bsp_q7s/boardconfig/busConf.h

@@ -17,7 +17,8 @@ static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
 static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
 
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
-static constexpr char UIO_PDEC_MEMORY[] = "/dev/uio2";
+static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
+static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
 
 namespace gpioNames {
     static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";

bsp_q7s/core/ObjectFactory.cpp

@@ -961,7 +961,8 @@ 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_MEMORY), std::string(q7s::UIO_PDEC_REGISTERS));
+            std::string(q7s::UIO_PDEC_CONFIG_MEMORY), std::string(q7s::UIO_PDEC_RAM),
+            std::string(q7s::UIO_PDEC_REGISTERS));
 
 #if BOARD_TE0720 == 0
     GpioCookie* gpioRS485Chip = new GpioCookie;

linux/obc/PdecConfig.cpp

@@ -22,6 +22,9 @@ void PdecConfig::initialize() {
     configWords[0] = word;
     word = 0;
     word |= (NEGATIVE_WINDOW << 24);
+    word |= (HIGH_AU_MAP_ID << 16);
+    word |= (ENABLE_DERANDOMIZER << 8);
+    configWords[1] = word;
 }
 
 uint32_t PdecConfig::getConfigWord(uint8_t wordNo) {

linux/obc/PdecConfig.h

@@ -39,6 +39,8 @@ private:
     // Set here for future use
     static const uint8_t POSITIVE_WINDOW = 10;
     static const uint8_t NEGATIVE_WINDOW = 151;
+    static const uint8_t HIGH_AU_MAP_ID = 0xF;
+    static const uint8_t ENABLE_DERANDOMIZER = 1;
 
     static const uint8_t CONFIG_WORDS_NUM = 2;
 

linux/obc/PdecHandler.cpp

@@ -1,4 +1,5 @@
 #include <cstring>
+#include <sstream>
 
 #include <sys/mman.h>
 #include <fcntl.h>
@@ -10,10 +11,11 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 
 PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
-        LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioMemory,
+        LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
-        std::string uioRegisters) :
+        std::string uioRamMemory, std::string uioRegisters) :
         SystemObject(objectId), tcDestinationId(tcDestinationId), gpioComIF(gpioComIF), pdecReset(
-                pdecReset), uioMemory(uioMemory), uioRegisters(uioRegisters) {
+                pdecReset), uioConfigMemory(uioConfigMemory), uioRamMemory(uioRamMemory), uioRegisters(
+                uioRegisters) {
 
 }
 
@@ -43,7 +45,12 @@ ReturnValue_t PdecHandler::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-    result = getMemoryBaseAddress();
+    result = getConfigMemoryBaseAddress();
+    if (result != RETURN_OK) {
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+
+    result = getRamBaseAddress();
     if (result != RETURN_OK) {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
@@ -76,45 +83,62 @@ ReturnValue_t PdecHandler::getRegisterAddress() {
     return RETURN_OK;
 }
 
-ReturnValue_t PdecHandler::getMemoryBaseAddress() {
+ReturnValue_t PdecHandler::getConfigMemoryBaseAddress() {
-    int fd = open(uioMemory.c_str(), O_RDWR);
+    int fd = open(uioConfigMemory.c_str(), O_RDWR);
     if (fd < 1) {
-        sif::warning << "PdecHandler::getMemoryBaseAddress: Invalid UIO device file" << std::endl;
+        sif::warning << "PdecHandler::getConfigMemoryBaseAddress: Invalid UIO device file" << std::endl;
         return RETURN_FAILED;
     }
 
-    memoryBaseAddress = static_cast<uint32_t*>(mmap(NULL, MEMORY_MAP_SIZE, PROT_WRITE | PROT_READ,
+    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::getMemoryBaseAddress: Failed to map uio address" << std::endl;
+        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;
 
-    *memoryBaseAddress = pdecConfig.getConfigWord(0);
+    *(memoryBaseAddress + FRAME_HEADER_OFFSET)= pdecConfig.getConfigWord(0);
-    *(memoryBaseAddress + 1) = pdecConfig.getConfigWord(1);
+    *(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = pdecConfig.getConfigWord(1);
 
-//    uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
     // Configure all MAP IDs as invalid
     for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
-        *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) = NO_DESTINATION << 24
+        *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx + 1 / 4) = NO_DESTINATION << 24
                 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
-//        *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx / 4) = routeToPm << 24
-//                | routeToPm << 16 | routeToPm << 8 | routeToPm;
 
     }
 
     // All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
     uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
-    *(memoryBaseAddress + 1) = NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8
+    *(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) = (NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8)
             | routeToPm;
+
+    // Write map id clock frequencies
+    for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
+        *(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) = MAP_CLK_FREQ << 24
+                | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
+
+    }
 }
 
