Radio (LoRa) Integration

.codespell-ignore-words.txt

@@ -0,0 +1 @@
+comIn

.pre-commit-config.yaml

@@ -12,6 +12,7 @@ repos:
   rev: v2.4.1
   hooks:
     - id: codespell
+      args: [--ignore-words=.codespell-ignore-words.txt]
 
 - repo: https://github.com/pre-commit/mirrors-clang-format
   rev: v20.1.8

FprimeZephyrReference/CMakeLists.txt

@@ -1,6 +1,8 @@
 # This CMake file is intended to register project-wide objects.
 # This allows for reuse between deployments, or other projects.
 
+# Keep me first
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/project/config")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Components")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ComCcsdsUart/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/ReferenceDeployment/")

FprimeZephyrReference/ComCcsdsUart/CMakeLists.txt

@@ -0,0 +1,12 @@
+
+register_fprime_module(
+    EXCLUDE_FROM_ALL
+    AUTOCODER_INPUTS
+        "${CMAKE_CURRENT_LIST_DIR}/ComCcsds.fpp"
+    HEADERS
+        "${CMAKE_CURRENT_LIST_DIR}/SubtopologyTopologyDefs.hpp"
+        "${CMAKE_CURRENT_LIST_DIR}/PingEntries.hpp"
+    DEPENDS
+        Svc_Subtopologies_ComCcsds_ComCcsdsConfig
+    INTERFACE
+)

