eive/eive-obsw
eive/eive-obsw
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v1.9.0 #175

Merged
muellerr merged 623 commits from develop into main 2022-03-08 10:32:41 +01:00
Conversation 0 Commits 623 Files Changed 417 +519 -54
22 changed files with 519 additions and 54 deletions
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Showing only changes of commit 395fbb7704 - Show all commits

3
bsp_q7s/boardconfig/busConf.h
View File

@ -66,7 +66,10 @@ namespace gpioNames {
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
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";
}
}

2
bsp_q7s/core/InitMission.cpp
View File

@ -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, 1.0, missedDeadlineFunc);
result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);

28
bsp_q7s/core/ObjectFactory.cpp
View File

@ -79,6 +79,8 @@
#include <linux/obc/PdecHandler.h>
#include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h>
ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;
@ -937,8 +939,20 @@ 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::OUT,
gpio::LOW);
gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
gpioComIF->addGpios(gpioCookieRateSetter);
TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
CCSDSHandler* ccsdsHandler = new CCSDSHandler(objects::CCSDS_HANDLER, objects::PTME,
objects::CCSDS_PACKET_DISTRIBUTOR);
objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF, gpioComIF,
gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr;
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);
@ -967,12 +981,20 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
#if BOARD_TE0720 == 0
GpioCookie* gpioRS485Chip = new GpioCookie;
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
gpio::Direction::OUT, gpio::HIGH);
gpio::Direction::OUT, gpio::LOW);
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
gpio::Direction::OUT, gpio::HIGH);
gpio::Direction::OUT, gpio::LOW);
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
// Default configuration enables RX channels (RXEN = LOW)
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
gpio::Direction::OUT, gpio::LOW);
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
gpio::Direction::OUT, gpio::LOW);
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
gpioComIF->addGpios(gpioRS485Chip);
#endif /* BOARD_TE0720 == 0 */
}

1
common/config/commonClassIds.h
View File

@ -22,6 +22,7 @@ enum commonClassIds: uint8_t {
GOM_SPACE_HANDLER, //GOMS
PLOC_MEMORY_DUMPER, //PLMEMDUMP
PDEC_HANDLER, //PDEC
CCSDS_HANDLER, //PDEC
COMMON_CLASS_ID_END // [EXPORT] : [END]
};

1
generators/bsp_q7s_objects.csv
View File

@ -78,6 +78,7 @@
0x50000701;PAPB_VC1
0x50000702;PAPB_VC2
0x50000703;PAPB_VC3
0x50000704;PDEC_HANDLER
0x50000800;CCSDS_HANDLER
0x51000500;PUS_SERVICE_6
0x53000000;FSFW_OBJECTS_START

1 0x00005060 P60DOCK_TEST_TASK
78 0x53000001 0x50000701 PUS_SERVICE_1_VERIFICATION PAPB_VC1
79 0x53000002 0x50000702 PUS_SERVICE_2_DEVICE_ACCESS PAPB_VC2
80 0x53000003 0x50000703 PUS_SERVICE_3_HOUSEKEEPING PAPB_VC3
81 0x50000704 PDEC_HANDLER
82 0x53000005 0x50000800 PUS_SERVICE_5_EVENT_REPORTING CCSDS_HANDLER
83 0x53000008 0x51000500 PUS_SERVICE_8_FUNCTION_MGMT PUS_SERVICE_6
84 0x53000009 0x53000000 PUS_SERVICE_9_TIME_MGMT FSFW_OBJECTS_START

2
generators/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 106 translations.
* @details
* Generated on: 2021-10-31 17:56:40
* Generated on: 2021-11-22 17:04:42
*/
#include "translateEvents.h"

7
generators/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 111 translations.
* Generated on: 2021-10-13 15:54:21
* Contains 112 translations.
* Generated on: 2021-11-22 17:04:51
*/
#include "translateObjects.h"
@ -86,6 +86,7 @@ const char *PAPB_VC0_STRING = "PAPB_VC0";
const char *PAPB_VC1_STRING = "PAPB_VC1";
const char *PAPB_VC2_STRING = "PAPB_VC2";
const char *PAPB_VC3_STRING = "PAPB_VC3";
const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
@ -280,6 +281,8 @@ const char* translateObject(object_id_t object) {
return PAPB_VC2_STRING;
case 0x50000703:
return PAPB_VC3_STRING;
case 0x50000704:
return PDEC_HANDLER_STRING;
case 0x50000800:
return CCSDS_HANDLER_STRING;
case 0x51000500:

