fsw_spacewire.c
610 lines
| 24.4 KiB
| text/x-c
|
CLexer
/ src / fsw_spacewire.c
paul
|
r45 | /** Functions related to the SpaceWire interface. | ||
| * | ||||
| * @file | ||||
| * @author P. LEROY | ||||
| * | ||||
| * A group of functions to handle SpaceWire transmissions: | ||||
| * - configuration of the SpaceWire link | ||||
| * - SpaceWire related interruption requests processing | ||||
| * - transmission of TeleMetry packets by a dedicated RTEMS task | ||||
| * - reception of TeleCommands by a dedicated RTEMS task | ||||
| * | ||||
| */ | ||||
|
paul
|
r35 | #include "fsw_spacewire.h" | ||
|
paul
|
r56 | rtems_name semq_name; | ||
| rtems_id semq_id; | ||||
|
paul
|
r45 | //*********** | ||
|
paul
|
r35 | // RTEMS TASK | ||
| rtems_task spiq_task(rtems_task_argument unused) | ||||
| { | ||||
|
paul
|
r46 | /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver. | ||
|
paul
|
r45 | * | ||
| * @param unused is the starting argument of the RTEMS task | ||||
| * | ||||
| */ | ||||
|
paul
|
r35 | rtems_event_set event_out; | ||
| rtems_status_code status; | ||||
|
paul
|
r46 | int linkStatus; | ||
| BOOT_PRINTF("in SPIQ *** \n") | ||||
|
paul
|
r35 | |||
| while(true){ | ||||
| rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT | ||||
|
paul
|
r48 | PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n") | ||
|
paul
|
r35 | |||
|
paul
|
r51 | // [0] SUSPEND RECV AND SEND TASKS | ||
|
paul
|
r77 | status = rtems_task_suspend( Task_id[ TASKID_RECV ] ); | ||
| if ( status != RTEMS_SUCCESSFUL ) { | ||||
| PRINTF("in SPIQ *** ERR suspending RECV Task\n") | ||||
| } | ||||
| status = rtems_task_suspend( Task_id[ TASKID_SEND ] ); | ||||
| if ( status != RTEMS_SUCCESSFUL ) { | ||||
| PRINTF("in SPIQ *** ERR suspending SEND Task\n") | ||||
| } | ||||
|
paul
|
r47 | |||
| // [1] CHECK THE LINK | ||||
|
paul
|
r77 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1) | ||
|
paul
|
r46 | if ( linkStatus != 5) { | ||
| PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus) | ||||
|
paul
|
r77 | status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms | ||
|
paul
|
r46 | } | ||
|
paul
|
r35 | |||
|
paul
|
r47 | // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT | ||
|
paul
|
r77 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2) | ||
|
paul
|
r47 | if ( linkStatus != 5 ) // [2.a] not in run state, reset the link | ||
|
paul
|
r46 | { | ||
| spacewire_compute_stats_offsets(); | ||||
| status = spacewire_reset_link( ); | ||||
| } | ||||
|
paul
|
r47 | else // [2.b] in run state, start the link | ||
| { | ||||
|
paul
|
r127 | status = spacewire_stop_and_start_link( fdSPW ); // start the link | ||
|
paul
|
r46 | if ( status != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status) | ||||
| } | ||||
| } | ||||
|
paul
|
r35 | |||
|
paul
|
r47 | // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS | ||
| if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully | ||||
|
paul
|
r46 | { | ||
|
paul
|
r48 | status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 ); | ||
|
paul
|
r46 | if ( status != RTEMS_SUCCESSFUL ) { | ||
| PRINTF("in SPIQ *** ERR resuming SEND Task\n") | ||||
| } | ||||
|
paul
|
r48 | status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 ); | ||
|
paul
|
r46 | if ( status != RTEMS_SUCCESSFUL ) { | ||
| PRINTF("in SPIQ *** ERR resuming RECV Task\n") | ||||
|
paul
|
r35 | } | ||
|
paul
|
r46 | } | ||
|
paul
|
r47 | else // [3.b] the link is not in run state, go in STANDBY mode | ||
|
paul
|
r46 | { | ||
|
paul
|
r51 | status = stop_current_mode(); | ||
|
paul
|
r46 | if ( status != RTEMS_SUCCESSFUL ) { | ||
|
paul
|
r51 | PRINTF1("in SPIQ *** ERR stop_current_mode *** code %d\n", status) | ||
| } | ||||
|
paul
|
r111 | status = enter_mode( LFR_MODE_STANDBY, 0 ); | ||
|
paul
|
r51 | if ( status != RTEMS_SUCCESSFUL ) { | ||
| PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status) | ||||
|
paul
|
r35 | } | ||
|
paul
|
r48 | // wake the WTDG task up to wait for the link recovery | ||
|
paul
|
r46 | status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 ); | ||
|
paul
|
r77 | status = rtems_task_suspend( RTEMS_SELF ); | ||
|
paul
|
r35 | } | ||
| } | ||||
| } | ||||
|
paul
|
r45 | rtems_task recv_task( rtems_task_argument unused ) | ||
| { | ||||
| /** This RTEMS task is dedicated to the reception of incoming TeleCommands. | ||||
| * | ||||
| * @param unused is the starting argument of the RTEMS task | ||||
