fsw_init.c
250 lines
| 9.0 KiB
| text/x-c
|
CLexer
/ src / fsw_init.c
paul@pc-solar1.lab-lpp.local
|
r5 | //************************* | ||
// GPL reminder to be added | ||||
//************************* | ||||
#include <rtems.h> | ||||
/* configuration information */ | ||||
#define CONFIGURE_INIT | ||||
#include <bsp.h> /* for device driver prototypes */ | ||||
/* configuration information */ | ||||
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | ||||
#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | ||||
#define CONFIGURE_MAXIMUM_TASKS 10 | ||||
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE | ||||
#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) | ||||
#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 | ||||
#define CONFIGURE_INIT_TASK_PRIORITY 100 | ||||
#define CONFIGURE_MAXIMUM_DRIVERS 16 | ||||
#define CONFIGURE_MAXIMUM_PERIODS 1 | ||||
#include <rtems/confdefs.h> | ||||
/* If --drvmgr was enabled during the configuration of the RTEMS kernel */ | ||||
#ifdef RTEMS_DRVMGR_STARTUP | ||||
#ifdef LEON3 | ||||
/* Add Timer and UART Driver */ | ||||
#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | ||||
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER | ||||
#endif | ||||
#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | ||||
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART | ||||
#endif | ||||
#endif | ||||
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ | ||||
#include <drvmgr/drvmgr_confdefs.h> | ||||
#endif | ||||
#include <fsw_init.h> | ||||
#include <fsw_config.c> | ||||
int fdSPW; | ||||
int fdUART; | ||||
char *link_status(int status); | ||||
char *lstates[6] = {"Error-reset", | ||||
"Error-wait", | ||||
"Ready", | ||||
"Started", | ||||
"Connecting", | ||||
"Run" | ||||
}; | ||||
rtems_id Task_id[10]; /* array of task ids */ | ||||
rtems_name Task_name[10]; /* array of task names */ | ||||
rtems_task Init( rtems_task_argument ignored ) | ||||
{ | ||||
rtems_status_code status; | ||||
//send_console_outputs_on_serial_port(); | ||||
InitLookUpTableForCRC(); // in tc_handler.h | ||||
create_all_tasks(); | ||||
start_all_tasks(); | ||||
configure_spw_link(); | ||||
// configure timer for spectral matrices simulation | ||||
configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, | ||||
IRQ_SPARC_SM, spectral_matrices_isr ); | ||||
// configure timer for waveforms simulation | ||||
configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR, | ||||
IRQ_SPARC_WF, waveforms_isr ); | ||||
LEON_Unmask_interrupt( IRQ_SM ); | ||||
LEON_Unmask_interrupt( IRQ_WF ); | ||||
status = rtems_task_delete(RTEMS_SELF); | ||||
} | ||||
rtems_task spw_spiq_task(rtems_task_argument unused) | ||||
{ | ||||
rtems_event_set event_out; | ||||
struct grspw_regs_str *grspw_regs; | ||||
grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW; | ||||
while(1){ | ||||
PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n") | ||||
rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT | ||||
if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL) // suspend RECV task | ||||
PRINTF("In SPIQ *** Error suspending RECV Task\n") | ||||
configure_spw_link(); | ||||
if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task | ||||
PRINTF("In SPIQ *** Error resume RECV Task\n") | ||||
} | ||||
} | ||||
int create_all_tasks() | ||||
{ | ||||
rtems_status_code status; | ||||
Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' ); | ||||
Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | ||||
Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' ); | ||||
Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' ); | ||||
Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' ); | ||||
Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' ); | ||||
Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' ); | ||||
// RECV | ||||
status = rtems_task_create( | ||||
Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1] | ||||
); | ||||
// SPIQ | ||||
status = rtems_task_create( | ||||
Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3] | ||||
); | ||||
// SMIQ | ||||
status = rtems_task_create( | ||||
Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4] | ||||
); | ||||
// STAT | ||||
status = rtems_task_create( | ||||
Task_name[5], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5] | ||||
); | ||||
// AVF0 | ||||
status = rtems_task_create( | ||||
Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6] | ||||
); | ||||
// BPF0 | ||||
status = rtems_task_create( | ||||
Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7] | ||||
); | ||||
// WFRM | ||||
status = rtems_task_create( | ||||
Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8] | ||||
); | ||||
return 0; | ||||
} | ||||
int start_all_tasks() | ||||
{ | ||||
rtems_status_code status; | ||||
status = rtems_task_start( Task_id[3], spw_spiq_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n") | ||||
status = rtems_task_start( Task_id[1], spw_recv_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n") | ||||
//status = rtems_task_start( Task_id[4], spw_bppr_task_rate_monotonic, 1 ); | ||||
status = rtems_task_start( Task_id[4], spw_smiq_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n") | ||||
status = rtems_task_start( Task_id[5], spw_stat_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n") | ||||
status = rtems_task_start( Task_id[6], spw_avf0_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n") | ||||
status = rtems_task_start( Task_id[7], spw_bpf0_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n") | ||||
status = rtems_task_start( Task_id[8], spw_wfrm_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n") | ||||
return 0; | ||||
} | ||||
int configure_spw_link() | ||||
{ | ||||
rtems_status_code status; | ||||
close(fdSPW); // close the device if it is already open | ||||
fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware | ||||
if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") | ||||
while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){ | ||||
PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n") | ||||
close(fdSPW); // close the device | ||||
fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware | ||||
if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") | ||||
rtems_task_wake_after(100); | ||||
} | ||||
PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") | ||||
// sets a few parameters of the link | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n") | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]); // sets the task ID to which an event is sent when a | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||||
// | ||||
//status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key | ||||
//if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||||
// | ||||
PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") | ||||
return RTEMS_SUCCESSFUL; | ||||
} | ||||
char *link_status(int status){ | ||||
return lstates[status]; | ||||
} | ||||
rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send) | ||||
{ | ||||
rtems_status_code status; | ||||
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send ); | ||||
if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n"); | ||||
return status; | ||||
} | ||||