7
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -37,7 +37,9 @@ debugging. */
// Set to 1 if all telemetry should be sent to the PTME IP Core
#define OBSW_TM_TO_PTME 1
// Set to 1 if telecommands are received via the PDEC IP Core
#define OBSW_TC_FROM_PDEC 0
#define OBSW_TC_FROM_PDEC 1
#define TMTC_TEST_SETUP 1
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0
@ -92,7 +94,6 @@ debugging. */
#define OBSW_TEST_TE7020_HEATER 0
#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0
#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0
#define OBSW_LINK_IS_UP 1
#define OBSW_DEBUG_P60DOCK 0
#define OBSW_DEBUG_PDU1 0
@ -109,7 +110,7 @@ debugging. */
#define OBSW_DEBUG_STARTRACKER 0
#define OBSW_DEBUG_PLOC_MPSOC 0
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
#define OBSW_DEBUG_PDEC_HANDLER 0
#define OBSW_DEBUG_PDEC_HANDLER 1
/*******************************************************************/
/** Hardcoded */

6
linux/fsfwconfig/devices/gpioIds.h
View File

@ -104,7 +104,11 @@ enum gpioId_t {
RS485_EN_TX_DATA,
RS485_EN_TX_CLOCK
RS485_EN_TX_CLOCK,
RS485_EN_RX_DATA,
RS485_EN_RX_CLOCK,
BIT_RATE_SEL
};
}

2
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 106 translations.
* @details
* Generated on: 2021-10-31 17:56:40
* Generated on: 2021-11-22 17:04:42
*/
#include "translateEvents.h"

7
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 111 translations.
* Generated on: 2021-10-13 15:54:21
* Contains 112 translations.
* Generated on: 2021-11-22 17:04:51
*/
#include "translateObjects.h"
@ -86,6 +86,7 @@ const char *PAPB_VC0_STRING = "PAPB_VC0";
const char *PAPB_VC1_STRING = "PAPB_VC1";
const char *PAPB_VC2_STRING = "PAPB_VC2";
const char *PAPB_VC3_STRING = "PAPB_VC3";
const char *PDEC_HANDLER_STRING = "PDEC_HANDLER";
const char *CCSDS_HANDLER_STRING = "CCSDS_HANDLER";
const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
@ -280,6 +281,8 @@ const char* translateObject(object_id_t object) {
return PAPB_VC2_STRING;
case 0x50000703:
return PAPB_VC3_STRING;
case 0x50000704:
return PDEC_HANDLER_STRING;
case 0x50000800:
return CCSDS_HANDLER_STRING;
case 0x51000500:

