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ptme handling wip

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This commit is contained in:
Jakob Meier
2021-09-19 12:27:48 +02:00
parent 4b5f22f013
commit ddd8ff2180
18 changed files with 1312 additions and 6 deletions
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136
linux/obc/CCSDSIPCoreBridge.cpp
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#include <sys/mman.h>
#include <fcntl.h>
#include <linux/obc/CCSDSIPCoreBridge.h>
CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF,
std::string uioPtme, gpioId_t papbBusyId, gpioId_t papbEmptyId) :
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId), gpioComIF(gpioComIF), uioPtme(
uioPtme), papbBusyId(papbBusyId), papbEmptyId(papbEmptyId) {
}
CCSDSIPCoreBridge::~CCSDSIPCoreBridge() {
}
ReturnValue_t CCSDSIPCoreBridge::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
fd = open("/dev/uio0", O_RDWR);
if (fd < 1) {
sif::debug << "CCSDSIPCoreBridge::initialize: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
/**
* Map uio device in virtual address space
* PROT_WRITE: Map uio device in writable only mode
*/
ptmeBaseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE,
MAP_SHARED, fd, 0));
if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return result;
}
ReturnValue_t CCSDSIPCoreBridge::handleTm() {
#if OBSW_TEST_CCSDS_PTME == 1
return sendTestFrame();
#else
return TmTcBridge::handleTm();
#endif
}
ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t * data, size_t dataLen) {
if(pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer();
}
for(size_t idx = 0; idx < dataLen; idx++) {
if(pollPapbBusySignal() == RETURN_OK) {
*(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
}
else {
sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
<< " data" << std::endl;
return RETURN_FAILED;
}
}
if(pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer();
}
return RETURN_OK;
}
void CCSDSIPCoreBridge::startPacketTransfer() {
*ptmeBaseAddress = PTME_CONFIG_START;
}
void CCSDSIPCoreBridge::endPacketTransfer() {
*ptmeBaseAddress = PTME_CONFIG_END;
}
ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() {
int papbBusyState = 0;
ReturnValue_t result = RETURN_OK;
/** Check if PAPB interface is ready to receive data */
result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: Failed to read papb busy signal"
<< std::endl;
return RETURN_FAILED;
}
if (!papbBusyState) {
sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: PAPB busy" << std::endl;
return PAPB_BUSY;
}
return RETURN_OK;
}
void CCSDSIPCoreBridge::isPtmeBufferEmpty() {
ReturnValue_t result = RETURN_OK;
int papbEmptyState = 1;
result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
if (result != RETURN_OK) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return;
}
if (papbEmptyState == 1) {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
}
else {
sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
}
return;
}
ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];
/** Fill one test packet */
for(int idx = 0; idx < 1105; idx++) {
testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
}
ReturnValue_t result = sendTm(testPacket, 1105);
if(result != RETURN_OK) {
return result;
}
return RETURN_OK;
}

131
linux/obc/CCSDSIPCoreBridge.h
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#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
#include "OBSWConfig.h"
#include <fsfw/tmtcservices/TmTcBridge.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <cstring>
/**
* @brief This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
* cores responsible for the CCSDS encoding and decoding. The IP cores are implemented
* on the programmable logic and are accessible through the linux UIO driver.
*/
class CCSDSIPCoreBridge: public TmTcBridge {
public:
/**
* @brief Constructor
*
* @param objectId
* @param tcDestination
* @param tmStoreId
* @param tcStoreId
* @param uioPtme Name of the uio device file which provides access to the PTME IP Core.
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* PTME IP Core. A low logic level indicates the PTME is not ready to
* receive more data.
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
* PTME IP Core. The signal is high when there are no packets in the
* external buffer memory (BRAM).
*/
CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, std::string uioPtme,
gpioId_t papbBusyId, gpioId_t papbEmptyId);
virtual ~CCSDSIPCoreBridge();
ReturnValue_t initialize() override;
protected:
/**
* Overwriting this function to provide the capability of testing the PTME IP Core
* implementation.
*/
virtual ReturnValue_t handleTm() override;
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
/** Size of mapped address space. 4k (minimal size of pl device) */
// static const int MAP_SIZE = 0xFA0;
static const int MAP_SIZE = 0x1000;
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transfered packet
* bit[3]: Signals to PTME the start of a new telemetry packet
*/
static const uint32_t PTME_CONFIG_START = 0x8;
/**
* Writing this word to the ptme base address signals to the PTME that a complete tm packet has
* been transferred.
*/
static const uint32_t PTME_CONFIG_END = 0x0;
/**
* Writing to this offset within the PTME memory space will insert data for encoding to the
* PTME IP core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int PTME_DATA_REG_OFFSET = 256;
LinuxLibgpioIF* gpioComIF = nullptr;
/** The uio device file related to the PTME IP Core */
std::string uioPtme;
/** Pulled to low when PTME not ready to receive data */
gpioId_t papbBusyId = gpio::NO_GPIO;
/** High when externally buffer memory of PTME is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
/** The file descriptor of the UIO driver */
int fd;
uint32_t* ptmeBaseAddress = nullptr;
/**
* @brief This function sends the config byte to the PTME IP Core to initiate a packet
* transfer.
*/
void startPacketTransfer();
/**
* @brief This function sends the config byte to the PTME IP Core to signal the end of a
* packet transfer.
*/
void endPacketTransfer();
/**
* @brief This function reads the papb busy signal indicating whether the PAPB interface is
* ready to receive more data or not. PAPB is ready when PAPB_Busy_N == '1'.
*
* @return RETURN_OK when ready to receive data else PAPB_BUSY.
*/
ReturnValue_t pollPapbBusySignal();
/**
* @brief This function can be used for debugging to check wheter there are packets in
* the packet buffer of the PTME or not.
*/
void isPtmeBufferEmpty();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)
* to the input of the PTME IP Core. Can be used to test the implementation.
*/
ReturnValue_t sendTestFrame();
};
#endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */

3
linux/obc/CMakeLists.txt
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target_sources(${TARGET_NAME} PUBLIC
CCSDSIPCoreBridge.cpp
PapbVcInterface.cpp
Ptme.cpp
)

104
linux/obc/PapbVcInterface.cpp Normal file
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#include <linux/obc/PapbVcInterface.h>
#include "fsfw/serviceinterface/ServiceInterface.h"
PapbVcInterface::PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF,
gpioId_t papbBusyId, gpioId_t papbEmptyId, uint32_t vcOffset) :
SystemObject(objectId), gpioComIF(gpioComIF), uioVcInterface(uioVcInterface), papbBusyId(
papbBusyId), papbEmptyId(papbEmptyId), vcOffset(vcOffset) {
}
PapbVcInterface::~PapbVcInterface() {
}
void PapbVcInterface::setRegisterAddress(uint32_t* ptmeBaseAddress) {
vcBaseReg = ptmeBaseAddress + vcOffset;
}
ReturnValue_t PapbVcInterface::write(const uint8_t * data, size_t dataLen) {
if(pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer();
}
for(size_t idx = 0; idx < dataLen; idx++) {
if(pollPapbBusySignal() == RETURN_OK) {
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
}
else {
sif::warning << "PapbVcInterface::sendTm: Only written " << idx - 1 << " of "
<< dataLen << " data" << std::endl;
return RETURN_FAILED;
}
}
if(pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer();
}
return RETURN_OK;
}
void PapbVcInterface::startPacketTransfer() {
*vcBaseReg = CONFIG_START;
}
void PapbVcInterface::endPacketTransfer() {
*vcBaseReg = CONFIG_END;
}
ReturnValue_t PapbVcInterface::pollPapbBusySignal() {
int papbBusyState = 0;
ReturnValue_t result = RETURN_OK;
/** Check if PAPB interface is ready to receive data */
result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
if (result != RETURN_OK) {
sif::debug << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
<< std::endl;
return RETURN_FAILED;
}
if (!papbBusyState) {
sif::debug << "PapbVcInterface::pollPapbBusySignal: PAPB busy" << std::endl;
return PAPB_BUSY;
}
return RETURN_OK;
}
void PapbVcInterface::isVcInterfaceBufferEmpty() {
ReturnValue_t result = RETURN_OK;
int papbEmptyState = 1;
result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
if (result != RETURN_OK) {
sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
<< std::endl;
return;
}
if (papbEmptyState == 1) {
sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
}
else {
sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
}
return;
}
ReturnValue_t PapbVcInterface::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];
/** Fill one test packet */
for(int idx = 0; idx < 1105; idx++) {
testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
}
ReturnValue_t result = sendTm(testPacket, 1105);
if(result != RETURN_OK) {
return result;
}
return RETURN_OK;
}

