eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

GPS Update #130

Merged
meierj merged 12 commits from mueller/gps-update into develop 2022-01-28 07:33:37 +01:00
Conversation 0 Commits 12 Files Changed 27 +239 -200
22 changed files with 239 additions and 200 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 604424c7ed - Show all commits

13
README.md
View File

@ -20,6 +20,7 @@
13. [Eclipse](#eclipse)
14. [Running the OBSW on a Raspberry Pi](#rpi)
15. [FSFW](#fsfw)
16. [Coding Style](#coding-style)
# <a id="general"></a> General information
@ -1151,3 +1152,15 @@ git merge upstream/master
Alternatively, changes from other upstreams (forks) and branches can be merged like that
in the same way.
# <a id="coding-style"></a> Coding Style
* the formatting is based on the clang-format tools
## Setting up eclipse auto-fromatter with clang-format
1. Help &rarr; Install New Software &rarr; Add
2. In location insert the link http://www.cppstyle.com/luna
3. The software package CppStyle should now be available for installation
4. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
5. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle
6. Insert the path to the clang-format executable
7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

11
bsp_q7s/boardconfig/busConf.h
View File

@ -17,6 +17,16 @@ static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
static constexpr char UIO_PTME[] = "/dev/uio1";
static constexpr int MAP_ID_PTME_CONFIG = 3;
namespace uiomapids {
static const int PTME_VC0 = 0;
static const int PTME_VC1 = 1;
static const int PTME_VC2 = 2;
static const int PTME_VC3 = 3;
static const int PTME_CONFIG = 4;
}
namespace gpioNames {
static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
@ -69,7 +79,6 @@ static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
static constexpr char PDEC_RESET[] = "pdec_reset";
static constexpr char BIT_RATE_SEL[] = "bit_rate_sel";
} // namespace gpioNames
} // namespace q7s

2
bsp_q7s/core/InitMission.cpp
View File

@ -115,12 +115,14 @@ void initmission::initTasks() {
}
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_ACS_HANDLERS */
#if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low

57
bsp_q7s/core/ObjectFactory.cpp
View File

@ -81,6 +81,7 @@
#include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h>
#include <linux/obc/PtmeAxiConfig.h>
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
@ -899,49 +900,50 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::PAPB_VC0;
consumer.str("PAPB VC0");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC0;
consumer.str("PAPB VC0");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC1;
consumer.str("PAPB VC 1");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC1;
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, consumer.str());
consumer.str("PAPB VC 1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC2;
consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC2;
consumer.str("PAPB VC 2");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC3;
consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::PAPB_VC3;
consumer.str("PAPB VC 3");
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
gpioComIF->addGpios(gpioCookiePtmeIp);
// Creating virtual channel interfaces
VcInterfaceIF* vc0 = new PapbVcInterface(objects::PAPB_VC0, gpioComIF, gpioIds::VC0_PAPB_BUSY,
gpioIds::VC0_PAPB_EMPTY, PtmeConfig::VC0_OFFSETT);
VcInterfaceIF* vc1 = new PapbVcInterface(objects::PAPB_VC1, gpioComIF, gpioIds::VC1_PAPB_BUSY,
gpioIds::VC1_PAPB_EMPTY, PtmeConfig::VC1_OFFSETT);
VcInterfaceIF* vc2 = new PapbVcInterface(objects::PAPB_VC2, gpioComIF, gpioIds::VC2_PAPB_BUSY,
gpioIds::VC2_PAPB_EMPTY, PtmeConfig::VC2_OFFSETT);
VcInterfaceIF* vc3 = new PapbVcInterface(objects::PAPB_VC3, gpioComIF, gpioIds::VC3_PAPB_BUSY,
gpioIds::VC3_PAPB_EMPTY, PtmeConfig::VC3_OFFSETT);
VcInterfaceIF* vc0 =
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC0);
VcInterfaceIF* vc1 =
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC1);
VcInterfaceIF* vc2 =
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC2);
VcInterfaceIF* vc3 =
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC3);
// Creating ptme object and adding virtual channel interfaces
Ptme* ptme = new Ptme(objects::PTME);
@ -950,17 +952,9 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
ptme->addVcInterface(ccsds::VC2, vc2);
ptme->addVcInterface(ccsds::VC3, vc3);
GpioCookie* gpioCookieRateSetter = new GpioCookie;
consumer.str("");
consumer << "ptme rate setter";
// Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
gpioComIF->addGpios(gpioCookieRateSetter);
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
PtmeAxiConfig* ptmeAxiConfig =
new PtmeAxiConfig(objects::PTME_AXI_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(objects::TX_RATE_SETTER, ptmeAxiConfig);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF,
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
@ -986,8 +980,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
gpioComIF->addGpios(gpioCookiePdec);
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
std::string(q7s::UIO_PDEC_CONFIG_MEMORY), std::string(q7s::UIO_PDEC_RAM),
std::string(q7s::UIO_PDEC_REGISTERS));
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
#if BOARD_TE0720 == 0
GpioCookie* gpioRS485Chip = new GpioCookie;

