Robin Mueller
45054cc863
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
320 lines
9.9 KiB
C++
320 lines
9.9 KiB
C++
#include "CcsdsIpCoreHandler.h"
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#include <fsfw/subsystem/helper.h>
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#include <linux/ipcore/PtmeConfig.h>
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#include <mission/config/comCfg.h>
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#include <unistd.h>
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#include "eive/definitions.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serialize/SerializeAdapter.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
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#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
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CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
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PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
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GpioIF* gpioIF, PtmeGpios gpioIds)
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: SystemObject(objectId),
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linkState(linkState),
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tcDestination(tcDestination),
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parameterHelper(this),
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actionHelper(this, nullptr),
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modeHelper(this),
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ptmeConfig(ptmeConfig),
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ptmeGpios(gpioIds),
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gpioIF(gpioIF) {
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commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
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auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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CcsdsIpCoreHandler::~CcsdsIpCoreHandler() = default;
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ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
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readCommandQueue();
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return returnvalue::OK;
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}
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ReturnValue_t CcsdsIpCoreHandler::initialize() {
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AcceptsTelecommandsIF* tcDistributor =
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ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
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if (tcDistributor == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "CcsdsHandler::initialize: Invalid TC Distributor object" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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tcDistributorQueueId = tcDistributor->getRequestQueue();
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ReturnValue_t result = parameterHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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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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result = modeHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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result = ptmeConfig.initialize();
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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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// This also pulls the PTME out of reset state.
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if (batPriorityParam == 0) {
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disablePrioritySelectMode();
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} else {
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enablePrioritySelectMode();
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}
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#if OBSW_SYRLINKS_SIMULATED == 1
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// Update data on rising edge
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ptmeConfig.invertTxClock(false);
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linkState = LINK_UP;
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#endif /* OBSW_SYRLINKS_SIMULATED == 1*/
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return result;
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}
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void CcsdsIpCoreHandler::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 = parameterHelper.handleParameterMessage(&commandMessage);
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if (result == returnvalue::OK) {
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return;
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}
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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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result = modeHelper.handleModeCommand(&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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MessageQueueId_t CcsdsIpCoreHandler::getCommandQueue() const { return commandQueue->getId(); }
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ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
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ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues,
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uint16_t startAtIndex) {
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if ((domainId == 0) and (uniqueIdentifier == ParamId::BAT_PRIORITY)) {
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uint8_t newVal = 0;
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ReturnValue_t result = newValues->getElement(&newVal);
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if (result != returnvalue::OK) {
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return result;
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}
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if (newVal > 1) {
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return HasParametersIF::INVALID_VALUE;
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}
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parameterWrapper->set(batPriorityParam);
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if (mode == MODE_ON) {
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updateBatPriorityOnTxOff = true;
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} else if (mode == MODE_OFF) {
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updateBatPriorityFromParam();
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}
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return returnvalue::OK;
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}
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return HasParametersIF::INVALID_IDENTIFIER_ID;
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}
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uint32_t CcsdsIpCoreHandler::getIdentifier() const { return 0; }
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MessageQueueId_t CcsdsIpCoreHandler::getRequestQueue() const {
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// Forward packets directly to the CCSDS TC distributor
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return tcDistributorQueueId;
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}
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ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result = returnvalue::OK;
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switch (actionId) {
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case SET_LOW_RATE: {
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submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
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result = ptmeConfig.setRate(RATE_100KBPS);
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break;
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}
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case SET_HIGH_RATE: {
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submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
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result = ptmeConfig.setRate(RATE_500KBPS);
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break;
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}
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case ARBITRARY_RATE: {
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uint32_t bitrate = 0;
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SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
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result = ptmeConfig.setRate(bitrate);
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break;
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}
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case EN_TRANSMITTER: {
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enableTransmit();
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if (mode == HasModesIF::MODE_OFF) {
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mode = HasModesIF::MODE_ON;
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}
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return EXECUTION_FINISHED;
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}
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case DISABLE_TRANSMITTER: {
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disableTransmit();
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if (mode == HasModesIF::MODE_ON) {
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mode = HasModesIF::MODE_OFF;
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}
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return EXECUTION_FINISHED;
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}
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case ENABLE_TX_CLK_MANIPULATOR: {
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result = ptmeConfig.configTxManipulator(true);
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break;
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}
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case DISABLE_TX_CLK_MANIPULATOR: {
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result = ptmeConfig.configTxManipulator(false);
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break;
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}
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case UPDATE_ON_RISING_EDGE: {
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result = ptmeConfig.invertTxClock(false);
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break;
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}
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case UPDATE_ON_FALLING_EDGE: {
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result = ptmeConfig.invertTxClock(true);
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break;
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}
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default:
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return COMMAND_NOT_IMPLEMENTED;
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}
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if (result != returnvalue::OK) {
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return result;
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}
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return EXECUTION_FINISHED;
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}
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void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
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void CcsdsIpCoreHandler::enableTransmit() {
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// Reset PTME on each transmit enable.
