530 lines
20 KiB
C++
530 lines
20 KiB
C++
#include "PdecHandler.h"
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <cstring>
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#include <sstream>
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tmtcservices/TmTcMessage.h"
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#include "fsfw_hal/linux/uio/UioMapper.h"
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PdecHandler::PdecHandler(object_id_t objectId, object_id_t tcDestinationId,
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LinuxLibgpioIF* gpioComIF, gpioId_t pdecReset, std::string uioConfigMemory,
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std::string uioRamMemory, std::string uioRegisters)
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: SystemObject(objectId),
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tcDestinationId(tcDestinationId),
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gpioComIF(gpioComIF),
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pdecReset(pdecReset),
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uioConfigMemory(uioConfigMemory),
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uioRamMemory(uioRamMemory),
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uioRegisters(uioRegisters),
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actionHelper(this, nullptr) {
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auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
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commandQueue = QueueFactory::instance()->createMessageQueue(
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QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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PdecHandler::~PdecHandler() {}
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ReturnValue_t PdecHandler::initialize() {
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tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
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if (tcStore == nullptr) {
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sif::error << "PdecHandler::initialize: Invalid TC store" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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tcDestination = ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestinationId);
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if (tcDestination == nullptr) {
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sif::error << "PdecHandler::initialize: Invalid tc destination specified" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = returnvalue::OK;
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UioMapper regMapper(uioRegisters);
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result = regMapper.getMappedAdress(®isterBaseAddress, UioMapper::Permissions::READ_WRITE);
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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UioMapper configMemMapper(uioConfigMemory);
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result = configMemMapper.getMappedAdress(&memoryBaseAddress, UioMapper::Permissions::READ_WRITE);
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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UioMapper ramMapper(uioRamMemory);
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result = ramMapper.getMappedAdress(&ramBaseAddress, UioMapper::Permissions::READ_WRITE);
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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writePdecConfig();
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result = releasePdec();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = actionHelper.initialize(commandQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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MessageQueueId_t PdecHandler::getCommandQueue() const { return commandQueue->getId(); }
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void PdecHandler::writePdecConfig() {
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PdecConfig pdecConfig;
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*(memoryBaseAddress + FRAME_HEADER_OFFSET) = pdecConfig.getConfigWord(0);
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*(memoryBaseAddress + FRAME_HEADER_OFFSET + 1) = pdecConfig.getConfigWord(1);
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// Configure all MAP IDs as invalid
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for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
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*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + idx + 1 / 4) =
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NO_DESTINATION << 24 | NO_DESTINATION << 16 | NO_DESTINATION << 8 | NO_DESTINATION;
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}
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// All TCs with MAP ID 7 will be routed to the PM module (can then be read from memory)
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uint8_t routeToPm = calcMapAddrEntry(PM_BUFFER);
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*(memoryBaseAddress + MAP_ADDR_LUT_OFFSET + 1) =
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(NO_DESTINATION << 24) | (NO_DESTINATION << 16) | (NO_DESTINATION << 8) | routeToPm;
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// Write map id clock frequencies
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for (int idx = 0; idx <= MAX_MAP_ADDR; idx += 4) {
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*(memoryBaseAddress + MAP_CLK_FREQ_OFFSET + idx / 4) =
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MAP_CLK_FREQ << 24 | MAP_CLK_FREQ << 16 | MAP_CLK_FREQ << 8 | MAP_CLK_FREQ;
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}
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}
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ReturnValue_t PdecHandler::resetFarStatFlag() {
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uint32_t pdecFar = *(registerBaseAddress + PDEC_FAR_OFFSET);
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if (pdecFar != FAR_RESET) {
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sif::warning << "PdecHandler::resetFarStatFlag: FAR register did not match expected value."