1
common/config/commonClassIds.h
View File

@ -24,6 +24,7 @@ enum commonClassIds: uint8_t {
PLOC_MEMORY_DUMPER, //PLMEMDUMP
PDEC_HANDLER, //PDEC
CCSDS_HANDLER, //CCSDS
RATE_SETTER, //RS
ARCSEC_JSON_BASE, //JSONBASE
NVM_PARAM_BASE, //NVMB
COMMON_CLASS_ID_END // [EXPORT] : [END]

10
common/config/commonObjects.h
View File

@ -12,11 +12,7 @@ enum commonObjects: uint32_t {
TMTC_POLLING_TASK = 0x50000400,
FILE_SYSTEM_HANDLER = 0x50000500,
PTME = 0x50000600,
PAPB_VC0 = 0x50000700,
PAPB_VC1 = 0x50000701,
PAPB_VC2 = 0x50000702,
PAPB_VC3 = 0x50000703,
PDEC_HANDLER = 0x50000704,
PDEC_HANDLER = 0x50000700,
CCSDS_HANDLER = 0x50000800,
/* 0x43 ('C') for Controllers */
@ -90,7 +86,9 @@ enum commonObjects: uint32_t {
PLOC_UPDATER = 0x44330000,
PLOC_MEMORY_DUMPER = 0x44330001,
STR_HELPER = 0x44330002
STR_HELPER = 0x44330002,
PTME_AXI_CONFIG = 44330003,
TX_RATE_SETTER = 44330004
};
}

1
linux/obc/CMakeLists.txt
View File

@ -4,6 +4,7 @@ target_sources(${TARGET_NAME} PUBLIC
PdecHandler.cpp
PdecConfig.cpp
PtmeRateSetter.cpp
PtmeAxiConfig.cpp
)

19
linux/obc/PapbVcInterface.cpp
View File

@ -1,26 +1,26 @@
#include <fsfw_hal/linux/uio/UioMapper.h>
#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),
PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
gpioId_t papbEmptyId, std::string uioFile, int mapNum)
: gpioComIF(gpioComIF),
papbBusyId(papbBusyId),
papbEmptyId(papbEmptyId),
vcOffset(vcOffset) {}
uioFile(uioFile),
mapNum(mapNum) {}
PapbVcInterface::~PapbVcInterface() {}
void PapbVcInterface::setRegisterAddress(uint32_t* ptmeBaseAddress) {
vcBaseReg = ptmeBaseAddress + vcOffset;
ReturnValue_t PapbVcInterface::initialize() {
UioMapper uioMapper(uioFile, mapNum);
return uioMapper.getMappedAdress(&vcBaseReg, UioMapper::Permissions::WRITE_ONLY);
}
ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
if (pollPapbBusySignal() == RETURN_OK) {
startPacketTransfer();
}
for (size_t idx = 0; idx < size; idx++) {
if (pollPapbBusySignal() == RETURN_OK) {
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
@ -30,7 +30,6 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
return RETURN_FAILED;
}
}
if (pollPapbBusySignal() == RETURN_OK) {
endPacketTransfer();
}

16
linux/obc/PapbVcInterface.h
View File

@ -3,9 +3,7 @@
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "OBSWConfig.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "linux/obc/VcInterfaceIF.h"
@ -15,26 +13,27 @@
*
* @author J. Meier
*/
class PapbVcInterface : public SystemObject, public VcInterfaceIF, public HasReturnvaluesIF {
class PapbVcInterface : public VcInterfaceIF, public 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).
* @param uioFile UIO file providing access to the PAPB bus
* @param mapNum Map number of UIO map associated with this virtual channel
*/
PapbVcInterface(object_id_t objectId, LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
gpioId_t papbEmptyId, uint32_t vcOffset);
PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
std::string uioFile, int mapNum);
virtual ~PapbVcInterface();
ReturnValue_t write(const uint8_t* data, size_t size) override;
void setRegisterAddress(uint32_t* ptmeBaseAddress) override;
ReturnValue_t initialize() override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
@ -69,6 +68,9 @@ class PapbVcInterface : public SystemObject, public VcInterfaceIF, public HasRet
/** High when external buffer memory of virtual channel is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
std::string uioFile;
int mapNum = 0;
uint32_t* vcBaseReg = nullptr;
uint32_t vcOffset = 0;

