tc_handler.c
319 lines
| 12.8 KiB
| text/x-c
|
CLexer
/ src / tc_handler.c
paul@pc-solar1.lab-lpp.local
|
r5 | #include <tc_handler.h> | ||
#include <fsw_params.h> | ||||
char *errorCCSDSMsg[8] = { "ILLEGAL_APID 0", | ||||
"WRONG_LEN_PACKET 1", | ||||
"INCOR_CHECKSUM 2", | ||||
"ILL_TYPE 3", | ||||
"ILL_SUBTYPE 4", | ||||
"WRONG_APP_DATA 5", | ||||
"WRONG_CMD_CODE 6", | ||||
"CCSDS_TM_VALID 7" | ||||
}; | ||||
unsigned int Crc_opt( unsigned char D, unsigned int Chk) | ||||
{ | ||||
return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]); | ||||
} | ||||
void InitLookUpTableForCRC() | ||||
{ | ||||
unsigned int i, tmp; | ||||
for (i=0; i<256; i++) | ||||
{ | ||||
tmp = 0; | ||||
if((i & 1) != 0) tmp = tmp ^ 0x1021; | ||||
if((i & 2) != 0) tmp = tmp ^ 0x2042; | ||||
if((i & 4) != 0) tmp = tmp ^ 0x4084; | ||||
if((i & 8) != 0) tmp = tmp ^ 0x8108; | ||||
if((i & 16) != 0) tmp = tmp ^ 0x1231; | ||||
if((i & 32) != 0) tmp = tmp ^ 0x2462; | ||||
if((i & 64) != 0) tmp = tmp ^ 0x48c4; | ||||
if((i & 128) != 0) tmp = tmp ^ 0x9188; | ||||
lookUpTableForCRC[i] = tmp; | ||||
} | ||||
} | ||||
void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData) | ||||
{ | ||||
unsigned int Chk; | ||||
int j; | ||||
Chk = 0xffff; // reset the syndrom to all ones | ||||
for (j=0; j<sizeOfData; j++) { | ||||
Chk = Crc_opt(data[j], Chk); | ||||
} | ||||
crcAsTwoBytes[0] = (unsigned char) (Chk >> 8); | ||||
crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff); | ||||
} | ||||
unsigned int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV, | ||||
TMHeader_t *TM_Header, unsigned int *hlen, char *data) | ||||
{ | ||||
unsigned int code = 0; | ||||
unsigned int data_length = 0; | ||||
unsigned char computed_CRC[2]; | ||||
unsigned char subtype = 0; | ||||
subtype = TC->dataFieldHeader[2]; | ||||
GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, TC_LEN_RCV + 5 ); | ||||
code = acceptTM( TC, TC_LEN_RCV ) ; | ||||
//PRINTF1("in TC_checker *** %s\n", errorCCSDSMsg[code]); | ||||
if ( (code == 0) | (code == 1) | (code == 2) | ||||
| (code == 3) | (code == 4) | (code == 5) ) | ||||
{ // generate TM_LFR_TC_EXE_CORRUPTED | ||||
// BUILD HEADER | ||||
TM_build_header( TM_LFR_TC_EXE_ERR, SID_EXE_CORR, TM_LEN_EXE_CORR, 0, 0, TM_Header); | ||||
// BUILD DATA | ||||
TM_build_data( TC, data, SID_EXE_CORR, computed_CRC); | ||||
data_length = TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN; | ||||
} | ||||
if (subtype == SID_TC_UPDT_TIME){ | ||||
// BUILD HEADER | ||||
TM_build_header( TM_LFR_TC_EXE_OK, SID_DEFAULT, TM_LEN_EXE, 0, 0, TM_Header); | ||||
// BUILD DATA | ||||
TM_build_data( TC, data, SID_DEFAULT, computed_CRC); | ||||
data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN; | ||||
} | ||||
else { // TM_LFR_TC_EXE_NOT_IMPLEMENTED | ||||
// BUILD HEADER | ||||
TM_build_header( TM_LFR_TC_EXE_ERR, SID_NOT_IMP, TM_LEN_NOT_IMP, 0, 0, TM_Header); | ||||
// BUILD DATA | ||||
TM_build_data( TC, data, SID_NOT_IMP, computed_CRC); | ||||
data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN; | ||||
} | ||||
return data_length; | ||||
} | ||||
unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV) | ||||
{ | ||||
unsigned char pid = 0; | ||||
unsigned char category = 0; | ||||
unsigned int length = 0; | ||||
unsigned char packetType = 0; | ||||
unsigned char packetSubtype = 0; | ||||
unsigned char * CCSDSContent; | ||||
// APID check *** APID on 2 bytes | ||||
pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx | ||||
category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210 | ||||
if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID; | ||||
if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID; | ||||
// packet length check | ||||
length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1]; | ||||
if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD | ||||