1
linux/obc/CMakeLists.txt
View File

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

79
linux/obc/PdecHandler.cpp
View File

@ -9,14 +9,16 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/ipc/QueueFactory.h"
PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
std::string uioRamMemory, std::string uioRegisters) :
SystemObject(objectId), tcDestinationId(tcDestinationId), gpioComIF(gpioComIF), pdecReset(
pdecReset), uioConfigMemory(uioConfigMemory), uioRamMemory(uioRamMemory), uioRegisters(
uioRegisters) {
uioRegisters), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
}
PdecHandler::~PdecHandler() {
@ -62,9 +64,18 @@ ReturnValue_t PdecHandler::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = actionHelper.initialize(commandQueue);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
MessageQueueId_t PdecHandler::getCommandQueue() const {
return commandQueue->getId();
}
ReturnValue_t PdecHandler::getRegisterAddress() {
int fd = open(uioRegisters.c_str(), O_RDWR);
if (fd < 1) {
@ -168,6 +179,8 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
readCommandQueue();
switch(state) {
case State::INIT:
resetFarStatFlag();
@ -183,7 +196,7 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
if (newTcReceived()) {
handleNewTc();
}
getClcw();
checkLocks();
break;
case State::WAIT_FOR_RECOVERY:
break;
@ -195,6 +208,24 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
return RETURN_OK;
}
void PdecHandler::readCommandQueue(void) {
CommandMessage commandMessage;
ReturnValue_t result = RETURN_FAILED;
result = commandQueue->receiveMessage(&commandMessage);
if (result == RETURN_OK) {
result = actionHelper.handleActionMessage(&commandMessage);
if (result == RETURN_OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
commandMessage.getCommand());
commandQueue->reply(&reply);
return;
}
}
bool PdecHandler::newTcReceived() {
uint32_t pdecFar = *(registerBaseAddress + PDEC_FAR_OFFSET);
@ -207,6 +238,19 @@ bool PdecHandler::newTcReceived() {
return true;
}
void PdecHandler::checkLocks() {
uint32_t clcw = getClcw();
if (!(clcw & NO_RF_MASK) && (lastClcw & NO_RF_MASK)) {
// Rf available changed from 0 to 1
triggerEvent(CARRIER_LOCK);
}
if (!(clcw & NO_BITLOCK_MASK) && (lastClcw & NO_BITLOCK_MASK)) {
// Bit lock changed from 0 to 1
triggerEvent(BIT_LOCK);
}
lastClcw = clcw;
}
bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
bool frameValid = false;
FrameAna_t frameAna = static_cast<FrameAna_t>((pdecFar & FRAME_ANA_MASK) >> FRAME_ANA_POSITION);
@ -434,21 +478,12 @@ uint8_t PdecHandler::getOddParity(uint8_t number) {
return parityBit;
}
void PdecHandler::getClcw() {
#if OBSW_DEBUG_PDEC_HANDLER == 1
uint32_t clcw = *(registerBaseAddress + PDEC_CLCW_OFFSET);
if (debugDivider == 10) {
printClcw(clcw);
debugDivider = 0;
return;
}
debugDivider++;
#endif /* OBSW_DEBUG_PDEC_HANDLER == 1 */
uint32_t PdecHandler::getClcw() {
return *(registerBaseAddress + PDEC_CLCW_OFFSET);
}
void PdecHandler::printClcw(uint32_t clcw) {
void PdecHandler::printClcw() {
uint32_t clcw = getClcw();
uint8_t type = static_cast<uint8_t>((clcw >> 31) & 0x1);
uint8_t versionNo = static_cast<uint8_t>((clcw >> 29) & 0x3);
uint8_t status = static_cast<uint8_t>((clcw >> 26) & 0x7);
@ -487,3 +522,15 @@ void PdecHandler::printClcw(uint32_t clcw) {
sif::info << std::setw(30) << std::left << "CLCW rep value: " << std::hex
<< "0x" << static_cast<unsigned int>(repValue) << std::endl;
}
ReturnValue_t PdecHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
switch(actionId) {
case PRINT_CLCW:
printClcw();
return EXECUTION_FINISHED;
default:
return COMMAND_NOT_IMPLEMENTED;
}
}

77
linux/obc/PdecHandler.h
View File

@ -10,6 +10,8 @@
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
/**
* @brief This class controls the PDEC IP Core implemented in the programmable logic of the
@ -29,7 +31,10 @@
*
* @author J. Meier
*/
class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
class PdecHandler : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public HasActionsIF {
public:
/**
@ -51,6 +56,34 @@ public:
ReturnValue_t initialize() override;
MessageQueueId_t getCommandQueue() const;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
/**
* brief Returns the 32-bit wide communication link control word (CLCW)
*/
uint32_t getClcw();
/**
* @rief Reads and prints the CLCW. Can be useful for debugging.
*/
void printClcw();
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
//! P1: The frame analysis information (FrameAna field of PDEC_FAR register)
//! P2: When frame declared illegal this parameter this parameter gives information about the reason (IReason field of the PDEC_FAR register)
static const Event INVALID_TC_FRAME = MAKE_EVENT(1, severity::HIGH);
//! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
//! [EXPORT] : [COMMENT] Carrier lock detected
static const Event CARRIER_LOCK = MAKE_EVENT(3, severity::INFO);
//! [EXPORT] : [COMMENT] Bit lock detected (data valid)
static const Event BIT_LOCK = MAKE_EVENT(4, severity::INFO);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@ -63,6 +96,9 @@ private:
static const ReturnValue_t AD_DISCARDED_WAIT = MAKE_RETURN_CODE(0xA4);
static const ReturnValue_t AD_DISCARDED_NS_VS = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xB0);
static const ReturnValue_t NO_REPORT = MAKE_RETURN_CODE(0xA6);
//! Error in version number and reserved A and B fields
static const ReturnValue_t ERROR_VERSION_NUMBER = MAKE_RETURN_CODE(0xA7);
@ -79,14 +115,10 @@ private:
//! Invalid BC control command
static const ReturnValue_t INVALID_BC_CC = MAKE_RETURN_CODE(0xAE);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
//! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
//! P1: The frame analysis information (FrameAna field of PDEC_FAR register)
//! P2: When frame declared illegal this parameter this parameter gives information about the reason (IReason field of the PDEC_FAR register)
static const Event INVALID_TC_FRAME = MAKE_EVENT(1, severity::HIGH);
//! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
// Action IDs
static const ActionId_t PRINT_CLCW = 0;
static const uint8_t STAT_POSITION = 31;
static const uint8_t FRAME_ANA_POSITION = 28;
@ -124,7 +156,12 @@ private:
static const size_t MAX_TC_SEGMENT_SIZE = 1017;
static const uint8_t MAP_ID_MASK = 0x3F;
#if BOARD_TE0720 == 1
static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x32000000;
#else
static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x26000000;
#endif
static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
@ -139,6 +176,9 @@ private:
static const uint32_t TC_SEGMENT_LEN = 1017;
static const uint32_t NO_RF_MASK = 0x8000;
static const uint32_t NO_BITLOCK_MASK = 0x4000;
/**
* TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
* the PDEC memory.
@ -177,6 +217,11 @@ private:
WAIT_FOR_RECOVERY
};
/**
* @brief Reads and handles messages stored in the commandQueue
*/
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.
@ -222,6 +267,12 @@ private:
*/
bool newTcReceived();
/**
* @brief Checks if carrier lock or bit lock has been detected and triggers appropriate
* event.
*/
void checkLocks();
/**
* @brief Analyzes the FramAna field (frame analysis data) of a FAR report.
*
@ -279,9 +330,6 @@ private:
*/
uint8_t getOddParity(uint8_t number);
void getClcw();
void printClcw(uint32_t clcw);
object_id_t tcDestinationId;
AcceptsTelecommandsIF* tcDestination = nullptr;
@ -304,8 +352,12 @@ private:
// UIO device file giving access to the PDEC register space
std::string uioRegisters;
ActionHelper actionHelper;
StorageManagerIF* tcStore = nullptr;
MessageQueueIF* commandQueue = nullptr;
State state = State::INIT;
/**
@ -324,7 +376,8 @@ private:
uint8_t tcSegment[TC_SEGMENT_LEN];
uint8_t debugDivider = 0;
// Used to check carrier and bit lock changes (default set to no rf and no bitlock)
uint32_t lastClcw = 0xC000;
};
#endif /* LINUX_OBC_PDECHANDLER_H_ */