66
linux/obc/PdecHandler.cpp
View File

@ -1,16 +1,14 @@
#include "PdecHandler.h"
#include <fcntl.h>
#include <sys/mman.h>
#include <cstring>
#include <sstream>
#include "OBSWConfig.h"
#include "PdecHandler.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
@ -44,17 +42,18 @@ ReturnValue_t PdecHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = getRegisterAddress();
UioMapper regMapper(uioRegisters);
result = regMapper.getMappedAdress(&registerBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = getConfigMemoryBaseAddress();
UioMapper configMemMapper(uioConfigMemory);
result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = getRamBaseAddress();
UioMapper ramMapper(uioRamMemory);
result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
@ -76,55 +75,6 @@ ReturnValue_t PdecHandler::initialize() {
MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
ReturnValue_t PdecHandler::getRegisterAddress() {
int fd = open(uioRegisters.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PdecHandler::getRegisterAddress: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
registerBaseAddress = static_cast<uint32_t*>(
mmap(NULL, REGISTER_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (registerBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getRegisterAddress: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PdecHandler::getConfigMemoryBaseAddress() {
int fd = open(uioConfigMemory.c_str(), O_RDWR);
if (fd < 1) {
sif::warning << "PdecHandler::getConfigMemoryBaseAddress: Invalid UIO device file" << std::endl;
return RETURN_FAILED;
}
memoryBaseAddress = static_cast<uint32_t*>(
mmap(NULL, CONFIG_MEMORY_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (memoryBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getConfigMemoryBaseAddress: Failed to map uio address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PdecHandler::getRamBaseAddress() {
int fd = open(uioRamMemory.c_str(), O_RDWR);
ramBaseAddress =
static_cast<uint32_t*>(mmap(NULL, RAM_MAP_SIZE, PROT_WRITE | PROT_READ, MAP_SHARED, fd, 0));
if (ramBaseAddress == MAP_FAILED) {
sif::error << "PdecHandler::getRamBaseAddress: Failed to map RAM base address" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void PdecHandler::writePdecConfig() {
PdecConfig pdecConfig;

19
linux/obc/PdecHandler.h
View File

@ -231,25 +231,6 @@ class PdecHandler : public SystemObject,
*/
void readCommandQueue(void);
/**
* @brief Opens UIO device assigned to AXI to AHB converter giving access to the PDEC
* registers. The register base address will be mapped into the virtual address space.
*/
ReturnValue_t getRegisterAddress();
/**
* @brief Opens UIO device assigned to the base address of the PDEC memory space and maps the
* physical address into the virtual address space.
*/
ReturnValue_t getConfigMemoryBaseAddress();
/**
* @brief Opens UIO device assigned to the RAM section of the PDEC IP core memory map.
*
* @details A received TC segment will be written to this memory area.
*/
ReturnValue_t getRamBaseAddress();
/**
* @brief This functions writes the configuration parameters to the configuration
* section of the PDEC.

22
linux/obc/Ptme.cpp
View File

@ -1,7 +1,7 @@
#include <fcntl.h>
#include <linux/obc/Ptme.h>
#include <sys/mman.h>
#include <unistd.h>
#include "PtmeConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
@ -10,28 +10,10 @@ Ptme::Ptme(object_id_t objectId) : SystemObject(objectId) {}
Ptme::~Ptme() {}
ReturnValue_t Ptme::initialize() {
int 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;
}
VcInterfaceMapIter iter;
for (iter = vcInterfaceMap.begin(); iter != vcInterfaceMap.end(); iter++) {
iter->second->setRegisterAddress(ptmeBaseAddress);
iter->second->initialize();
}
return RETURN_OK;
}

8
linux/obc/Ptme.h
View File

@ -44,14 +44,6 @@ class Ptme : public PtmeIF, public SystemObject, public HasReturnvaluesIF {
static const ReturnValue_t UNKNOWN_VC_ID = MAKE_RETURN_CODE(0xA0);
#if BOARD_TE0720 == 1
/** Size of mapped address space */
static const int MAP_SIZE = 0x40000;
#else
/** Size of mapped address space */
static const int MAP_SIZE = 0x40000;
#endif /* BOARD_TE0720 == 1 */
/**
* Configuration bits:
* bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00

