Merge remote-tracking branch 'upstream/master' into mueller/tm-stack-robustness-cherry-picked

src/fsfw/tmtcpacket/pus/definitions.h

@@ -0,0 +1,16 @@
+#ifndef FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace pus {
+
+//! Version numbers according to ECSS-E-ST-70-41C p.439
+enum PusVersion: uint8_t {
+    PUS_A_VERSION = 1,
+    PUS_C_VERSION = 2
+};
+
+}
+
+#endif /* FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_ */

src/fsfw/tmtcpacket/pus/tc/TcPacketPus.cpp

@@ -1,4 +1,4 @@
-#include "fsfw/tmtcpacket/pus/tc/TcPacketPus.h"
+#include "TcPacketPus.h"
 #include "fsfw/globalfunctions/CRC.h"
 
 #include <cstring>
@@ -8,14 +8,13 @@ TcPacketPus::TcPacketPus(const uint8_t *setData): TcPacketBase(setData) {
 }
 
 void TcPacketPus::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
-        uint8_t ack, uint8_t service, uint8_t subservice, uint16_t sourceId) {
+        uint8_t ack, uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
+        uint16_t sourceId) {
     initSpacePacketHeader(true, true, apid, sequenceCount);
     std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
     setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
-    // Data Field Header:
+    // Data Field Header. For PUS A, the first bit (CCSDS Secondary Header Flag) is zero
-    // Set CCSDS_secondary_header_flag to 0 and version number to 001
+    tcData->dataField.versionTypeAck = pusVersion << 4 | (ack & 0x0F);
-    tcData->dataField.versionTypeAck = 0b00010000;
-    tcData->dataField.versionTypeAck |= (ack & 0x0F);
     tcData->dataField.serviceType = service;
     tcData->dataField.serviceSubtype = subservice;
 #if FSFW_USE_PUS_C_TELECOMMANDS == 1

src/fsfw/tmtcpacket/pus/tc/TcPacketPus.h

@@ -2,6 +2,7 @@
 #define FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
 
 #include "fsfw/FSFW.h"
+#include "../definitions.h"
 #include "fsfw/tmtcpacket/ccsds_header.h"
 #include "TcPacketBase.h"
 
@@ -75,7 +76,8 @@ protected:
      * @param subservice PUS Subservice
      */
     void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
-            uint8_t service, uint8_t subservice, uint16_t sourceId = 0);
+            uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
+            uint16_t sourceId = 0);
 
     /**
      * A pointer to a structure which defines the data structure of

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredPus.cpp

@@ -23,7 +23,12 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid,  uint8_t service,
         return;
     }
     this->setData(pData);
-    initializeTcPacket(apid, sequenceCount, ack, service, subservice);
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+    pus::PusVersion pusVersion = pus::PusVersion::PUS_C_VERSION;
+#else
+    pus::PusVersion pusVersion = pus::PusVersion::PUS_A_VERSION;
+#endif
+    initializeTcPacket(apid, sequenceCount, ack, service, subservice, pusVersion);
     std::memcpy(&tcData->appData, data, size);
     this->setPacketDataLength(
             size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);

src/fsfw/tmtcpacket/pus/tm/TmPacketBase.h

@@ -31,8 +31,6 @@ public:
     //! Maximum size of a TM Packet in this mission.
     //! TODO: Make this dependant on a config variable.
     static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
-    //! First four bits of first byte of secondary header
-    static const uint8_t VERSION_NUMBER_BYTE = 0b00010000;
 
     /**
      * This is the default constructor.

src/fsfw/tmtcpacket/pus/tm/TmPacketPusA.cpp

@@ -1,5 +1,6 @@
-#include "fsfw/tmtcpacket/pus/tm/TmPacketPusA.h"
+#include "../definitions.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
+#include "TmPacketPusA.h"
+#include "TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -62,12 +63,7 @@ void TmPacketPusA::initializeTmPacket(uint16_t apid, uint8_t service,
     //First, set to zero.
     memset(&tmData->data_field, 0, sizeof(tmData->data_field));
 
-    // NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
+    tmData->data_field.version_type_ack = pus::PusVersion::PUS_A_VERSION << 4;
-    // The other 4 bits of the first byte are the spacecraft time reference
-    // status. To change to PUS-C, set 0b00100000.
-    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
-    // to 0000
-    tmData->data_field.version_type_ack = 0b00010000;
     tmData->data_field.service_type = service;
     tmData->data_field.service_subtype = subservice;
     tmData->data_field.subcounter = packetSubcounter;

src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.cpp

@@ -1,5 +1,6 @@
-#include "fsfw/tmtcpacket/pus/tm/TmPacketPusC.h"
+#include "../definitions.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
+#include "TmPacketPusC.h"
+#include "TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -67,7 +68,8 @@ ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
 
     /* Only account for last 4 bytes for time reference field */
     timeRefField &= 0b1111;
-    tmData->dataField.versionTimeReferenceField = VERSION_NUMBER_BYTE | timeRefField;
+    tmData->dataField.versionTimeReferenceField =
+            (pus::PusVersion::PUS_C_VERSION << 4) | timeRefField;
     tmData->dataField.serviceType = service;
     tmData->dataField.serviceSubtype = subservice;
     tmData->dataField.subcounterMsb = packetSubcounter << 8 & 0xff;

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusA.cpp

@@ -30,8 +30,7 @@ TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
     initializeTmPacket(apid, service, subservice, packetSubcounter);
     memcpy(getSourceData(), headerData, headerSize);
     memcpy(getSourceData() + headerSize, data, size);
-    setPacketDataLength(
+    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
-            size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusC.cpp

@@ -31,8 +31,7 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
     initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
     memcpy(getSourceData(), headerData, headerSize);
     memcpy(getSourceData() + headerSize, data, size);
-    setPacketDataLength(
+    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
-            size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,