Robin Mueller
0256824e37
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EIVE/eive-obsw/pipeline/head This commit looks good
84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
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#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
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#include <fsfw/container/SimpleRingBuffer.h>
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#include <fsfw/devicehandlers/CookieIF.h>
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#include "arcsec/common/misc.h"
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#include "eive/resultClassIds.h"
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#include "fsfw/returnvalues/returnvalue.h"
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#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
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/**
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* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
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*/
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class ArcsecDatalinkLayer {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] More data required to complete frame
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static const ReturnValue_t DEC_IN_PROGRESS = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Data too short to represent a valid frame
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static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Detected CRC failure in received frame
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
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static const uint8_t STATUS_OK = 0;
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ArcsecDatalinkLayer();
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virtual ~ArcsecDatalinkLayer();
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/**
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* Feed received data to the internal ring buffer.
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* @param rawData
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* @param rawDataLen
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* @return
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*/
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ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
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ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
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/**
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* @brief Applies decoding to data referenced by rawData pointer
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* TODO: To be deleted soon, replaced by proper buffering.
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* @param rawData Pointer to raw data received from star tracker
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* @param rawDataSize Size of raw data stream
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* @param remainingBytes Number of bytes left
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*/
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// ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
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/**
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* @brief SLIP encodes data pointed to by data pointer.
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*
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* @param data Pointer to data to encode
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* @param length Length of buffer to encode
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*/
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void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen);
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private:
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static const uint8_t ID_OFFSET = 1;
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static const uint8_t STATUS_OFFSET = 2;
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// Used by arcsec slip decoding function process received data
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uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
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SimpleRingBuffer decodeRingBuf;
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uint8_t rxAnalysisBuffer[4096];
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// Decoded frame will be copied to this buffer
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uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
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// Size of decoded frame
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uint32_t rxFrameSize = 0;
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// Buffer where encoded frames will be stored. First byte of encoded frame represents type of
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// reply
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uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2];
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// Size of encoded frame
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uint32_t txFrameSize = 0;
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slip_decode_state slipInfo;
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void slipInit();
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};
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#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */
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