if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size | ||||
packetType = TMPacket->dataFieldHeader[1]; | ||||
packetSubtype = TMPacket->dataFieldHeader[2]; | ||||
// service type, subtype and packet length check | ||||
if (packetType == 181){ | ||||
switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61 | ||||
case 3: | ||||
if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 20: | ||||
if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 21: | ||||
if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 24: | ||||
if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 27: | ||||
if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 28: | ||||
if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 30: | ||||
if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 40: | ||||
if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 50: | ||||
if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 60: | ||||
if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
case 61: | ||||
if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
break; | ||||
default: | ||||
return ILL_SUBTYPE; | ||||
break; | ||||
} | ||||
} | ||||
else if (packetType == 9){ | ||||
if (packetSubtype!=129) return ILL_SUBTYPE; | ||||
if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; | ||||
} | ||||
else return ILL_TYPE; | ||||
// source ID check // Source ID not documented in the ICD | ||||
// packet error control, CRC check | ||||
CCSDSContent = (unsigned char*) TMPacket->packetID; | ||||
GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC | ||||
if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM; | ||||
if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM; | ||||
return CCSDS_TM_VALID; | ||||
} | ||||
unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int SID, unsigned int packetLength, | ||||
unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader) | ||||
{ | ||||
TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID; | ||||
TMHeader->protocolIdentifier = 0x02; | ||||
TMHeader->reserved = 0x00; | ||||
TMHeader->userApplication = 0x00; | ||||
TMHeader->packetID[0] = 0x0c; | ||||
TMHeader->packetSequenceControl[0] = 0xc0; | ||||
TMHeader->packetSequenceControl[1] = 0x00; | ||||
TMHeader->packetLength[0] = (unsigned char) (packetLength>>8); | ||||
TMHeader->packetLength[1] = (unsigned char) packetLength; | ||||
TMHeader->dataFieldHeader[0] = 0x10; | ||||
TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID; | ||||
switch (tm_type){ | ||||
case(TM_LFR_TC_EXE_OK): | ||||
TMHeader->packetID[1] = 0xc1; | ||||
TMHeader->dataFieldHeader[1] = 1; // type | ||||
TMHeader->dataFieldHeader[2] = 7; // subtype | ||||
break; | ||||
case(TM_LFR_TC_EXE_ERR): | ||||
TMHeader->packetID[1] = 0xc1; | ||||
TMHeader->dataFieldHeader[1] = 1; // type | ||||
TMHeader->dataFieldHeader[2] = 8; // subtype | ||||
break; | ||||
case(TM_LFR_HK): | ||||
TMHeader->packetID[1] = 0xc4; | ||||
TMHeader->dataFieldHeader[1] = 3; // type | ||||
TMHeader->dataFieldHeader[2] = 25; // subtype | ||||
break; | ||||
case(TM_LFR_SCI): | ||||
TMHeader->packetID[1] = 0xcc; | ||||
TMHeader->dataFieldHeader[1] = 21; // type | ||||
TMHeader->dataFieldHeader[2] = 3; // subtype | ||||
break; | ||||
case(TM_LFR_SCI_SBM): | ||||
TMHeader->packetID[1] = 0xfc; | ||||
TMHeader->dataFieldHeader[1] = 21; // type | ||||
TMHeader->dataFieldHeader[2] = 3; // subtype | ||||
break; | ||||
case(TM_LFR_PAR_DUMP): | ||||
TMHeader->packetID[1] = 0xc9; | ||||
TMHeader->dataFieldHeader[1] = 181; // type | ||||
TMHeader->dataFieldHeader[2] = 31; // subtype | ||||
break; | ||||
default: | ||||
return 0; | ||||
} | ||||
/*TMHeader->dataFieldHeader[4] = (unsigned char) (coarseTime>>24); | ||||
TMHeader->dataFieldHeader[5] = (unsigned char) (coarseTime>>16); | ||||