FprimeZephyrReference/ComCcsdsUart/ComCcsds.fpp

@@ -0,0 +1,203 @@
+module ComCcsdsUart {
+
+    # ComPacket Queue enum for queue types
+    enum Ports_ComPacketQueue {
+        EVENTS,
+        TELEMETRY
+    }
+
+    enum Ports_ComBufferQueue {
+        FILE
+    }
+
+    # ----------------------------------------------------------------------
+    # Active Components
+    # ----------------------------------------------------------------------
+    instance comQueue: Svc.ComQueue base id ComCcsdsConfig.BASE_ID_UART + 0x00000 \
+        queue size ComCcsdsConfig.QueueSizes.comQueue \
+        stack size ComCcsdsConfig.StackSizes.comQueue \
+        priority ComCcsdsConfig.Priorities.comQueue \
+    {
+        phase Fpp.ToCpp.Phases.configComponents """
+        using namespace ComCcsdsUart;
+        Svc::ComQueue::QueueConfigurationTable configurationTableUart;
+
+        // Events (highest-priority)
+        configurationTableUart.entries[Ports_ComPacketQueue::EVENTS].depth = ComCcsdsConfig::QueueDepths::events;
+        configurationTableUart.entries[Ports_ComPacketQueue::EVENTS].priority = ComCcsdsConfig::QueuePriorities::events;
+
+        // Telemetry
+        configurationTableUart.entries[Ports_ComPacketQueue::TELEMETRY].depth = ComCcsdsConfig::QueueDepths::tlm;
+        configurationTableUart.entries[Ports_ComPacketQueue::TELEMETRY].priority = ComCcsdsConfig::QueuePriorities::tlm;
+
+        // File Downlink Queue (buffer queue using NUM_CONSTANTS offset)
+        configurationTableUart.entries[Ports_ComPacketQueue::NUM_CONSTANTS + Ports_ComBufferQueue::FILE].depth = ComCcsdsConfig::QueueDepths::file;
+        configurationTableUart.entries[Ports_ComPacketQueue::NUM_CONSTANTS + Ports_ComBufferQueue::FILE].priority = ComCcsdsConfig::QueuePriorities::file;
+
+        // Allocation identifier is 0 as the MallocAllocator discards it
+        ComCcsdsUart::comQueue.configure(configurationTableUart, 0, ComCcsds::Allocation::memAllocator);
+        """
+        phase Fpp.ToCpp.Phases.tearDownComponents """
+        ComCcsdsUart::comQueue.cleanup();
+        """
+    }
+
+    instance aggregator: Svc.ComAggregator base id ComCcsdsConfig.BASE_ID_UART + 0x06000 \
+        queue size ComCcsdsConfig.QueueSizes.aggregator \
+        stack size ComCcsdsConfig.StackSizes.aggregator
+
+    # ----------------------------------------------------------------------
+    # Passive Components
+    # ----------------------------------------------------------------------
+    instance frameAccumulator: Svc.FrameAccumulator base id ComCcsdsConfig.BASE_ID_UART + 0x01000 \
+    {
+
+        phase Fpp.ToCpp.Phases.configObjects """
+        Svc::FrameDetectors::CcsdsTcFrameDetector frameDetector;
+        """
+        phase Fpp.ToCpp.Phases.configComponents """
+        ComCcsdsUart::frameAccumulator.configure(
+            ConfigObjects::ComCcsdsUart_frameAccumulator::frameDetector,
+            1,
+            ComCcsds::Allocation::memAllocator,
+            ComCcsdsConfig::BuffMgr::frameAccumulatorSize
+        );
+        """
+
+        phase Fpp.ToCpp.Phases.tearDownComponents """
+        ComCcsdsUart::frameAccumulator.cleanup();
+        """
+    }
+
+    instance commsBufferManager: Svc.BufferManager base id ComCcsdsConfig.BASE_ID_UART + 0x02000 \
+    {
+        phase Fpp.ToCpp.Phases.configObjects """
+        Svc::BufferManager::BufferBins bins;
+        """
+
+        phase Fpp.ToCpp.Phases.configComponents """
+        memset(&ConfigObjects::ComCcsdsUart_commsBufferManager::bins, 0, sizeof(ConfigObjects::ComCcsdsUart_commsBufferManager::bins));
+        ConfigObjects::ComCcsdsUart_commsBufferManager::bins.bins[0].bufferSize = ComCcsdsConfig::BuffMgr::commsBuffSize;
+        ConfigObjects::ComCcsdsUart_commsBufferManager::bins.bins[0].numBuffers = ComCcsdsConfig::BuffMgr::commsBuffCount;
+        ConfigObjects::ComCcsdsUart_commsBufferManager::bins.bins[1].bufferSize = ComCcsdsConfig::BuffMgr::commsFileBuffSize;
+        ConfigObjects::ComCcsdsUart_commsBufferManager::bins.bins[1].numBuffers = ComCcsdsConfig::BuffMgr::commsFileBuffCount;
+        ComCcsdsUart::commsBufferManager.setup(
+            ComCcsdsConfig::BuffMgr::commsBuffMgrId,
+            0,
+            ComCcsds::Allocation::memAllocator,
+            ConfigObjects::ComCcsdsUart_commsBufferManager::bins
+        );
+        """
+
+        phase Fpp.ToCpp.Phases.tearDownComponents """
+        ComCcsdsUart::commsBufferManager.cleanup();
+        """
+    }
+
+    instance fprimeRouter: Svc.FprimeRouter base id ComCcsdsConfig.BASE_ID_UART + 0x03000
+
+    instance tcDeframer: Svc.Ccsds.TcDeframer base id ComCcsdsConfig.BASE_ID_UART + 0x04000
+
+    instance spacePacketDeframer: Svc.Ccsds.SpacePacketDeframer base id ComCcsdsConfig.BASE_ID_UART + 0x05000
