 }
+
+ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId,
+        MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
+
+    switch(actionId) {
+    case SET_LOW_RATE:
+        txRateSetterIF->setRate(BitRates::RATE_400KHZ);
+        return EXECUTION_FINISHED;
+    case SET_HIGH_RATE:
+        txRateSetterIF->setRate(BitRates::RATE_2000KHZ);
+        return EXECUTION_FINISHED;
+    default:
+        return COMMAND_NOT_IMPLEMENTED;
+    }
+}

mission/tmtc/CCSDSHandler.h

@@ -8,6 +8,9 @@
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw/parameters/ParameterHelper.h"
+#include "fsfw/action/ActionHelper.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "linux/obc/TxRateSetterIF.h"
 #include "VirtualChannel.h"
 #include <unordered_map>
 
@@ -22,7 +25,8 @@ class CCSDSHandler: public SystemObject,
 		public AcceptsTelemetryIF,
 		public AcceptsTelecommandsIF,
 		public HasReturnvaluesIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public HasActionsIF {
 public:
 
     using VcId_t = uint8_t;
@@ -33,8 +37,11 @@ public:
      * @param objectId  Object ID of the CCSDS handler
      * @param ptmeId    Object ID of the PTME object providing access to the PTME IP Core.
      * @param tcDestination Object ID of object handling received TC space packets
+     * @param txRateSetter  Object providing the functionality to switch the input bitrate of
+     *                      the S-Band transceiver.
      */
-	CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination);
+    CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
+            TxRateSetterIF* txRateSetterIF);
 
 	~CCSDSHandler();
 
@@ -58,10 +65,21 @@ public:
     uint16_t getIdentifier() override;
     MessageQueueId_t getRequestQueue() override;
 
+    virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+            const uint8_t* data, size_t size);
+
 private:
 
+    static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
+
 	static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
 
+	static const ActionId_t SET_LOW_RATE = 0;
+	static const ActionId_t SET_HIGH_RATE = 1;
+
+	//! [EXPORT] : [COMMENT] Received action message with unknown action id
+	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
+
 	using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
     using VirtualChannelMapIter = VirtualChannelMap::iterator;
 
@@ -76,8 +94,12 @@ private:
 
     ParameterHelper parameterHelper;
 
+    ActionHelper actionHelper;
+
     MessageQueueId_t tcDistributorQueueId;
 
+    TxRateSetterIF* txRateSetterIF = nullptr;
+
     void readCommandQueue(void);
 	void handleTelemetry();
 	void handleTelecommands();