106
linux/obc/PapbVcInterface.h Normal file
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#ifndef LINUX_OBC_PAPBVCINTERFACE_H_
#define LINUX_OBC_PAPBVCINTERFACE_H_
#include "OBSWConfig.h"
#include "linux/obc/VcInterfaceIF.h"
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <linux/obc/PapbVcInterface.h>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief This class handles the transmission of data to a virtual channel of the PTME IP Core
* via the PAPB interface.
*
* @author J. Meier
*/
class PapbVcInterface : VcInterfaceIF, HasReturnvaluesIF {
public:
/**
* @brief Constructor
*
* @param objectId
* @param papbBusyId The ID of the GPIO which is connected to the PAPBBusy_N signal of the
* VcInterface IP Core. A low logic level indicates the VcInterface is not
* ready to receive more data.
* @param papbEmptyId The ID of the GPIO which is connected to the PAPBEmpty signal of the
* VcInterface IP Core. The signal is high when there are no packets in the
* external buffer memory (BRAM).
*/
PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
gpioId_t papbEmptyId, uint32_t vcOffset);
virtual ~PapbVcInterface();
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transfered packet
* bit[3]: Signals to VcInterface the start of a new telemetry packet
*/
static const uint32_t CONFIG_START = 0x8;
/**
* Writing this word to the VcInterface base address signals to the virtual channel interface
* that a complete tm packet has been transferred.
*/
static const uint32_t CONFIG_END = 0x0;
/**
* Writing to this offset within the memory space of a virtual channel will insert data for
* encoding to the external buffer memory of the PTME IP Core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int DATA_REG_OFFSET = 256;
LinuxLibgpioIF* gpioComIF = nullptr;
/** Pulled to low when virtual channel not ready to receive data */
gpioId_t papbBusyId = gpio::NO_GPIO;
/** High when external buffer memory of virtual channel is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
uint32_t* vcBaseReg = nullptr;
uint32_t vcOffset = 0;
/**
* @brief This function sends the config byte to the virtual channel of the PTME IP Core
* to initiate a packet transfer.
*/
void startPacketTransfer();
/**
* @brief This function sends the config byte to the virtual channel interface of the PTME
* IP Core to signal the end of a packet transfer.
*/
void endPacketTransfer();
/**
* @brief This function reads the papb busy signal indicating whether the virtual channel
* interface is ready to receive more data or not. PAPB is ready when
* PAPB_Busy_N == '1'.
*
* @return RETURN_OK when ready to receive data else PAPB_BUSY.
*/
ReturnValue_t pollPapbBusySignal();
/**
* @brief This function can be used for debugging to check whether there are packets in
* the packet buffer of the virtual channel or not.
*/
void isVcInterfaceBufferEmpty();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)
* to the papb interface of the PTME IP Core. Can be used to test the implementation.
*/
ReturnValue_t sendTestFrame();
};
#endif /* LINUX_OBC_PAPBVCINTERFACE_H_ */

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linux/obc/Ptme.cpp Normal file
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#include <sys/mman.h>
#include <fcntl.h>
#include <linux/obc/Ptme.h>
#include "fsfw/serviceinterface/ServiceInterface.h"
Ptme::Ptme(object_id_t objectId) :
SystemObject(objectId) {
}
Ptme::~Ptme() {
}
ReturnValue_t Ptme::initialize() {
ReturnValue_t result = TmTcBridge::initialize();
fd = open(PtmeConfig::UIO_DEVICE_FILE, O_RDWR);
if (fd < 1) {
sif::warning << "Ptme::initialize: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
/**
* Map uio device in virtual address space
* PROT_WRITE: Map uio device in writable only mode
*/
ptmeBaseAddress = static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_WRITE,
MAP_SHARED, fd, 0));
if (ptmeBaseAddress == MAP_FAILED) {
sif::error << "Ptme::initialize: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return result;
}
ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t * data, size_t dataLen) {
ReturnValue_t result = RETURN_OK;
VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
if (vcInterfaceMapIter == vcInterfaceMap.end()) {
sif::warning << "Ptme::writeToVc: No virtual channel interface found for the virtual "
"channel with id " << static_cast<unsigned int>(vcId) << std::endl;
return UNKNOWN_VC_ID;
}
result = vcInterfaceMapIter->second.write(data, size);
return result;
}
void Ptme::addVcInterface(VcId_t vcId, VcInterfaceIF* vc) {
if (vcId > config::MAX_VIRTUAL_CHANNEL_ID) {
sif::warning << "Ptme::addVcInterface: Invalid virtual channel ID" << std::endl;
return;
}
if (vc == nullptr) {
sif::warning << "Ptme::addVcInterface: Invalid virtual channel interface" << std::endl;
return;
}
auto status = vcInterfaceMap.emplace(vcId, vc);
if (status.second == false) {
sif::warning << "Ptme::addVcInterface: Failed to add virtual channel interface to "
"virtual channel map" << std::endl;
return;
}
}

