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moved transmitter timer and event handling of carrier and bitlock to ComSubsystem

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This commit is contained in:
Jakob Meier 2023-02-02 15:33:04 +01:00
parent 9768541c35
commit fc1dedeb7a
7 changed files with 163 additions and 139 deletions
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9
bsp_q7s/core/ObjectFactory.cpp
View File

@ -783,15 +783,10 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
AxiPtmeConfig* axiPtmeConfig =
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
// Set to high value when not sending via syrlinks
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
#else
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
#endif
*ipCoreHandler = new CcsdsIpCoreHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr;
vc = new VirtualChannel(ccsds::VC0, config::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
(*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);

115
mission/system/objects/ComSubsystem.cpp
View File

@ -1,13 +1,32 @@
#include <utility>
#include "ComSubsystem.h"
#include <fsfw/events/EventManagerIF.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <linux/ipcore/PdecHandler.h>
#include <mission/config/comCfg.h>
#include "mission/config/comCfg.h"
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_ONLY;
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE;
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_LOW_RATE;
extern std::pair<uint8_t, FixedArrayList<ModeListEntry, 3>> COM_SEQUENCE_RX_AND_TX_HIGH_RATE;
ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
uint32_t maxNumberOfTables)
uint32_t maxNumberOfTables, uint32_t transmitterTimeout)
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables), paramHelper(this) {
com::setCurrentDatarate(com::Datarate::LOW_RATE_MODULATION_BPSK);
auto mqArgs = MqArgs(setObjectId, static_cast<void *>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
transmitterCountdown.setTimeout(transmitterTimeout);
}
void ComSubsystem::performChildOperation() {
readEventQueue();
checkTransmitterCountdown();
}
MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
@ -44,5 +63,97 @@ ReturnValue_t ComSubsystem::initialize() {
if (result != returnvalue::OK) {
return result;
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ComSubsystem::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ComSubsystem::initialize: Failed to register Com Subsystem as event "
"listener" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
event::getEventId(PdecHandler::BIT_LOCK_PDEC));
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ComSubsystem::initialize: Failed to subscribe to events from PDEC "
"handler"
<< std::endl;
#endif
return result;
}
return Subsystem::initialize();
}
void ComSubsystem::startTransition(Mode_t mode, Submode_t submode) {
// Depending on the mode the transmitter timeout is enabled or
// disabled here
if (mode == COM_SEQUENCE_RX_ONLY.first) {
transmitterCountdown.timeOut();
} else if ((mode == COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first) ||
(mode == COM_SEQUENCE_RX_AND_TX_LOW_RATE.first) ||
(mode == COM_SEQUENCE_RX_AND_TX_HIGH_RATE.first)) {
transmitterCountdown.resetTimer();
}
Subsystem::startTransition(mode, submode);
}
void ComSubsystem::readEventQueue() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEventMessage(&event);
break;
default:
sif::debug << "CcsdsHandler::checkEvents: Did not subscribe to this event message"
<< std::endl;
break;
}
}
}
void ComSubsystem::handleEventMessage(EventMessage *eventMessage) {
Event event = eventMessage->getEvent();
switch (event) {
case PdecHandler::BIT_LOCK_PDEC: {
handleBitLockEvent();
break;
}
case PdecHandler::CARRIER_LOCK: {
handleCarrierLockEvent();
break;
}
default:
sif::debug << "ComSubsystem::handleEvent: Did not subscribe to this event" << std::endl;
break;
}
}
void ComSubsystem::handleBitLockEvent() { startRxAndTxDefaultSeq(); }
void ComSubsystem::handleCarrierLockEvent() {
if (!enableTxWhenCarrierLock) {
return;
}
startRxAndTxDefaultSeq();
}
void ComSubsystem::startRxAndTxDefaultSeq() {
// Turns transmitter on
startTransition(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first, SUBMODE_NONE);
}
void ComSubsystem::checkTransmitterCountdown() {
if (transmitterCountdown.hasTimedOut()) {
startTransition(COM_SEQUENCE_RX_ONLY.first, SUBMODE_NONE);
}
}

