99 lines
2.7 KiB
C++
99 lines
2.7 KiB
C++
#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
|
|
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
|
|
|
|
#include "fsfw/returnvalues/returnvalue.h"
|
|
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
|
|
|
|
extern "C" {
|
|
#include "common/misc.h"
|
|
}
|
|
|
|
/**
|
|
* @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
|
|
*/
|
|
class ArcsecDatalinkLayer {
|
|
public:
|
|
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
|
|
|
|
//! [EXPORT] : [COMMENT] More data required to complete frame
|
|
static const ReturnValue_t DEC_IN_PROGRESS = MAKE_RETURN_CODE(0xA0);
|
|
//! [EXPORT] : [COMMENT] Data too short to represent a valid frame
|
|
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
|
|
//! [EXPORT] : [COMMENT] Detected CRC failure in received frame
|
|
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
|
|
|
|
static const uint8_t STATUS_OK = 0;
|
|
|
|
ArcsecDatalinkLayer();
|
|
virtual ~ArcsecDatalinkLayer();
|
|
|
|
/**
|
|
* @brief Applies decoding to data referenced by rawData pointer
|
|
*
|
|
* @param rawData Pointer to raw data received from star tracker
|
|
* @param rawDataSize Size of raw data stream
|
|
* @param remainingBytes Number of bytes left
|
|
*/
|
|
ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
|
|
|
|
/**
|
|
* @brief SLIP encodes data pointed to by data pointer.
|
|
*
|
|
* @param data Pointer to data to encode
|
|
* @param length Length of buffer to encode
|
|
*/
|
|
void encodeFrame(const uint8_t* data, uint32_t length);
|
|
|
|
/**
|
|
* @brief Returns the frame type field of a decoded frame.
|
|
*/
|
|
uint8_t getReplyFrameType();
|
|
|
|
/**
|
|
* @brief Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
|
|
*/
|
|
const uint8_t* getReply();
|
|
|
|
/**
|
|
* @brief Returns size of encoded frame
|
|
*/
|
|
uint32_t getEncodedLength();
|
|
|
|
/**
|
|
* @brief Returns pointer to encoded frame
|
|
*/
|
|
uint8_t* getEncodedFrame();
|
|
|
|
/**
|
|
* @brief Returns status of reply
|
|
*/
|
|
uint8_t getStatusField();
|
|
|
|
/**
|
|
* @brief Returns ID of reply
|
|
*/
|
|
uint8_t getId();
|
|
|
|
private:
|
|
static const uint8_t ID_OFFSET = 1;
|
|
static const uint8_t STATUS_OFFSET = 2;
|
|
|
|
// Used by arcsec slip decoding function process received data
|
|
uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
|
|
// Decoded frame will be copied to this buffer
|
|
uint8_t decodedFrame[startracker::MAX_FRAME_SIZE];
|
|
// Buffer where encoded frames will be stored. First byte of encoded frame represents type of
|
|
// reply
|
|
uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2];
|
|
// Size of decoded frame
|
|
uint32_t decFrameSize = 0;
|
|
// Size of encoded frame
|
|
uint32_t encFrameSize = 0;
|
|
|
|
slip_decode_state slipInfo;
|
|
|
|
void slipInit();
|
|
};
|
|
|
|
#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */
|