TMHeader->dataFieldHeader[6] = (unsigned char) (coarseTime>>8); | ||||
TMHeader->dataFieldHeader[7] = (unsigned char) (coarseTime); | ||||
TMHeader->dataFieldHeader[8] = (unsigned char) (fineTime>>8); | ||||
TMHeader->dataFieldHeader[9] = (unsigned char) (fineTime);*/ | ||||
TMHeader->dataFieldHeader[4] = 0xaa; | ||||
TMHeader->dataFieldHeader[5] = 0xbb; | ||||
TMHeader->dataFieldHeader[6] = 0xcc; | ||||
TMHeader->dataFieldHeader[7] = 0xdd; | ||||
TMHeader->dataFieldHeader[8] = 0xee; | ||||
TMHeader->dataFieldHeader[9] = 0xff; | ||||
return 1; | ||||
} | ||||
unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC) | ||||
{ | ||||
unsigned int packetLength; | ||||
packetLength = TC->packetLength[0] * 256 + TC->packetLength[1]; | ||||
switch (SID){ | ||||
case (SID_NOT_EXE): | ||||
break; | ||||
case (SID_NOT_IMP): | ||||
data[0] = 0x9c; | ||||
data[1] = 0x42; | ||||
data[2] = TC->packetID[0]; | ||||
data[3] = TC->packetID[1]; | ||||
data[4] = TC->packetSequenceControl[0]; | ||||
data[5] = TC->packetSequenceControl[1]; | ||||
data[6] = TC->dataFieldHeader[1]; // type | ||||
data[7] = TC->dataFieldHeader[2]; // subtype | ||||
break; | ||||
case (SID_EXE_ERR): | ||||
break; | ||||
case (SID_EXE_CORR): | ||||
data[0] = 0x9c; | ||||
data[1] = 0x45; | ||||
data[2] = TC->packetID[0]; | ||||
data[3] = TC->packetID[1]; | ||||
data[4] = TC->packetSequenceControl[0]; | ||||
data[5] = TC->packetSequenceControl[1]; | ||||
data[6] = TC->dataFieldHeader[1]; // type | ||||
data[7] = TC->dataFieldHeader[2]; // subtype | ||||
data[8] = currentTC_LEN_RCV[0]; | ||||
data[9] = currentTC_LEN_RCV[1]; | ||||
data[10] = TC->packetLength[0]; | ||||
data[11] = TC->packetLength[1]; | ||||
data[12] = TC->dataAndCRC[packetLength]; | ||||
data[13] = TC->dataAndCRC[packetLength+1]; | ||||
data[14] = computed_CRC[0]; | ||||
data[15] = computed_CRC[1]; | ||||
break; | ||||
default: | ||||
return 0; | ||||
} | ||||
return 1; | ||||
} | ||||
rtems_task spw_recv_task( rtems_task_argument unused ) | ||||
{ | ||||
rtems_status_code status; | ||||
int len = 0; | ||||
unsigned int i = 0; | ||||
unsigned int data_length = 0; | ||||
ccsdsTelecommandPacket_t currentTC; | ||||
spw_ioctl_pkt_send spw_ioctl_send; | ||||
TMHeader_t TM_header; | ||||
char data[100]; | ||||
for(i=0; i<100; i++) data[i] = 0; | ||||
PRINTF("In RECV *** \n") | ||||
while(1){ | ||||
len = read(fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking | ||||
if (len == -1){ // error during the read call | ||||
PRINTF("In RECV *** last read call returned -1\n") | ||||
if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) | ||||
PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n") | ||||
if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) | ||||
PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n") | ||||
} | ||||
else { | ||||
//PRINTF1("In RECV *** Got Message of length %d\n", len) | ||||
currentTC_LEN_RCV[0] = 0x00; | ||||
currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // build the corresponding packet size field | ||||
currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes | ||||
// CHECK THE TC AND BUILD THE APPROPRIATE TM | ||||
data_length = TC_checker(¤tTC, currentTC_LEN_RCV_AsUnsignedInt, | ||||
&TM_header, &spw_ioctl_send.hlen, data); | ||||
spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header | ||||
spw_ioctl_send.hdr = (char*) &TM_header; | ||||
spw_ioctl_send.dlen = data_length; | ||||
spw_ioctl_send.data = data; | ||||
//printf("hlen %d, dlen %d\n", spw_ioctl_send.hlen, spw_ioctl_send.dlen); | ||||
// SEND PACKET | ||||
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send ); | ||||
if (status!=RTEMS_SUCCESSFUL) printf("In TC_checker *** Error SPACEWIRE_IOCTRL_SEND\n"); | ||||
//PRINTF1("In TC_checker *** packet of size %d sent\n", spw_ioctl_send.sent) | ||||
} | ||||
} | ||||
} | ||||