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<< " Read value: 0x" << std::hex << static_cast<unsigned int>(pdecFar)
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<< std::endl;
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return returnvalue::FAILED;
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}
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#if OBSW_DEBUG_PDEC_HANDLER == 1
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sif::debug << "PdecHandler::resetFarStatFlag: read FAR with value: 0x" << std::hex << pdecFar
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<< std::endl;
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#endif /* OBSW_DEBUG_PDEC_HANDLER == 1 */
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return returnvalue::OK;
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}
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ReturnValue_t PdecHandler::releasePdec() {
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ReturnValue_t result = returnvalue::OK;
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result = gpioComIF->pullHigh(pdecReset);
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if (result != returnvalue::OK) {
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sif::error << "PdecHandler::releasePdec: Failed to release PDEC reset signal" << std::endl;
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}
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return result;
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}
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ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
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ReturnValue_t result = returnvalue::OK;
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readCommandQueue();
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switch (state) {
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case State::INIT:
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resetFarStatFlag();
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if (result != returnvalue::OK) {
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// Requires reconfiguration and reinitialization of PDEC
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triggerEvent(INVALID_FAR);
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state = State::WAIT_FOR_RECOVERY;
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return result;
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}
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state = State::RUNNING;
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break;
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case State::RUNNING:
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if (newTcReceived()) {
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handleNewTc();
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}
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checkLocks();
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break;
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case State::WAIT_FOR_RECOVERY:
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break;
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default:
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sif::debug << "PdecHandler::performOperation: Invalid state" << std::endl;
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break;
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}
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return returnvalue::OK;
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}
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void PdecHandler::readCommandQueue(void) {
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CommandMessage commandMessage;
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ReturnValue_t result = returnvalue::FAILED;
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result = commandQueue->receiveMessage(&commandMessage);
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if (result == returnvalue::OK) {
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result = actionHelper.handleActionMessage(&commandMessage);
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if (result == returnvalue::OK) {
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return;
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}
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CommandMessage reply;
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reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
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commandQueue->reply(&reply);
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return;
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}
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}
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bool PdecHandler::newTcReceived() {
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uint32_t pdecFar = *(registerBaseAddress + PDEC_FAR_OFFSET);
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if (pdecFar >> STAT_POSITION != NEW_FAR_RECEIVED) {
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return false;
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}
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if (!checkFrameAna(pdecFar)) {
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return false;
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}
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return true;
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}
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void PdecHandler::checkLocks() {
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uint32_t clcw = getClcw();
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if (not(clcw & NO_RF_MASK) && not carrierLock) {
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triggerEvent(CARRIER_LOCK);
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carrierLock = true;
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} else if ((clcw & NO_RF_MASK) && carrierLock) {
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carrierLock = false;
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triggerEvent(LOST_CARRIER_LOCK_PDEC);
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}
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if (not(clcw & NO_BITLOCK_MASK) && not bitLock) {
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triggerEvent(BIT_LOCK_PDEC);
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bitLock = true;
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} else if ((clcw & NO_BITLOCK_MASK) && bitLock) {
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bitLock = false;
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triggerEvent(LOST_BIT_LOCK_PDEC);
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}
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}
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bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
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bool frameValid = false;
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FrameAna_t frameAna = static_cast<FrameAna_t>((pdecFar & FRAME_ANA_MASK) >> FRAME_ANA_POSITION);
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switch (frameAna) {
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case (FrameAna_t::ABANDONED_CLTU): {
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triggerEvent(INVALID_TC_FRAME, ABANDONED_CLTU);