27
linux/obc/PtmeRateSetter.cpp Normal file
View File

@ -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;
}

40
linux/obc/PtmeRateSetter.h Normal file
View File

@ -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_ */

25
linux/obc/TxRateSetterIF.h Normal file
View File

@ -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_ */

160
mission/tmtc/CCSDSHandler.cpp
View File

@ -2,21 +2,30 @@
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/events/EventManagerIF.h"
#include <linux/obc/PdecHandler.h>
#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, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData) :
SystemObject(objectId), ptmeId(ptmeId), tcDestination(tcDestination), parameterHelper(this), actionHelper(
this, nullptr), txRateSetterIF(txRateSetterIF), gpioIF(gpioIF), enTxClock(
enTxClock), enTxData(enTxData) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 2);
}
CCSDSHandler::~CCSDSHandler() {
}
ReturnValue_t CCSDSHandler::performOperation(uint8_t operationCode) {
checkEvents();
readCommandQueue();
handleTelemetry();
handleTelecommands();
checkTxTimer();
return RETURN_OK;
}
@ -55,6 +64,11 @@ 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();
@ -64,6 +78,27 @@ ReturnValue_t CCSDSHandler::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 RETURN_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK), event::getEventId(PdecHandler::BIT_LOCK));
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CCSDSHandler::initialize: Failed to subscribe to events from PDEC "
"handler" << std::endl;
#endif
return result;
}
return result;
}
@ -77,10 +112,15 @@ 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 +180,119 @@ 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;
}
case EN_TRANSMITTER: {
enableTransmit();
return EXECUTION_FINISHED;
}
case DIS_TRANSMITTER: {
disableTransmit();
return EXECUTION_FINISHED;
}
default:
return COMMAND_NOT_IMPLEMENTED;
}
}
void CCSDSHandler::checkEvents() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event);
result == RETURN_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 CCSDSHandler::handleEvent(EventMessage* eventMessage) {
Event event = eventMessage->getEvent();
switch(event){
case PdecHandler::BIT_LOCK: {
handleBitLockEvent();
break;
}
case PdecHandler::CARRIER_LOCK: {
handleCarrierLockEvent();
break;
}
default:
sif::debug << "CCSDSHandler::handleEvent: Did not subscribe to this event"
<< std::endl;
break;
}
}
void CCSDSHandler::handleBitLockEvent() {
if(transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
enableTransmit();
}
void CCSDSHandler::handleCarrierLockEvent() {
if (!enableTxWhenCarrierLock) {
return;
}
enableTransmit();
}
void CCSDSHandler::forwardLinkstate() {
VirtualChannelMapIter iter;
for(iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
iter->second->setLinkState(linkState);
}
}
void CCSDSHandler::enableTransmit() {
if(transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
transmitterCountdown.setTimeout(TRANSMITTER_TIMEOUT);
#if BOARD_TE0720 == 0
gpioIF->pullHigh(enTxClock);
gpioIF->pullHigh(enTxData);
#endif /* BOARD_TE0720 == 0 */
linkState = UP;
// Set link state of all virtual channels to link up
forwardLinkstate();
}
void CCSDSHandler::checkTxTimer() {
if(linkState == DOWN) {
return;
}
if (transmitterCountdown.hasTimedOut()) {
disableTransmit();
}
}
void CCSDSHandler::disableTransmit() {
#if BOARD_TE0720 == 0
gpioIF->pullLow(enTxClock);
gpioIF->pullLow(enTxData);
#endif /* BOARD_TE0720 == 0 */
linkState = DOWN;
forwardLinkstate();
transmitterCountdown.setTimeout(0);
}