41
linux/obc/PtmeAxiConfig.cpp Normal file
View File

@ -0,0 +1,41 @@
#include "PtmeAxiConfig.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw_hal/linux/uio/UioMapper.h"
PtmeAxiConfig::PtmeAxiConfig(object_id_t objectId, std::string configAxiUio, int mapNum) :
SystemObject(objectId), configAxiUio(configAxiUio), mapNum(mapNum) {
mutex = MutexFactory::instance()->createMutex();
if (mutex == nullptr) {
sif::warning << "Failed to create mutex" << std::endl;
}
}
PtmeAxiConfig::~PtmeAxiConfig() {
}
ReturnValue_t PtmeAxiConfig::initialize() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
UioMapper uioMapper(configAxiUio, mapNum);
result = uioMapper.getMappedAdress(&baseAddress, UioMapper::Permissions::READ_WRITE);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PtmeAxiConfig::writeCaduRateReg(uint8_t rateVal) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
result = mutex->lockMutex(timeoutType, mutexTimeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "PtmeAxiConfig::writeCaduRateReg: Failed to lock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
*(baseAddress + CADU_BITRATE_REG) = static_cast<uint32_t>(rateVal);
result = mutex->unlockMutex();
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "PtmeAxiConfig::writeCaduRateReg: Failed to unlock mutex" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

42
linux/obc/PtmeAxiConfig.h Normal file
View File

@ -0,0 +1,42 @@
#ifndef LINUX_OBC_PTMEAXICONFIG_H_
#define LINUX_OBC_PTMEAXICONFIG_H_
#include <string>
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/objectmanager/SystemObject.h"
/**
* @brief Class providing low level access to the configuration interface of the PTME.
*
* @author J. Meier
*/
class PtmeAxiConfig : public SystemObject {
public:
/**
* @brief Constructor
* @param configAxiUio Device file of UIO belonging to the AXI configuration interface.
* @param mapNum Number of map belonging to axi configuration interface.
*/
PtmeAxiConfig(object_id_t objectId, std::string configAxiUio, int mapNum);
virtual ~PtmeAxiConfig();
virtual ReturnValue_t initialize() override;
ReturnValue_t writeCaduRateReg(uint8_t rateVal);
private:
// Address of register storing the bitrate configuration parameter
static const uint32_t CADU_BITRATE_REG = 0x0;
std::string configAxiUio;
std::string uioMap;
int mapNum = 0;
MutexIF* mutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t mutexTimeout = 20;
uint32_t* baseAddress = nullptr;
};
#endif /* LINUX_OBC_PTMEAXICONFIG_H_ */

3
linux/obc/PtmeConfig.h
View File

@ -25,7 +25,8 @@ static const char UIO_DEVICE_FILE[] = "/dev/uio1";
#else
static const char UIO_DEVICE_FILE[] = "/dev/uio1";
#endif
// Bit clock frequency of PMTE IP core in Hz
static const uint32_t BIT_CLK_FREQ = 20000000;
}; // namespace PtmeConfig
#endif /* LINUX_OBC_PTMECONFIG_H_ */

34
linux/obc/PtmeRateSetter.cpp
View File

@ -2,24 +2,26 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
PtmeRateSetter::PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif)
: bitrateSel(bitrateSel), gpioif(gpioif) {}
PtmeRateSetter::PtmeRateSetter(object_id_t objectId, PtmeAxiConfig* ptmeAxiConfig)
: SystemObject(objectId), ptmeAxiConfig(ptmeAxiConfig) {}
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;
ReturnValue_t PtmeRateSetter::initialize() {
if (ptmeAxiConfig == nullptr) {
sif::warning << "PtmeRateSetter::initialize: Invalid PtmeAxiConfig object" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return result;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PtmeRateSetter::setRate(uint32_t bitRate) {
if (bitRate == 0) {
return BAD_BIT_RATE;
}
uint32_t rateVal = PtmeConfig::BIT_CLK_FREQ / bitRate - 1;
if (rateVal > 0xFF) {
return RATE_NOT_SUPPORTED;
}
return ptmeAxiConfig->writeCaduRateReg(static_cast<uint8_t>(rateVal));
}

