182 lines
6.7 KiB
C++
182 lines
6.7 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 <cstdint>
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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 "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/comDefs.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 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 AcceptsTelemetryIF,
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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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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, PtmeIF& ptme,
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PtmeConfig& ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
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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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/**
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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) const 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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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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PtmeIF& ptme;
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VirtualChannelMap virtualChannelMap;
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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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GpioIF* gpioIF = nullptr;
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// GPIO to enable RS485 transceiver for TX clock
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gpioId_t enTxClock = gpio::NO_GPIO;
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// GPIO to enable RS485 transceiver for TX data signal
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gpioId_t enTxData = gpio::NO_GPIO;
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bool linkState = DOWN;
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void readCommandQueue(void);
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void handleTelemetry();
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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 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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