37
mission/system/objects/ComSubsystem.h
View File

@ -4,26 +4,61 @@
#include <fsfw/parameters/HasParametersIF.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/events/EventMessage.h>
#include "mission/comDefs.h"
class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
public:
ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
/**
* @brief Constructor
*
* @param setObjectId
* @param maxNumberOfSequences
* @param maxNumberOfTables
* @param transmitterTimeout Maximum time the transmitter of the syrlinks
* will be enabled
*/
ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
uint32_t transmitterTimeout);
virtual ~ComSubsystem() = default;
MessageQueueId_t getCommandQueue() const override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) override;
virtual void performChildOperation() override;
private:
ReturnValue_t handleCommandMessage(CommandMessage *message) override;
ReturnValue_t initialize() override;
void startTransition(Mode_t mode, Submode_t submode) override;
void readEventQueue();
void handleEventMessage(EventMessage* eventMessage);
void handleBitLockEvent();
void handleCarrierLockEvent();
void checkTransmitterCountdown();
/**
* @brief Enables transmitter in default (low) rate mode
*/
void startRxAndTxDefaultSeq();
uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
ParameterHelper paramHelper;
MessageQueueIF* eventQueue = nullptr;
bool enableTxWhenCarrierLock = false;
// Maximum time after which the transmitter will be turned of. This is a
// protection mechanism due prevent the syrlinks from overheating
uint32_t transmitterTimeout = 0;
// Countdown will be started as soon as the transmitter was enabled
Countdown transmitterCountdown;
};
#endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */

5
mission/system/tree/comModeTree.cpp
View File

@ -1,6 +1,5 @@
#include "comModeTree.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw/subsystem/Subsystem.h>
@ -11,7 +10,7 @@
const auto check = subsystem::checkInsert;
ComSubsystem satsystem::com::SUBSYSTEM = ComSubsystem(objects::COM_SUBSYSTEM, 12, 24);
ComSubsystem satsystem::com::SUBSYSTEM = ComSubsystem(objects::COM_SUBSYSTEM, 12, 24, TRANSMITTER_TIMEOUT);
static const auto OFF = HasModesIF::MODE_OFF;
static const auto ON = HasModesIF::MODE_ON;
@ -94,7 +93,7 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
// Build RX Only table. We could track the state of the CCSDS IP core handler
// as well but I do not think this is necessary because enabling that should
// not intefere with the Syrlinks Handler.
// not interfere with the Syrlinks Handler.
iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);

5
mission/system/tree/comModeTree.h
View File

@ -2,12 +2,17 @@
#define MISSION_SYSTEM_TREE_COMMODETREE_H_
#include <mission/system/objects/ComSubsystem.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
namespace satsystem {
namespace com {
extern ComSubsystem SUBSYSTEM;
// The syrlinks must not transmitting longer then 15 minutes otherwise the
// transceiver might be damaged due to overheating
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
void init();
} // namespace com