+
+    # NOTE: name 'framer' is used for the framer that connects to the Com Adapter Interface for better subtopology interoperability
+    instance framer: Svc.Ccsds.TmFramer base id ComCcsdsConfig.BASE_ID_UART + 0x07000
+
+    instance spacePacketFramer: Svc.Ccsds.SpacePacketFramer base id ComCcsdsConfig.BASE_ID_UART + 0x08000
+
+    instance apidManager: Svc.Ccsds.ApidManager base id ComCcsdsConfig.BASE_ID_UART + 0x09000
+
+    instance comStub: Svc.ComStub base id ComCcsdsConfig.BASE_ID_UART + 0x0A000
+
+    topology FramingSubtopology {
+        # Usage Note:
+        #
+        # When importing this subtopology, users shall establish 5 port connections with a component implementing
+        # the Svc.Com (Svc/Interfaces/Com.fpp) interface. They are as follows:
+        #
+        # 1) Outputs:
+        #     - ComCcsds.framer.dataOut                 -> [Svc.Com].dataIn
+        #     - ComCcsds.frameAccumulator.dataReturnOut -> [Svc.Com].dataReturnIn
+        # 2) Inputs:
+        #     - [Svc.Com].dataReturnOut -> ComCcsds.framer.dataReturnIn
+        #     - [Svc.Com].comStatusOut  -> ComCcsds.framer.comStatusIn
+        #     - [Svc.Com].dataOut       -> ComCcsds.frameAccumulator.dataIn
+
+
+        # Active Components
+        instance comQueue
+
+        # Passive Components
+        instance commsBufferManager
+        instance frameAccumulator
+        instance fprimeRouter
+        instance tcDeframer
+        instance spacePacketDeframer
+        instance framer
+        instance spacePacketFramer
+        instance apidManager
+        instance aggregator
+
+        connections Downlink {
+            # ComQueue <-> SpacePacketFramer
+            comQueue.dataOut                -> spacePacketFramer.dataIn
+            spacePacketFramer.dataReturnOut -> comQueue.dataReturnIn
+            # SpacePacketFramer buffer and APID management
+            spacePacketFramer.bufferAllocate   -> commsBufferManager.bufferGetCallee
+            spacePacketFramer.bufferDeallocate -> commsBufferManager.bufferSendIn
+            spacePacketFramer.getApidSeqCount  -> apidManager.getApidSeqCountIn
+            # SpacePacketFramer <-> TmFramer
+            spacePacketFramer.dataOut -> aggregator.dataIn
+            aggregator.dataOut        -> framer.dataIn
+
+            framer.dataReturnOut      -> aggregator.dataReturnIn
+            aggregator.dataReturnOut    -> spacePacketFramer.dataReturnIn
+
+            # ComStatus
+            framer.comStatusOut            -> aggregator.comStatusIn
+            aggregator.comStatusOut        -> spacePacketFramer.comStatusIn
+            spacePacketFramer.comStatusOut -> comQueue.comStatusIn
+            # (Outgoing) Framer <-> ComInterface connections shall be established by the user
+        }
+
+        connections Uplink {
+            # (Incoming) ComInterface <-> FrameAccumulator connections shall be established by the user
+            # FrameAccumulator buffer allocations
+            frameAccumulator.bufferDeallocate -> commsBufferManager.bufferSendIn
+            frameAccumulator.bufferAllocate   -> commsBufferManager.bufferGetCallee
+            # FrameAccumulator <-> TcDeframer
+            frameAccumulator.dataOut -> tcDeframer.dataIn
+            tcDeframer.dataReturnOut -> frameAccumulator.dataReturnIn
+            # TcDeframer <-> SpacePacketDeframer
+            tcDeframer.dataOut                -> spacePacketDeframer.dataIn
+            spacePacketDeframer.dataReturnOut -> tcDeframer.dataReturnIn
+            # SpacePacketDeframer APID validation
+            spacePacketDeframer.validateApidSeqCount -> apidManager.validateApidSeqCountIn
+            # SpacePacketDeframer <-> Router
+            spacePacketDeframer.dataOut -> fprimeRouter.dataIn
+            fprimeRouter.dataReturnOut  -> spacePacketDeframer.dataReturnIn
+            # Router buffer allocations
+            fprimeRouter.bufferAllocate   -> commsBufferManager.bufferGetCallee
+            fprimeRouter.bufferDeallocate -> commsBufferManager.bufferSendIn
+        }
+    } # end FramingSubtopology
+
+    # This subtopology uses FramingSubtopology with a ComStub component for Com Interface
+    topology Subtopology {
+        import FramingSubtopology
+
+        instance comStub
+
+        connections ComStub {
+            # Framer <-> ComStub (Downlink)
+            framer.dataOut -> comStub.dataIn
+            comStub.dataReturnOut   -> framer.dataReturnIn
+            comStub.comStatusOut    -> framer.comStatusIn
+
+            # ComStub <-> FrameAccumulator (Uplink)
+            comStub.dataOut -> frameAccumulator.dataIn
+            frameAccumulator.dataReturnOut -> comStub.dataReturnIn
+        }
+    } # end Subtopology
+
+} # end ComCcsds