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sif::warning << "PdecHandler::checkFrameAna: Abondoned CLTU" << std::endl;
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break;
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}
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case (FrameAna_t::FRAME_DIRTY): {
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triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY);
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sif::warning << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
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break;
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}
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case (FrameAna_t::FRAME_ILLEGAL): {
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sif::warning << "PdecHandler::checkFrameAna: Frame illegal for one reason" << std::endl;
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handleIReason(pdecFar, FRAME_ILLEGAL_ONE_REASON);
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break;
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}
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case (FrameAna_t::FRAME_ILLEGAL_MULTI_REASON): {
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sif::warning << "PdecHandler::checkFrameAna: Frame illegal for multiple reasons" << std::endl;
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handleIReason(pdecFar, FRAME_ILLEGAL_MULTIPLE_REASONS);
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break;
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}
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case (FrameAna_t::AD_DISCARDED_LOCKOUT): {
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triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
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sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of lockout"
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<< std::endl;
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break;
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}
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case (FrameAna_t::AD_DISCARDED_WAIT): {
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triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_LOCKOUT);
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sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because of wait" << std::endl;
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break;
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}
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case (FrameAna_t::AD_DISCARDED_NS_VR): {
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triggerEvent(INVALID_TC_FRAME, AD_DISCARDED_NS_VS);
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sif::warning << "PdecHandler::checkFrameAna: AD frame discarded because N(S) or V(R)"
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<< std::endl;
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break;
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}
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case (FrameAna_t::FRAME_ACCEPTED): {
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#if OBSW_DEBUG_PDEC_HANDLER == 1
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sif::info << "PdecHandler::checkFrameAna: Accepted TC frame" << std::endl;
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#endif
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frameValid = true;
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break;
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}
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default: {
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sif::debug << "PdecHandler::checkFrameAna: Invalid frame analysis report" << std::endl;
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break;
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}
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}
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return frameValid;
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}
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void PdecHandler::handleIReason(uint32_t pdecFar, ReturnValue_t parameter1) {
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IReason_t ireason = static_cast<IReason_t>((pdecFar & IREASON_MASK) >> IREASON_POSITION);
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switch (ireason) {
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case (IReason_t::NO_REPORT): {
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triggerEvent(INVALID_TC_FRAME, parameter1, NO_REPORT);
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sif::info << "PdecHandler::handleIReason: No illegal report" << std::endl;
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break;
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}
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case (IReason_t::ERROR_VERSION_NUMBER): {
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triggerEvent(INVALID_TC_FRAME, parameter1, ERROR_VERSION_NUMBER);
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sif::info << "PdecHandler::handleIReason: Error in version number and reserved A and B "
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<< "fields" << std::endl;
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break;
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}
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case (IReason_t::ILLEGAL_COMBINATION): {
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triggerEvent(INVALID_TC_FRAME, parameter1, ILLEGAL_COMBINATION);
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sif::info << "PdecHandler::handleIReason: Illegal combination (AC) of bypass and control "
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<< "command flags" << std::endl;
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break;
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}
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case (IReason_t::INVALID_SC_ID): {
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triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_SC_ID);
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sif::info << "PdecHandler::handleIReason: Invalid spacecraft identifier " << std::endl;
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break;
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}
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case (IReason_t::INVALID_VC_ID_MSB): {
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triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_MSB);
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sif::info << "PdecHandler::handleIReason: VC identifier bit 0 to 4 did not match "
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<< std::endl;
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break;
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}
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case (IReason_t::INVALID_VC_ID_LSB): {
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triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_LSB);
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sif::info << "PdecHandler::handleIReason: VC identifier bit 5 did not match " << std::endl;
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break;
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}
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case (IReason_t::NS_NOT_ZERO): {
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triggerEvent(INVALID_TC_FRAME, parameter1, NS_NOT_ZERO);