38
linux/obc/PtmeRateSetter.h
View File

@ -3,36 +3,46 @@
#include "TxRateSetterIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "linux/obc/PtmeAxiConfig.h"
#include "linux/obc/PtmeConfig.h"
#include "fsfw/objectmanager/SystemObject.h"
/**
* @brief Class to set the downlink bit rate by using the cadu_rate_switcher implemented in
* the programmable logic.
* @brief Class to set the downlink bit rate by writing to the AXI configuration interface of the
* PTME IP core.
*
* @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).
* @details This is the bitrate of the CADU clock and not the downlink which has twice the bitrate
* of the CADU clock due to the convolutional code added by the s-Band transceiver.
*
* @author J. Meier
*/
class PtmeRateSetter : public TxRateSetterIF {
class PtmeRateSetter : public TxRateSetterIF, public SystemObject, public HasReturnvaluesIF {
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
* objectId Object id of system object
* ptmeAxiConfig Pointer to object providing access to PTME configuration registers.
*/
PtmeRateSetter(gpioId_t bitrateSel, GpioIF* gpioif);
PtmeRateSetter(object_id_t objectId, PtmeAxiConfig* ptmeAxiConfig);
virtual ~PtmeRateSetter();
virtual ReturnValue_t setRate(BitRates rate);
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t setRate(uint32_t bitRate);
private:
gpioId_t bitrateSel = gpio::NO_GPIO;
GpioIF* gpioif = nullptr;
static const uint8_t INTERFACE_ID = CLASS_ID::RATE_SETTER;
//! [EXPORT] : [COMMENT] The commanded rate is not supported by the current FPGA design
static const ReturnValue_t RATE_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Bad bitrate has been commanded (e.g. 0)
static const ReturnValue_t BAD_BIT_RATE = MAKE_RETURN_CODE(0xA1);
// Bitrate register field is only 8 bit wide
static const uint32_t MAX_BITRATE = 0xFF;
PtmeAxiConfig* ptmeAxiConfig = nullptr;
};
#endif /* LINUX_OBC_PTMERATESETTER_H_ */

4
linux/obc/TxRateSetterIF.h
View File

@ -3,8 +3,6 @@
#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.
@ -16,7 +14,7 @@ class TxRateSetterIF {
TxRateSetterIF(){};
virtual ~TxRateSetterIF(){};
virtual ReturnValue_t setRate(BitRates bitRate) = 0;
virtual ReturnValue_t setRate(uint32_t bitRate) = 0;
};
#endif /* LINUX_OBC_TXRATESETTERIF_H_ */

2
linux/obc/VcInterfaceIF.h
View File

@ -24,7 +24,7 @@ class VcInterfaceIF {
*/
virtual ReturnValue_t write(const uint8_t* data, size_t size) = 0;
virtual void setRegisterAddress(uint32_t* ptmeBaseAddress) = 0;
virtual ReturnValue_t initialize() = 0;
};
#endif /* LINUX_OBC_VCINTERFACEIF_H_ */

20
mission/tmtc/CCSDSHandler.cpp
View File

@ -5,6 +5,7 @@
#include "fsfw/events/EventManagerIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
@ -189,14 +190,21 @@ MessageQueueId_t CCSDSHandler::getRequestQueue() {
ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_OK;
switch (actionId) {
case SET_LOW_RATE: {
txRateSetterIF->setRate(BitRates::RATE_400KHZ);
return EXECUTION_FINISHED;
result = txRateSetterIF->setRate(RATE_100KBPS);
break;
}
case SET_HIGH_RATE: {
txRateSetterIF->setRate(BitRates::RATE_2000KHZ);
return EXECUTION_FINISHED;
result = txRateSetterIF->setRate(RATE_500KBPS);
break;
}
case ARBITRARY_RATE: {
uint32_t bitrate = 0;
SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
result = txRateSetterIF->setRate(bitrate);
break;
}
case EN_TRANSMITTER: {
enableTransmit();
@ -209,6 +217,10 @@ ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId, MessageQueueId_t
default:
return COMMAND_NOT_IMPLEMENTED;
}
if (result != RETURN_OK) {
return result;
}
return EXECUTION_FINISHED;
}
void CCSDSHandler::checkEvents() {

10
mission/tmtc/CCSDSHandler.h
View File

@ -23,6 +23,9 @@
* @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)
*
* @author J. Meier
*/
class CCSDSHandler : public SystemObject,
@ -85,6 +88,13 @@ class CCSDSHandler : public SystemObject,
static const ActionId_t SET_HIGH_RATE = 1;
static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DIS_TRANSMITTER = 3;
static const ActionId_t ARBITRARY_RATE = 4;
// Syrlinks supports two bitrates (200 kbps and 1000 kbps)
// Due to convolutional code added by the syrlinks the input frequency must be half the
// target frequency
static const uint32_t RATE_100KBPS = 100000;
static const uint32_t RATE_500KBPS = 500000;
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);