105
mission/tmtc/CcsdsIpCoreHandler.cpp
View File

@ -1,12 +1,10 @@
#include "CcsdsIpCoreHandler.h"
#include <fsfw/subsystem/helper.h>
#include <linux/ipcore/PdecHandler.h>
#include <linux/ipcore/PtmeConfig.h>
#include <mission/config/comCfg.h>
#include "eive/definitions.h"
#include "fsfw/events/EventManagerIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerializeAdapter.h"
@ -16,8 +14,7 @@
CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
object_id_t tcDestination, PtmeConfig* ptmeConfig,
GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
uint32_t transmitterTimeout)
GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData)
: SystemObject(objectId),
ptmeId(ptmeId),
tcDestination(tcDestination),
@ -27,8 +24,7 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
ptmeConfig(ptmeConfig),
gpioIF(gpioIF),
enTxClock(enTxClock),
enTxData(enTxData),
transmitterTimeout(transmitterTimeout) {
enTxData(enTxData) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue =
@ -38,11 +34,9 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
CcsdsIpCoreHandler::~CcsdsIpCoreHandler() {}
ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
checkEvents();
readCommandQueue();
handleTelemetry();
handleTelecommands();
checkTxTimer();
return returnvalue::OK;
}
@ -98,34 +92,6 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
iter->second->setPtmeObject(ptme);
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CcsdsHandler::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CcsdsHandler::initialize: Failed to register CCSDS handler as event "
"listener"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
event::getEventId(PdecHandler::BIT_LOCK_PDEC));
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CcsdsHandler::initialize: Failed to subscribe to events from PDEC "
"handler"
<< std::endl;
#endif
return result;
}
result = ptmeConfig->initialize();
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
@ -135,9 +101,6 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
transmitterCountdown.setTimeout(transmitterTimeout);
transmitterCountdown.timeOut();
#if OBSW_SYRLINKS_SIMULATED == 1
// Update data on rising edge
ptmeConfig->invertTxClock(false);
@ -286,54 +249,6 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
return EXECUTION_FINISHED;
}
void CcsdsIpCoreHandler::checkEvents() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "CcsdsHandler::checkEvents: Did not subscribe to this event message"
<< std::endl;
break;
}
}
}
void CcsdsIpCoreHandler::handleEvent(EventMessage* eventMessage) {
Event event = eventMessage->getEvent();
switch (event) {
case PdecHandler::BIT_LOCK_PDEC: {
handleBitLockEvent();
break;
}
case PdecHandler::CARRIER_LOCK: {
handleCarrierLockEvent();
break;
}
default:
sif::debug << "CcsdsHandler::handleEvent: Did not subscribe to this event" << std::endl;
break;
}
}
void CcsdsIpCoreHandler::handleBitLockEvent() {
if (transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
enableTransmit();
}
void CcsdsIpCoreHandler::handleCarrierLockEvent() {
if (!enableTxWhenCarrierLock) {
return;
}
enableTransmit();
}
void CcsdsIpCoreHandler::forwardLinkstate() {
VirtualChannelMapIter iter;
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
@ -342,27 +257,12 @@ void CcsdsIpCoreHandler::forwardLinkstate() {
}
void CcsdsIpCoreHandler::enableTransmit() {
if (transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
#ifndef TE0720_1CFA
gpioIF->pullHigh(enTxClock);
gpioIF->pullHigh(enTxData);
#endif
linkState = UP;
forwardLinkstate();
transmitterCountdown.resetTimer();
}
void CcsdsIpCoreHandler::checkTxTimer() {
if (linkState == DOWN) {
return;
}
if (transmitterCountdown.hasTimedOut()) {
disableTransmit();
//TODO: set mode to off (move timer to subsystem)
}
}
void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
@ -431,7 +331,6 @@ void CcsdsIpCoreHandler::disableTransmit() {
#endif
linkState = DOWN;
forwardLinkstate();
transmitterCountdown.timeOut();
}
const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }

26
mission/tmtc/CcsdsIpCoreHandler.h
View File

@ -59,8 +59,7 @@ class CcsdsIpCoreHandler : public SystemObject,
* @param enTxData GPIO ID of RS485 tx data enable
*/
CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
uint32_t transmitterTimeout = 900000);
PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
~CcsdsIpCoreHandler();
@ -154,29 +153,16 @@ class CcsdsIpCoreHandler : public SystemObject,
PtmeConfig* ptmeConfig = nullptr;
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;
// Syrlinks must not be transmitting more than 15 minutes (according to datasheet)
// Value initialized by constructor argument
const uint32_t transmitterTimeout = 0;
// Countdown to disable transmitter after 15 minutes
Countdown transmitterCountdown;
// When true transmitting is started as soon as carrier lock has been detected
bool enableTxWhenCarrierLock = false;
bool linkState = DOWN;
void readCommandQueue(void);
void handleTelemetry();
void handleTelecommands();
void checkEvents();
void handleEvent(EventMessage* eventMessage);
void handleBitLockEvent();
void handleCarrierLockEvent();
/**
* @brief Forward link state to virtual channels.
@ -188,12 +174,6 @@ class CcsdsIpCoreHandler : public SystemObject,
*/
void enableTransmit();
/**
* @brief Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
* timer has expired.
*/
void checkTxTimer();
/**
* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
* RS485 transceiver chips to high.