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sif::info << "PdecHandler::handleIReason: N(S) of BC or BD frame not set to all zeros"
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<< std::endl;
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break;
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}
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case (IReason_t::INCORRECT_BC_CC): {
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triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_BC_CC);
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sif::info << "PdecHandler::handleIReason: Invalid BC control command format" << std::endl;
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break;
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}
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default: {
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sif::info << "PdecHandler::handleIReason: Invalid reason id" << std::endl;
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break;
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}
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}
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}
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void PdecHandler::handleNewTc() {
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ReturnValue_t result = returnvalue::OK;
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uint32_t tcLength = 0;
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result = readTc(tcLength);
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if (result != returnvalue::OK) {
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return;
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}
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#if OBSW_DEBUG_PDEC_HANDLER == 1
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unsigned int mapId = tcSegment[0] & MAP_ID_MASK;
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sif::info << "PdecHandler::handleNewTc: Received TC segment with map ID " << mapId << std::endl;
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printTC(tcLength);
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#endif /* OBSW_DEBUG_PDEC_HANDLER */
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#if OBSW_TC_FROM_PDEC == 1
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store_address_t storeId;
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result = tcStore->addData(&storeId, tcSegment + 1, tcLength - 1);
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if (result != returnvalue::OK) {
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sif::warning << "PdecHandler::handleNewTc: Failed to add received space packet to store"
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<< std::endl;
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return;
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}
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TmTcMessage message(storeId);
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result = MessageQueueSenderIF::sendMessage(tcDestination->getRequestQueue(), &message);
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if (result != returnvalue::OK) {
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sif::warning << "PdecHandler::handleNewTc: Failed to send message to TC destination"
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<< std::endl;
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tcStore->deleteData(storeId);
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return;
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}
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#endif /* OBSW_TC_FROM_PDEC == 1 */
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return;
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}
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ReturnValue_t PdecHandler::readTc(uint32_t& tcLength) {
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uint32_t tcOffset = (*(registerBaseAddress + PDEC_BPTR_OFFSET) - PHYSICAL_RAM_BASE_ADDRESS) / 4;
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#if OBSW_DEBUG_PDEC_HANDLER == 1
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sif::debug << "PdecHandler::readTc: TC offset: 0x" << std::hex << tcOffset << std::endl;
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#endif /* OBSW_DEBUG_PDEC_HANDLER */
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tcLength = *(registerBaseAddress + PDEC_SLEN_OFFSET);
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#if OBSW_DEBUG_PDEC_HANDLER == 1
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sif::debug << "PdecHandler::readTc: TC segment length: " << std::dec << tcLength << std::endl;
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#endif /* OBSW_DEBUG_PDEC_HANDLER */
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if (tcLength > MAX_TC_SEGMENT_SIZE) {
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sif::warning << "PdecHandler::handleNewTc: Read invalid TC length from PDEC register"
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<< std::endl;
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return returnvalue::FAILED;
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}
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uint32_t idx = 0;
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uint32_t tcData = 0;
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for (idx = 0; idx <= tcLength; idx = idx + 4) {
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tcData = *(ramBaseAddress + tcOffset + idx / 4);
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if (idx == 0) {
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tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
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tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
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tcSegment[idx + 2] = static_cast<uint8_t>(tcData & 0xFF);
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} else if (tcLength - idx + 1 == 3) {
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tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
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tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
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tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
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} else if (tcLength - idx + 1 == 2) {
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tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
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tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
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} else if (tcLength - idx + 1 == 1) {
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tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
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} else {
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tcSegment[idx - 1] = static_cast<uint8_t>((tcData >> 24) & 0xFF);
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tcSegment[idx] = static_cast<uint8_t>((tcData >> 16) & 0xFF);
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tcSegment[idx + 1] = static_cast<uint8_t>((tcData >> 8) & 0xFF);
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tcSegment[idx + 2] = static_cast<uint8_t>(tcData & 0xFF);
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}
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}