FprimeZephyrReference/ComCcsdsUart/PingEntries.hpp

@@ -0,0 +1,9 @@
+
+#ifndef COMCCSDS_PINGENTRIES_HPP
+#define COMCCSDS_PINGENTRIES_HPP
+
+namespace PingEntries {
+// No ping-enabled components in ComCcsds subtopology
+}
+
+#endif

FprimeZephyrReference/ComCcsdsUart/SubtopologyTopologyDefs.hpp

@@ -0,0 +1,20 @@
+#ifndef COMCCSDSSUBTOPOLOGY_DEFS_HPP
+#define COMCCSDSSUBTOPOLOGY_DEFS_HPP
+
+#include <Fw/Types/MallocAllocator.hpp>
+#include <Svc/BufferManager/BufferManager.hpp>
+#include <Svc/FrameAccumulator/FrameDetector/CcsdsTcFrameDetector.hpp>
+#include "ComCcsdsConfig/ComCcsdsSubtopologyConfig.hpp"
+#include "Svc/Subtopologies/ComCcsds/ComCcsdsConfig/FppConstantsAc.hpp"
+
+namespace ComCcsds {
+struct SubtopologyState {
+    // Empty - no external state needed for ComCcsds subtopology
+};
+
+struct TopologyState {
+    SubtopologyState comCcsds;
+};
+}  // namespace ComCcsds
+
+#endif

FprimeZephyrReference/ComCcsdsUart/docs/sdd.md

@@ -0,0 +1,5 @@
+# ComCcsdsUart
+
+This is a clone with a renamed module of the F Prime's Svc::ComCcsds.
+
+See: [Svc::ComCcsds](../../../lib/fprime/Svc/Subtopologies/ComCcsds/docs/sdd.md)

FprimeZephyrReference/Components/ComDelay/ComDelay.cpp

@@ -51,7 +51,6 @@ void ComDelay ::run_handler(FwIndexType portNum, U32 context) {
         bool valid = this->m_last_status_valid.compare_exchange_strong(expected, false);
         if (valid) {
             this->comStatusOut_out(0, this->m_last_status);
-            this->timeout_out(0, 0);
         }
     }
 

FprimeZephyrReference/Components/ComDelay/ComDelay.fpp

@@ -5,9 +5,6 @@ module Components {
         @ Rate schedule port used to trigger radio transmission
         sync input port run: Svc.Sched
 
-        @ Rate schedule port used to trigger aggregation timeout
-        output port timeout: Svc.Sched
-
         @ Input comStatus from radio component
         sync input port comStatusIn: Fw.SuccessCondition
 

FprimeZephyrReference/ReferenceDeployment/Main.cpp

@@ -11,6 +11,7 @@
 #include <zephyr/sys/printk.h>
 
 const struct device* serial = DEVICE_DT_GET(DT_NODELABEL(cdc_acm_uart0));
+const struct device* lora = DEVICE_DT_GET(DT_NODELABEL(lora0));
 
 int main(int argc, char* argv[]) {
     // ** DO NOT REMOVE **//
@@ -22,6 +23,7 @@ int main(int argc, char* argv[]) {
     Os::init();
     // Object for communicating state to the topology
     ReferenceDeployment::TopologyState inputs;
+    inputs.loraDevice = lora;
     inputs.uartDevice = serial;
     inputs.baudRate = 115200;
 