86
mission/tmtc/CCSDSHandler.h
View File

@ -8,6 +8,13 @@
#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 "fsfw/timemanager/Countdown.h"
#include "fsfw/events/EventMessage.h"
#include "linux/obc/TxRateSetterIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "VirtualChannel.h"
#include <unordered_map>
@ -22,7 +29,8 @@ class CCSDSHandler: public SystemObject,
public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
public HasReturnvaluesIF,
public ReceivesParameterMessagesIF {
public ReceivesParameterMessagesIF,
public HasActionsIF {
public:
using VcId_t = uint8_t;
@ -33,8 +41,14 @@ 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.
* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
* @param enTxClock GPIO ID of RS485 tx clock enable
* @param enTxData GPIO ID of RS485 tx data enable
*/
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, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
~CCSDSHandler();
@ -58,10 +72,34 @@ 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;
static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DIS_TRANSMITTER = 3;
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
#if TMTC_TEST_SETUP == 0
// syrlinks must not be transmitting more than 15 minutes (according to datasheet)
static const uint32_t TRANSMITTER_TIMEOUT = 900000; //900000 ms = 15 min
#else
// Set to high value when not sending via syrlinks
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
#endif /* TMTC_TEST_SETUP == 0 */
static const bool UP = true;
static const bool DOWN = false;
using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
using VirtualChannelMapIter = VirtualChannelMap::iterator;
@ -73,14 +111,58 @@ private:
object_id_t tcDestination;
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* eventQueue = nullptr;
ParameterHelper parameterHelper;
ActionHelper actionHelper;
MessageQueueId_t tcDistributorQueueId;
TxRateSetterIF* txRateSetterIF = nullptr;
GpioIF* gpioIF = nullptr;
gpioId_t enTxClock = gpio::NO_GPIO;
gpioId_t enTxData = gpio::NO_GPIO;
// 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.
*/
void forwardLinkstate();
/**
* @brief Starts transmit timer and enables transmitter.
*/
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.
*/
void disableTransmit();
};
#endif /* CCSDSHANDLER_H_ */

4
mission/tmtc/VirtualChannel.cpp
View File

@ -64,6 +64,6 @@ void VirtualChannel::setPtmeObject(PtmeIF* ptme_) {
ptme = ptme_;
}
void VirtualChannel::setLinkState(bool linkIsUp) {
linkIsUp = linkIsUp;
void VirtualChannel::setLinkState(bool linkIsUp_) {
linkIsUp = linkIsUp_;
}

6
mission/tmtc/VirtualChannel.h
View File

@ -38,7 +38,7 @@ class VirtualChannel: public AcceptsTelemetryIF, public HasReturnvaluesIF {
* @brief Can be used by the owner to set the link state. Packets will be discarded if link
* to ground station is down.
*/
void setLinkState(bool linkIsUp);
void setLinkState(bool linkIsUp_);
private:
@ -46,11 +46,7 @@ private:
MessageQueueIF* tmQueue = nullptr;
uint8_t vcId;
#if OBSW_LINK_IS_UP == 1
bool linkIsUp = true;
#else
bool linkIsUp = false;
#endif /* OBSW_LINK_IS_UP == 1 */
StorageManagerIF* tmStore = nullptr;
};

2
tmtc

@ -1 +1 @@
Subproject commit b2cc2354d410b0bc0d80c481bfd37afc580e63cf
Subproject commit aabbb129a6df1d33cf10770a5ecb6336c698f0e6