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// Backend buffer is handled back to PDEC3
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*(registerBaseAddress + PDEC_BFREE_OFFSET) = 0;
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return returnvalue::OK;
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}
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void PdecHandler::printTC(uint32_t tcLength) {
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std::stringstream tcSegmentStream;
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tcSegmentStream << "TC segment data: 0x";
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for (uint32_t idx = 0; idx < tcLength; idx++) {
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tcSegmentStream << std::setfill('0') << std::setw(2) << std::hex
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<< static_cast<unsigned int>(tcSegment[idx]);
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}
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sif::info << tcSegmentStream.str() << std::endl;
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}
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uint8_t PdecHandler::calcMapAddrEntry(uint8_t moduleId) {
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uint8_t lutEntry = 0;
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uint8_t parity = getOddParity(moduleId | (1 << VALID_POSITION));
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lutEntry = (parity << PARITY_POSITION) | (1 << VALID_POSITION) | moduleId;
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return lutEntry;
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}
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uint8_t PdecHandler::getOddParity(uint8_t number) {
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uint8_t parityBit = 0;
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uint8_t countBits = 0;
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for (unsigned int idx = 0; idx < sizeof(number) * 8; idx++) {
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countBits += (number >> idx) & 0x1;
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}
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parityBit = ~(countBits & 0x1) & 0x1;
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return parityBit;
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}
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uint32_t PdecHandler::getClcw() { return *(registerBaseAddress + PDEC_CLCW_OFFSET); }
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uint32_t PdecHandler::getPdecMon() { return *(registerBaseAddress + PDEC_MON_OFFSET); }
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void PdecHandler::printClcw() {
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uint32_t clcw = getClcw();
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uint8_t type = static_cast<uint8_t>((clcw >> 31) & 0x1);
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uint8_t versionNo = static_cast<uint8_t>((clcw >> 29) & 0x3);
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uint8_t status = static_cast<uint8_t>((clcw >> 26) & 0x7);
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uint8_t cop = static_cast<uint8_t>((clcw >> 24) & 0x3);
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uint8_t vcId = static_cast<uint8_t>((clcw >> 18) & 0x3F);
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uint8_t noRf = static_cast<uint8_t>((clcw >> 15) & 0x1);
|
|
uint8_t noBitLock = static_cast<uint8_t>((clcw >> 14) & 0x1);
|
|
uint8_t lockoutFlag = static_cast<uint8_t>((clcw >> 13) & 0x1);
|
|
uint8_t waitFlag = static_cast<uint8_t>((clcw >> 12) & 0x1);
|
|
uint8_t retransmitFlag = static_cast<uint8_t>((clcw >> 11) & 0x1);
|
|
uint8_t farmBcnt = static_cast<uint8_t>((clcw >> 9) & 0x3);
|
|
// Expected frame sequence number in te next AD frame
|
|
uint8_t repValue = static_cast<uint8_t>(clcw & 0xFF);
|
|
sif::info << std::setw(30) << std::left << "CLCW type: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(type) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW version no: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(versionNo) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW status: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(status) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW COP: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(cop) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW virtual channel ID: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(vcId) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW no RF: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(noRf) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW no bit lock: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(noBitLock) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW lockout flag: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(lockoutFlag) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW wait flag: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(waitFlag) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW retransmit flag: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(retransmitFlag) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW FARM B count: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(farmBcnt) << std::endl;
|
|
sif::info << std::setw(30) << std::left << "CLCW rep value: " << std::hex << "0x"
|
|
<< static_cast<unsigned int>(repValue) << std::endl;
|
|
}
|
|
|
|
void PdecHandler::printPdecMon() {
|
|
uint32_t pdecMon = getPdecMon();
|
|
uint32_t tc0ChannelStatus = (pdecMon & TC0_STATUS_MASK) >> TC0_STATUS_POS;
|
|
uint32_t tc1ChannelStatus = (pdecMon & TC1_STATUS_MASK) >> TC1_STATUS_POS;
|
|
uint32_t tc2ChannelStatus = (pdecMon & TC2_STATUS_MASK) >> TC2_STATUS_POS;
|
|
uint32_t tc3ChannelStatus = (pdecMon & TC3_STATUS_MASK) >> TC3_STATUS_POS;
|
|
uint32_t tc4ChannelStatus = (pdecMon & TC4_STATUS_MASK) >> TC4_STATUS_POS;
|
|
uint32_t tc5ChannelStatus = (pdecMon & TC5_STATUS_MASK) >> TC5_STATUS_POS;
|
|
uint32_t lock = (pdecMon & LOCK_MASK) >> LOCK_POS;
|
|
sif::info << std::setw(30) << std::left << "TC0 status: " << getMonStatusString(tc0ChannelStatus)
|
|
<< std::endl;
|
|
sif::info << std::setw(30) << std::left << "TC1 status: " << getMonStatusString(tc1ChannelStatus)
|
|
<< std::endl;
|
|
sif::info << std::setw(30) << std::left << "TC2 status: " << getMonStatusString(tc2ChannelStatus)
|
|
<< std::endl;
|
|
sif::info << std::setw(30) << std::left << "TC3 status: " << getMonStatusString(tc3ChannelStatus)
|
|
<< std::endl;
|
|
sif::info << std::setw(30) << std::left << "TC4 status: " << getMonStatusString(tc4ChannelStatus)
|
|
<< std::endl;
|
|
sif::info << std::setw(30) << std::left << "TC5 status: " << getMonStatusString(tc5ChannelStatus)
|
|
<< std::endl;
|
|
sif::info << std::setw(30) << std::left << "Start sequence lock: " << lock << std::endl;
|
|
}
|
|
|
|
std::string PdecHandler::getMonStatusString(uint32_t status) {
|
|
switch (status) {
|
|
case TC_CHANNEL_INACTIVE:
|
|
return std::string("inactive");
|
|
case TC_CHANNEL_ACTIVE:
|
|
return std::string("active");
|
|
case TC_CHANNEL_TIMEDOUT:
|
|
return std::string("timed out");
|
|
default:
|
|
sif::warning << "PdecHandler::getMonStatusString: Invalid status" << std::endl;
|
|
return std::string();
|
|
break;
|
|
}
|
|
}
|
|
|
|
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;
|
|
case PRINT_PDEC_MON:
|
|
printPdecMon();
|
|
return EXECUTION_FINISHED;
|
|
default:
|
|
return COMMAND_NOT_IMPLEMENTED;
|
|
}
|
|
}
|