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updateBatPriorityFromParam();
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#ifndef TE0720_1CFA
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gpioIF->pullHigh(ptmeGpios.enableTxClock);
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gpioIF->pullHigh(ptmeGpios.enableTxData);
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#endif
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linkState = LINK_UP;
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}
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void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
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*mode = this->mode;
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*submode = this->submode;
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}
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ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) {
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if (mode == HasModesIF::MODE_ON) {
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if (submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
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submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
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submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
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return HasModesIF::INVALID_SUBMODE;
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}
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} else if (mode != HasModesIF::MODE_OFF) {
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return returnvalue::FAILED;
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}
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*msToReachTheMode = 2000;
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return returnvalue::OK;
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}
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void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
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auto rateSet = [&](uint32_t rate) {
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ReturnValue_t result = ptmeConfig.setRate(rate);
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if (result == returnvalue::OK) {
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this->mode = HasModesIF::MODE_ON;
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}
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};
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if (mode == HasModesIF::MODE_ON) {
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enableTransmit();
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if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
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com::Datarate currentDatarate = com::getCurrentDatarate();
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if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
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rateSet(RATE_100KBPS);
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} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
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rateSet(RATE_500KBPS);
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}
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} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
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rateSet(RATE_500KBPS);
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} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
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rateSet(RATE_100KBPS);
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}
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} else if (mode == HasModesIF::MODE_OFF) {
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disableTransmit();
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this->mode = HasModesIF::MODE_OFF;
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}
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this->submode = submode;
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modeHelper.modeChanged(mode, submode);
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announceMode(false);
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}
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void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
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void CcsdsIpCoreHandler::disableTransmit() {
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#ifndef TE0720_1CFA
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gpioIF->pullLow(ptmeGpios.enableTxClock);
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gpioIF->pullLow(ptmeGpios.enableTxData);
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#endif
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linkState = LINK_DOWN;
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if (updateBatPriorityOnTxOff) {
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updateBatPriorityFromParam();
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updateBatPriorityOnTxOff = false;
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}
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}
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const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
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const HasHealthIF* CcsdsIpCoreHandler::getOptHealthIF() const { return nullptr; }
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const HasModesIF& CcsdsIpCoreHandler::getModeIF() const { return *this; }
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ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
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return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
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}
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ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
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object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
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void CcsdsIpCoreHandler::enablePrioritySelectMode() {
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ptmeConfig.enableBatPriorityBit(true);
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// Reset the PTME
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gpioIF->pullLow(ptmeGpios.ptmeResetn);
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usleep(10);
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gpioIF->pullHigh(ptmeGpios.ptmeResetn);
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}
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void CcsdsIpCoreHandler::disablePrioritySelectMode() {
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ptmeConfig.enableBatPriorityBit(false);
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// Reset the PTME
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gpioIF->pullLow(ptmeGpios.ptmeResetn);
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usleep(10);
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gpioIF->pullHigh(ptmeGpios.ptmeResetn);
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}
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void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
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if (batPriorityParam == 0) {
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disablePrioritySelectMode();
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} else {
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enablePrioritySelectMode();
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}
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}
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