 ReturnValue_t PdecHandler::resetFarStatFlag() {
@@ -173,9 +197,6 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
 bool PdecHandler::newTcReceived() {
     uint32_t pdecFar = *(registerBaseAddress + PDEC_FAR_OFFSET);
 
-    sif::debug << "PdecHandler::newTcReceived: pdecFar 0x" << std::hex
-            << static_cast<unsigned int>(pdecFar) << std::endl;
-
     if (pdecFar >> STAT_POSITION != NEW_FAR_RECEIVED) {
         return false;
     }
@@ -303,11 +324,12 @@ void PdecHandler::handleNewTc() {
     if (result != RETURN_OK) {
         return;
     }
-#if OBSW_DEBUG_PDEC == 1
+#if OBSW_DEBUG_PDEC_HANDLER == 1
     unsigned int mapId = tcSegment[0] & MAP_ID_MASK;
     sif::debug << "PdecHandler::handleNewTc: Received TC segment with map ID" << mapId
             << std::endl;
-#endif /* OBSW_DEBUG_PDEC */
+    printTC(tcLength);
+#endif /* OBSW_DEBUG_PDEC_HANDLER */
 
     store_address_t storeId;
     result = tcStore->addData(&storeId, tcSegment + 1, tcLength - 1);
@@ -331,18 +353,17 @@ void PdecHandler::handleNewTc() {
 }
 
 ReturnValue_t PdecHandler::readTc(uint32_t& tcLength) {
-    uint32_t tcOffset = *(registerBaseAddress + PDEC_BPTR_OFFSET) - PHYSICAL_BASE_ADDRESS;
+    uint32_t tcOffset = (*(registerBaseAddress + PDEC_BPTR_OFFSET) - PHYSICAL_RAM_BASE_ADDRESS) / 4;
 
-#if OBSW_DEBUG_PDEC == 1
+#if OBSW_DEBUG_PDEC_HANDLER == 1
-    sif::debug << "PdecHandler::readTc: TC offset: " << std::hex << tcOffset << std::endl;
+    sif::debug << "PdecHandler::readTc: TC offset: 0x" << std::hex << tcOffset << std::endl;
-#endif /* OBSW_DEBUG_PDEC */
+#endif /* OBSW_DEBUG_PDEC_HANDLER */
 
-    uint32_t* tcPtr = reinterpret_cast<uint32_t*>(*(registerBaseAddress + tcOffset) / 4);
     tcLength = *(registerBaseAddress + PDEC_SLEN_OFFSET);
 
-#if OBSW_DEBUG_PDEC == 1
+#if OBSW_DEBUG_PDEC_HANDLER == 1
-    sif::debug << "PdecHandler::readTc: TC length: " << tcLength << std::endl;
+    sif::debug << "PdecHandler::readTc: TC segment length: " << std::dec << tcLength << std::endl;
-#endif /* OBSW_DEBUG_PDEC */
+#endif /* OBSW_DEBUG_PDEC_HANDLER */
 
     if (tcLength > MAX_TC_SEGMENT_SIZE) {
         sif::warning << "PdecHandler::handleNewTc: Read invalid TC length from PDEC register"
@@ -352,9 +373,31 @@ ReturnValue_t PdecHandler::readTc(uint32_t& tcLength) {
 
     uint32_t idx = 0;
     uint32_t tcData = 0;
-    for (idx = 0; idx < tcLength; idx = idx + 4) {
+    for (idx = 0; idx <= tcLength; idx = idx + 4) {
-        tcData = *(tcPtr + idx);
+        tcData = *(ramBaseAddress + tcOffset + idx / 4);
-        std::memcpy(tcSegment + idx, &tcData, sizeof(tcData));
+        if (idx == 0) {
+            tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
+            tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
+            tcSegment[idx + 2] = static_cast<uint8_t>(tcData & 0xFF);
+        }
+        else if (tcLength - idx + 1 == 3) {
+            tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
+            tcSegment[idx] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
+            tcSegment[idx + 1] = static_cast<uint8_t>(tcData & 0xFF);
+        }
+        else if (tcLength - idx + 1 == 2) {
+            tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
+            tcSegment[idx + 1] = static_cast<uint8_t>(tcData & 0xFF);
+        }
+        else if (tcLength - idx + 1 == 1) {
+            tcSegment[idx - 1] = static_cast<uint8_t>(tcData & 0xFF);
+        }
+        else {
+            tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
+            tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
+            tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
+            tcSegment[idx + 2] = static_cast<uint8_t>(tcData & 0xFF);
+        }
     }
 
     // Backend buffer is handled back to PDEC3
@@ -363,6 +406,16 @@ ReturnValue_t PdecHandler::readTc(uint32_t& tcLength) {
     return RETURN_OK;
 }
 
