Robin Mueller
028f94a2f7
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210 lines
7.9 KiB
C++
210 lines
7.9 KiB
C++
#ifndef CCSDSHANDLER_H_
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#define CCSDSHANDLER_H_
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#include <fsfw/modes/HasModesIF.h>
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#include <mission/com/VirtualChannelWithQueue.h>
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#include <cstdint>
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#include <unordered_map>
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#include "OBSWConfig.h"
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#include "eive/definitions.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/returnvalue.h"
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#include "fsfw/subsystem/ModeTreeConnectionIF.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 "linux/ipcore/PtmeConfig.h"
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#include "mission/com/defs.h"
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struct PtmeGpios {
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gpioId_t enableTxClock = gpio::NO_GPIO;
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gpioId_t enableTxData = gpio::NO_GPIO;
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gpioId_t ptmeResetn = gpio::NO_GPIO;
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};
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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
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* From a system view, OFF means that the transmitter is off, on means that the transmitter is on.
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* The handler will only take care of the IP configuration, the actual swithing and configuration
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* of the COM hardware (Syrlinks for the EIVE project) will be done in a separate device handler.
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*
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* 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). The IP core handler exposes
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* a parameter to enable the priority selection mode for the PTME core.
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*
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* If the transmitter is on, the selection mode will be enabled when the transmitter goes off.
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* If the transmitter is off, the update of the PTME will be done immediately on a parameter update.
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* This is done because changing this parameter requires a reset of the PTME core to avoid bugs
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* while the transmitter is enabled.
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*
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* @author J. Meier
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*/
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class CcsdsIpCoreHandler : public SystemObject,
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public ExecutableObjectIF,
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public ModeTreeChildIF,
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public ModeTreeConnectionIF,
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public HasModesIF,
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public AcceptsTelecommandsIF,
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public ReceivesParameterMessagesIF,
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public HasActionsIF {
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public:
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enum ParamId : uint8_t { BAT_PRIORITY = 0 };
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static const bool LINK_UP = true;
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static const bool LINK_DOWN = false;
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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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CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination, PtmeConfig& ptmeConfig,
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std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds,
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std::atomic_bool& ptmeLocked);
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~CcsdsIpCoreHandler();
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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 override;
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// ModesIF
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void getMode(Mode_t* mode, Submode_t* submode) override;
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override;
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void startTransition(Mode_t mode, Submode_t submode) override;
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void announceMode(bool recursive) override;
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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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uint32_t getIdentifier() const override;
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MessageQueueId_t getRequestQueue() const override;
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const char* getName() const 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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const HasHealthIF* getOptHealthIF() const override;
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const HasModesIF& getModeIF() const override;
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object_id_t getObjectId() const override;
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ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
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ModeTreeChildIF& getModeTreeChildIF() 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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static const uint32_t QUEUE_SIZE = config::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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std::atomic_bool& linkState;
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std::atomic_bool& ptmeLocked;
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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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Mode_t mode = HasModesIF::MODE_OFF;
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Submode_t submode = static_cast<Submode_t>(com::CcsdsSubmode::UNSET);
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ModeHelper modeHelper;
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MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
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PtmeConfig& ptmeConfig;
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PtmeGpios ptmeGpios;
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// BAT priority bit on by default to enable priority selection mode for the PTME.
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uint8_t batPriorityParam = 0;
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struct UpdateContext {
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bool updateBatPrio = false;
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bool updateClockRate = false;
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bool enableTransmitAfterPtmeUpdate = false;
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uint8_t ptmeUpdateCycleCount = 0;
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bool performPtmeUpdateAfterXCycles = false;
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bool setModeAfterUpdate = false;
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} updateContext{};
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GpioIF* gpioIF = nullptr;
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void readCommandQueue(void);
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/**
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* @brief Forward link state to virtual channels.
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*/
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void updateLinkState();
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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(bool resetPtmeUpdateParams);
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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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void performPtmeUpdateWhenApplicable();
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/**
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* The following set of functions configure the mode of the PTME bandwith allocation table (BAT)
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* module. This consists of the following 2 steps:
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* 1. Update the BAT priority bit in the PTME wrapper
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* 2. Reset the PTME as specified in the datasheet.
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*/
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void enablePrioritySelectMode();
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void disablePrioritySelectMode();
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void updateBatPriorityFromParam();
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void setMode(Mode_t mode, Submode_t submode);
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void resetPtme();
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void initPtmeUpdateAfterXCycles();
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void finishPtmeUpdateAfterXCycles(bool doResetPtme);
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};
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#endif /* CCSDSHANDLER_H_ */
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