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