+void PdecHandler::printTC(uint32_t tcLength) {
+    std::stringstream tcSegmentStream;
+    tcSegmentStream << "TC segment data: 0x";
+    for (uint32_t idx = 0; idx < tcLength; idx++) {
+        tcSegmentStream << std::setfill('0') << std::setw(2) << std::hex
+                << static_cast<unsigned int>(tcSegment[idx]);
+    }
+    sif::debug << tcSegmentStream.str() << std::endl;
+}
+
 uint8_t PdecHandler::calcMapAddrEntry(uint8_t moduleId) {
     uint8_t lutEntry = 0;
     uint8_t parity = getOddParity(moduleId | (1 << VALID_POSITION));

linux/obc/PdecHandler.h

@@ -37,11 +37,12 @@ public:
      * @param tcDestinationId   Object ID of object responsible for processing TCs.
      * @param gpioComIF Pointer to GPIO interace responsible for driving GPIOs.
      * @param pdecReset GPIO ID of GPIO connected to the reset signal of the PDEC.
-     * @param uioMemory String of uio device file same mapped to the PDEC memory space
+     * @param uioConfigMemory String of uio device file same mapped to the PDEC memory space
      * @param uioregsiters  String of uio device file same mapped to the PDEC register space
      */
     PdecHandler(object_id_t objectId, object_id_t tcDestinationId, LinuxLibgpioIF* gpioComIF,
-            gpioId_t pdecReset, std::string uioMemory, std::string uioRegisters);
+            gpioId_t pdecReset, std::string uioConfigMemory, std::string uioRamMemory,
+            std::string uioRegisters);
 
     virtual ~PdecHandler();
 
@@ -104,14 +105,19 @@ private:
     static const uint32_t PDEC_BPTR_OFFSET = 0xA25;
     static const uint32_t PDEC_SLEN_OFFSET = 0xA26;
 
-    static const int MEMORY_MAP_SIZE = 0xF42400;
+    static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
+    static const int RAM_MAP_SIZE = 0x4000;
     static const int REGISTER_MAP_SIZE = 0x10000;
 
+    // 0x200 / 4 = 0x80
+    static const uint32_t FRAME_HEADER_OFFSET = 0x80;
+
     static const size_t MAX_TC_SEGMENT_SIZE = 1017;
     static const uint8_t MAP_ID_MASK = 0x3F;
 
-    static const uint32_t PHYSICAL_BASE_ADDRESS = 0x30000000;
+    static const uint32_t PHYSICAL_RAM_BASE_ADDRESS = 0x32000000;
     static const uint32_t MAP_ADDR_LUT_OFFSET = 0xA0;
+    static const uint32_t MAP_CLK_FREQ_OFFSET = 0x90;
 
     static const uint8_t MAX_MAP_ADDR = 63;
     // Writing this to the map address in the look up table will invalidate a MAP ID.
@@ -122,11 +128,17 @@ private:
     // Expected value stored in FAR register after reset
     static const uint32_t FAR_RESET = 0x7FE0;
 
+    static const uint32_t TC_SEGMENT_LEN = 1017;
+
     /**
      * TCs with map addresses (also know as Map IDs) assigned to this channel will be stored in
      * the PDEC memory.
      */
-    static const uint32_t PM_BUFFER = 7;
+    static const uint8_t PM_BUFFER = 7;
+
+    // MAP clock frequency. Must be a value between 1 and 13 otherwise the TC segment will be
+    // discarded
+    static const uint8_t MAP_CLK_FREQ = 2;
 
     enum class FrameAna_t: uint8_t {
         ABANDONED_CLTU,
@@ -166,7 +178,14 @@ private:
      * @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 getMemoryBaseAddress();
+    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
@@ -225,6 +244,11 @@ private:
      */
     ReturnValue_t readTc(uint32_t& tcLength);
 
+    /**
+     * @brief   Prints the tc segment data
+     */
+    void printTC(uint32_t tcLength);
+
     /**
      * @brief   This function calculates the entry for the configuration of the MAP ID routing.
      *
@@ -259,8 +283,11 @@ private:
      */
     gpioId_t pdecReset = gpio::NO_GPIO;
 
-    // UIO device file giving access to the PDEC memory space
+    // UIO device file giving access to the PDEC configuration memory section
-    std::string uioMemory;
+    std::string uioConfigMemory;
+
+    // UIO device file giving access to the PDEC RAM section
+    std::string uioRamMemory;
 
     // UIO device file giving access to the PDEC register space
     std::string uioRegisters;
@@ -276,12 +303,14 @@ private:
      */
     uint32_t* memoryBaseAddress = nullptr;
 
+    uint32_t* ramBaseAddress = nullptr;
+
     // Pointer pointing to base address of register space
     uint32_t* registerBaseAddress = nullptr;
 
     uint32_t pdecFar = 0;
 
-    uint8_t tcSegment[1017];
+    uint8_t tcSegment[TC_SEGMENT_LEN];
 };
 
 #endif /* LINUX_OBC_PDECHANDLER_H_ */