| * | ||||
| * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked: | ||||
| * 1. It reads the incoming data. | ||||
| * 2. Launches the acceptance procedure. | ||||
| * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue. | ||||
| * | ||||
| */ | ||||
| int len; | ||||
| ccsdsTelecommandPacket_t currentTC; | ||||
| unsigned char computed_CRC[ 2 ]; | ||||
| unsigned char currentTC_LEN_RCV[ 2 ]; | ||||
|
paul
|
r68 | unsigned char destinationID; | ||
|
paul
|
r112 | unsigned int estimatedPacketLength; | ||
|
paul
|
r45 | unsigned int parserCode; | ||
| rtems_status_code status; | ||||
| rtems_id queue_recv_id; | ||||
| rtems_id queue_send_id; | ||||
| initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes | ||||
|
paul
|
r82 | status = get_message_queue_id_recv( &queue_recv_id ); | ||
|
paul
|
r45 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
|
paul
|
r82 | PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status) | ||
|
paul
|
r45 | } | ||
|
paul
|
r82 | status = get_message_queue_id_send( &queue_send_id ); | ||
|
paul
|
r45 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
|
paul
|
r82 | PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status) | ||
|
paul
|
r45 | } | ||
| BOOT_PRINTF("in RECV *** \n") | ||||
| while(1) | ||||
| { | ||||
|
paul
|
r46 | len = read( fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking | ||
|
paul
|
r45 | if (len == -1){ // error during the read call | ||
|
paul
|
r46 | PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno) | ||
|
paul
|
r45 | } | ||
| else { | ||||
| if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) { | ||||
|
paul
|
r46 | PRINTF("in RECV *** packet lenght too short\n") | ||
|
paul
|
r45 | } | ||
| else { | ||||
|
paul
|
r112 | estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes | ||
| currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8); | ||||
| currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength ); | ||||
|
paul
|
r45 | // CHECK THE TC | ||
|
paul
|
r112 | parserCode = tc_parser( ¤tTC, estimatedPacketLength, computed_CRC ) ; | ||
|
paul
|
r51 | if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT) | ||
| || (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE) | ||||
| || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA) | ||||
| || (parserCode == WRONG_SRC_ID) ) | ||||
|
paul
|
r45 | { // send TM_LFR_TC_EXE_CORRUPTED | ||
|
paul
|
r107 | PRINTF1("TC corrupted received, with code: %d\n", parserCode) | ||
|
paul
|
r51 | if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) ) | ||
| && | ||||
| !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO)) | ||||
| ) | ||||
| { | ||||
|
paul
|
r68 | if ( parserCode == WRONG_SRC_ID ) | ||
| { | ||||
| destinationID = SID_TC_GROUND; | ||||
| } | ||||
| else | ||||
| { | ||||
| destinationID = currentTC.sourceID; | ||||
| } | ||||
|
paul
|
r75 | send_tm_lfr_tc_exe_corrupted( ¤tTC, queue_send_id, | ||
| computed_CRC, currentTC_LEN_RCV, | ||||
|
paul
|
r104 | destinationID ); | ||
|
paul
|
r51 | } | ||
|
paul
|
r45 | } | ||
| else | ||||
| { // send valid TC to the action launcher | ||||
| status = rtems_message_queue_send( queue_recv_id, ¤tTC, | ||||
|
paul
|
r112 | estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3); | ||
|
paul
|
r45 | } | ||
| } | ||||
| } | ||||
| } | ||||
| } | ||||
| rtems_task send_task( rtems_task_argument argument) | ||||
| { | ||||
| /** This RTEMS task is dedicated to the transmission of TeleMetry packets. | ||||
| * | ||||
| * @param unused is the starting argument of the RTEMS task | ||||
| * | ||||
| * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives: | ||||
| * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call. | ||||
| * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After | ||||
| * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the | ||||
| * data it contains. | ||||
| * | ||||
| */ | ||||
|
paul
|
r118 | rtems_status_code status; // RTEMS status code | ||
| char incomingData[MSG_QUEUE_SIZE_SEND]; // incoming data buffer | ||||
|
paul
|
r45 | spw_ioctl_pkt_send *spw_ioctl_send; | ||
| size_t size; // size of the incoming TC packet | ||||
| u_int32_t count; | ||||
| rtems_id queue_id; | ||||
|
paul
|
r82 | status = get_message_queue_id_send( &queue_id ); | ||
|
paul
|
r45 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
|
paul
|
r82 | PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status) | ||
