meierj
70450041e6
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193 lines
6.9 KiB
C++
193 lines
6.9 KiB
C++
#ifndef CCSDSHANDLER_H_
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#define CCSDSHANDLER_H_
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#include <unordered_map>
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#include "OBSWConfig.h"
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#include "VirtualChannel.h"
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#include "fsfw/action/ActionHelper.h"
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#include "fsfw/action/HasActionsIF.h"
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#include "fsfw/events/EventMessage.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/parameters/ParameterHelper.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/timemanager/Countdown.h"
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#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
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#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
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#include "fsfw_hal/common/gpio/GpioIF.h"
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#include "fsfw_hal/common/gpio/gpioDefinitions.h"
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#include "fsfw/action/CommandsActionsIF.h"
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#include "linux/obc/PtmeConfig.h"
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/**
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* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
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* programmable logic of the Q7S.
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*
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* @details After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
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* of 200 kbps due to convolutional code added by syrlinks transceiver)
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*
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* @author J. Meier
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*/
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class CCSDSHandler : public SystemObject,
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public ExecutableObjectIF,
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public AcceptsTelemetryIF,
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public AcceptsTelecommandsIF,
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public HasReturnvaluesIF,
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public ReceivesParameterMessagesIF,
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public HasActionsIF,
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public CommandsActionsIF {
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public:
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using VcId_t = uint8_t;
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/**
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* @brief Constructor
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*
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* @param objectId Object ID of the CCSDS handler
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* @param ptmeId Object ID of the PTME object providing access to the PTME IP Core.
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* @param tcDestination Object ID of object handling received TC space packets
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* @param txRateSetter Object providing the functionality to switch the input bitrate of
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* the S-Band transceiver.
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* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
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* @param enTxClock GPIO ID of RS485 tx clock enable
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* @param enTxData GPIO ID of RS485 tx data enable
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*/
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CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
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PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
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uint32_t transmitterTimeout = 900000);
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~CCSDSHandler();
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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ReturnValue_t initialize();
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MessageQueueId_t getCommandQueue() const;
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/**
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* @brief Function to add a virtual channel
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*
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* @param virtualChannelId ID of the virtual channel to add
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* @param virtualChannel Pointer to virtual channel object
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*/
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void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
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MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
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ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
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ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
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uint16_t startAtIndex);
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uint16_t getIdentifier() override;
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MessageQueueId_t getRequestQueue() override;
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virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size);
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MessageQueueIF* getCommandQueuePtr() override;
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void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
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void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
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void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
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void completionSuccessfulReceived(ActionId_t actionId) override;
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void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
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//! [EXPORT] : [COMMENT] Syrlinks transmitter is enabled
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static const Event TRANSMITTER_ENABLED = MAKE_EVENT(1, severity::LOW);
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static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
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static const ActionId_t SET_LOW_RATE = 0;
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static const ActionId_t SET_HIGH_RATE = 1;
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static const ActionId_t EN_TRANSMITTER = 2;
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static const ActionId_t DISABLE_TRANSMITTER = 3;
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static const ActionId_t ARBITRARY_RATE = 4;
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static const ActionId_t ENABLE_TX_CLK_MANIPULATOR = 5;
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static const ActionId_t DISABLE_TX_CLK_MANIPULATOR = 6;
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// Will update data with respect to tx clock signal of cadu bitstream on rising edge
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static const ActionId_t UPDATE_ON_RISING_EDGE = 7;
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// Will update data with respect to tx clock signal of cadu bitstream on falling edge
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static const ActionId_t UPDATE_ON_FALLING_EDGE = 8;
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// Syrlinks supports two bitrates (200 kbps and 1000 kbps)
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// Due to convolutional code added by the syrlinks the input frequency must be half the
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// target frequency
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static const uint32_t RATE_100KBPS = 100000;
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static const uint32_t RATE_500KBPS = 500000;
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//! [EXPORT] : [COMMENT] Received action message with unknown action id
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static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
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static const bool UP = true;
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static const bool DOWN = false;
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using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
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using VirtualChannelMapIter = VirtualChannelMap::iterator;
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VirtualChannelMap virtualChannelMap;
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// Object ID of PTME object
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object_id_t ptmeId;
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object_id_t tcDestination;
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MessageQueueIF* commandQueue = nullptr;
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MessageQueueIF* eventQueue = nullptr;
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ParameterHelper parameterHelper;
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ActionHelper actionHelper;
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MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
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PtmeConfig* ptmeConfig = nullptr;
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GpioIF* gpioIF = nullptr;
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gpioId_t enTxClock = gpio::NO_GPIO;
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gpioId_t enTxData = gpio::NO_GPIO;
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// Syrlinks must not be transmitting more than 15 minutes (according to datasheet)
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// Value initialized by constructor argument
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const uint32_t transmitterTimeout = 0;
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// Countdown to disable transmitter after 15 minutes
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Countdown transmitterCountdown;
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// When true transmitting is started as soon as carrier lock has been detected
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bool enableTxWhenCarrierLock = false;
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bool linkState = DOWN;
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void readCommandQueue(void);
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void handleTelemetry();
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void handleTelecommands();
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void checkEvents();
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void handleEvent(EventMessage* eventMessage);
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void handleBitLockEvent();
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void handleCarrierLockEvent();
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/**
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* @brief Forward link state to virtual channels.
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*/
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void forwardLinkstate();
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/**
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* @brief Starts transmit timer and enables transmitter.
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*/
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void enableTransmit();
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/**
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* @brief Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
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* timer has expired.
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*/
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void checkTxTimer();
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/**
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* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
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* RS485 transceiver chips to high.
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*/
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void disableTransmit();
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};
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#endif /* CCSDSHANDLER_H_ */
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