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linux/obc/Ptme.h Normal file
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#ifndef LINUX_OBC_PTME_H_
#define LINUX_OBC_PTME_H_
#include "OBSWConfig.h"
#include "linux/obc/PtmeIF.h"
#include "linux/obc/VcInterfaceIF.h"
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstring>
#include <unordered_map>
/**
* @brief This class handles the interfacing to the telemetry (PTME) IP core responsible for the
* encoding of telemetry packets according to the CCSDS standards CCSDS 131.0-B-3 (TM Synchro-
* nization and channel coding) and CCSDS 132.0-B-2 (TM Space Data Link Protocoll).
* The IP cores are implemented on the programmable logic and are accessible through the
* linux UIO driver.
*/
class Ptme : PtmeIF, SystemObject, HasReturnvaluesIF {
public:
/**
* @brief Constructor
*
* @param objectId
*/
Ptme(object_id_t objectId);
virtual ~Ptme();
ReturnValue_t initialize() override;
ReturnValue_t writeToVc(uint8_t vcId, uint8_t* data, size_t size) override;
/**
* @brief This function adds the reference to a virtual channel interface to the vcInterface
* map.
*/
void addVcInterface(VcId_t vcId, VcInterfaceIF* vc);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PTME;
static const ReturnValue_t UNKNOWN_VC_ID = MAKE_RETURN_CODE(0xA0);
/** Size of mapped address space */
static const int MAP_SIZE = 0x40000;
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
* bit[2]: Set this bit to 1 to abort a transfered packet
* bit[3]: Signals to PTME the start of a new telemetry packet
*/
static const uint32_t PTME_CONFIG_START = 0x8;
/**
* Writing this word to the ptme base address signals to the PTME that a complete tm packet has
* been transferred.
*/
static const uint32_t PTME_CONFIG_END = 0x0;
/**
* Writing to this offset within the PTME memory space will insert data for encoding to the
* PTME IP core.
* The address offset is 0x400 (= 4 * 256)
*/
static const int PTME_DATA_REG_OFFSET = 256;
/** The file descriptor of the UIO driver */
int fd;
uint32_t* ptmeBaseAddress = nullptr;
using VcId_t = uint8_t;
using VcInterfaceMap = std::unordered_map<VcId_t, VcInterfaceIF*>;
using VcInterfaceMapIter = VcInterfaceMap::iterator;
VcInterfaceMap vcInterfaceMap;
};
#endif /* LINUX_OBC_PTME_H_ */

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linux/obc/PtmeConfig.h Normal file
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#ifndef LINUX_OBC_PTMECONFIG_H_
#define LINUX_OBC_PTMECONFIG_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstring>
/**
* @brief Configuration parameters derived from FPGA design and device tree.
*
* @author J. Meier
*/
namespace PtmeConfig {
/**
* Offset of virtual channels mapped into address space
* 0x10000 = (0x4000 * 4)
*/
static const uint32_t VC0_OFFSETT = 0;
static const uint32_t VC1_OFFSETT = 0x4000;
static const uint32_t VC2_OFFSETT = 0x8000;
static const uint32_t VC3_OFFSETT = 0xC000;
static const std::string UIO_DEVICE_FILE = "/dev/uio0";
};
#endif /* LINUX_OBC_PTMECONFIG_H_ */

28
linux/obc/PtmeIF.h Normal file
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#ifndef LINUX_OBC_PTMEIF_H_
#define LINUX_OBC_PTMEIF_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Interface class for managing the PTME IP Core implemented in the programmable logic.
*
* @details PTME IP Core: https://www.esa.int/Enabling_Support/Space_Engineering_Technology/
* Microelectronics/PTME
* @author J. Meier
*/
class PtmeIF {
public:
virtual ~PtmeIF(){};
/**
* @brief Implements to function to write to a specific virtual channel.
*
* @param vcId Virtual channel to write to
* @param data Pointer to buffer holding the data to write
* @param size Number of bytes to write
*/
virtual ReturnValue_t writeToVc(uint8_t vcId, uint8_t* data, size_t size) = 0;
};
#endif /* LINUX_OBC_PTMEIF_H_ */

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linux/obc/VcInterfaceIF.h Normal file
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#ifndef LINUX_OBC_VCINTERFACEIF_H_
#define LINUX_OBC_VCINTERFACEIF_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
/**
* @brief Interface class for managing different virtual channels of the PTME IP core implemented
* in the programmable logic.
*
* @author J. Meier
*/
class VcInterfaceIF {
public:
virtual ~VcInterfaceIF(){};
/**
* @brief Implememts the functionality to write data in the virtual channel of the PTME IP
* Core.
*
* @param data Pointer to buffer holding the data to write
* @param size Number of bytes to write
*/
virtual ReturnValue_t write(uint8_t* data, size_t size) = 0;
};
#endif /* LINUX_OBC_VCINTERFACEIF_H_ */