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi

@@ -2,8 +2,11 @@ telemetry packets ReferenceDeploymentPackets {
 
   packet Health id 1 group 1 {
     CdhCore.cmdDisp.CommandsDispatched
+    CdhCore.cmdDisp.CommandsDropped
     ComCcsds.comQueue.comQueueDepth
     ComCcsds.commsBufferManager.HiBuffs
+    ComCcsdsUart.comQueue.comQueueDepth
+    ComCcsdsUart.commsBufferManager.HiBuffs
     ReferenceDeployment.rateGroup10Hz.RgMaxTime
     ReferenceDeployment.rateGroup1Hz.RgMaxTime
   }
@@ -12,6 +15,8 @@ telemetry packets ReferenceDeploymentPackets {
     CdhCore.$health.PingLateWarnings
     ComCcsds.commsBufferManager.NoBuffs
     ComCcsds.commsBufferManager.EmptyBuffs
+    ComCcsdsUart.commsBufferManager.NoBuffs
+    ComCcsdsUart.commsBufferManager.EmptyBuffs
     ReferenceDeployment.rateGroup10Hz.RgCycleSlips
     ReferenceDeployment.rateGroup1Hz.RgCycleSlips
   }
@@ -21,6 +26,9 @@ telemetry packets ReferenceDeploymentPackets {
     ComCcsds.commsBufferManager.TotalBuffs
     ComCcsds.commsBufferManager.CurrBuffs
     ComCcsds.comQueue.buffQueueDepth
+    ComCcsdsUart.commsBufferManager.TotalBuffs
+    ComCcsdsUart.commsBufferManager.CurrBuffs
+    ComCcsdsUart.comQueue.buffQueueDepth
     CdhCore.tlmSend.SendLevel
   }
 
@@ -41,6 +49,10 @@ telemetry packets ReferenceDeploymentPackets {
     ReferenceDeployment.lis2mdlManager.MagneticField
   }
 
+  packet LoRa id 7 group 4 {
+    lora.LastRssi
+    lora.LastSnr
+  }
 
 
 } omit {

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp

@@ -81,7 +81,9 @@ void setupTopology(const TopologyState& state) {
     // Autocoded task kick-off (active components). Function provided by autocoder.
     startTasks(state);
 
-    // Uplink is configured for receive so a socket task is started
+    // We have a pipeline for both the LoRa and UART drive to allow for ground harness debugging an
+    // for over-the-air communications.
+    lora.start(state.loraDevice, Zephyr::TransmitState::DISABLED);
     comDriver.configure(state.uartDevice, state.baudRate);
 }
 

FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp

@@ -70,6 +70,7 @@ namespace ReferenceDeployment {
  */
 struct TopologyState {
     const device* uartDevice;             //!< UART device path for communication
+    const device* loraDevice;             //!< LoRa device path for communication
     U32 baudRate;                         //!< Baud rate for UART communication
     CdhCore::SubtopologyState cdhCore;    //!< Subtopology state for CdhCore
     ComCcsds::SubtopologyState comCcsds;  //!< Subtopology state for ComCcsds

FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp

@@ -75,4 +75,10 @@ module ReferenceDeployment {
   instance prmDb: Components.NullPrmDb base id 0x10024000
 
   instance comDelay: Components.ComDelay base id 0x10025000
+
+  instance lora: Zephyr.LoRa base id 0x10026000
+
+  instance comSplitterEvents: Svc.ComSplitter base id 0x10027000
+
+  instance comSplitterTelemetry: Svc.ComSplitter base id 0x10028000
 }