|
paul
|
r45 | } | ||
| BOOT_PRINTF("in SEND *** \n") | ||||
| while(1) | ||||
| { | ||||
| status = rtems_message_queue_receive( queue_id, incomingData, &size, | ||||
| RTEMS_WAIT, RTEMS_NO_TIMEOUT ); | ||||
| if (status!=RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF1("in SEND *** (1) ERR = %d\n", status) | ||||
| } | ||||
| else | ||||
| { | ||||
| if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet | ||||
| { | ||||
| status = write( fdSPW, incomingData, size ); | ||||
| if (status == -1){ | ||||
|
paul
|
r48 | PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size) | ||
|
paul
|
r45 | } | ||
| } | ||||
| else // the incoming message is a spw_ioctl_pkt_send structure | ||||
| { | ||||
| spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData; | ||||
|
paul
|
r58 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send ); | ||
| if (status == -1){ | ||||
| PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status) | ||||
|
paul
|
r45 | } | ||
| } | ||||
| } | ||||
| status = rtems_message_queue_get_number_pending( queue_id, &count ); | ||||
| if (status != RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF1("in SEND *** (3) ERR = %d\n", status) | ||||
| } | ||||
| else | ||||
| { | ||||
| if (count > maxCount) | ||||
| { | ||||
| maxCount = count; | ||||
| } | ||||
| } | ||||
| } | ||||
| } | ||||
|
paul
|
r46 | rtems_task wtdg_task( rtems_task_argument argument ) | ||
| { | ||||
| rtems_event_set event_out; | ||||
| rtems_status_code status; | ||||
| int linkStatus; | ||||
| BOOT_PRINTF("in WTDG ***\n") | ||||
|
paul
|
r47 | while(1) | ||
| { | ||||
|
paul
|
r46 | // wait for an RTEMS_EVENT | ||
| rtems_event_receive( RTEMS_EVENT_0, | ||||
| RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); | ||||
| PRINTF("in WTDG *** wait for the link\n") | ||||
|
paul
|
r77 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status | ||
|
paul
|
r46 | while( linkStatus != 5) // wait for the link | ||
| { | ||||
| rtems_task_wake_after( 10 ); | ||||
|
paul
|
r77 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status | ||
|
paul
|
r46 | } | ||
|
paul
|
r127 | status = spacewire_stop_and_start_link( fdSPW ); | ||
|
paul
|
r47 | |||
| if (status != RTEMS_SUCCESSFUL) | ||||
|
paul
|
r46 | { | ||
|
paul
|
r47 | PRINTF1("in WTDG *** ERR link not started %d\n", status) | ||
|
paul
|
r46 | } | ||
| else | ||||
| { | ||||
|
paul
|
r47 | PRINTF("in WTDG *** OK link started\n") | ||
|
paul
|
r46 | } | ||
|
paul
|
r47 | // restart the SPIQ task | ||
|
paul
|
r48 | status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 ); | ||
| if ( status != RTEMS_SUCCESSFUL ) { | ||||
| PRINTF("in SPIQ *** ERR restarting SPIQ Task\n") | ||||
| } | ||||
|
paul
|
r46 | |||
|
paul
|
r48 | // restart RECV and SEND | ||
|
paul
|
r47 | status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 ); | ||
| if ( status != RTEMS_SUCCESSFUL ) { | ||||
|
paul
|
r48 | PRINTF("in SPIQ *** ERR restarting SEND Task\n") | ||
|
paul
|
r47 | } | ||
| status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 ); | ||||
| if ( status != RTEMS_SUCCESSFUL ) { | ||||
|
paul
|
r48 | PRINTF("in SPIQ *** ERR restarting RECV Task\n") | ||
|
paul
|
r47 | } | ||
|
paul
|
r46 | } | ||
| } | ||||
|
paul
|
r45 | //**************** | ||
| // OTHER FUNCTIONS | ||||
|
paul
|
r127 | int spacewire_open_link( void ) // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);] | ||
|
paul
|
r46 | { | ||
| /** This function opens the SpaceWire link. | ||||
| * | ||||
| * @return a valid file descriptor in case of success, -1 in case of a failure | ||||
| * | ||||
| */ | ||||
| rtems_status_code status; | ||||
| fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware | ||||
| if ( fdSPW < 0 ) { | ||||
| PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno) | ||||
| } | ||||
| else | ||||
| { | ||||
| status = RTEMS_SUCCESSFUL; | ||||
| } | ||||
| return status; | ||||
| } | ||||
| int spacewire_start_link( int fd ) | ||||
| { | ||||
| rtems_status_code status; | ||||
|
paul
|
r127 | status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started | ||
|
paul
|
r47 | // -1 default hardcoded driver timeout | ||
| return status; | ||||
| } | ||||
|
paul
|
r127 | int spacewire_stop_and_start_link( int fd ) | ||
|
paul
|
r47 | { | ||
| rtems_status_code status; | ||||
|
paul
|
r127 | status = ioctl( fd, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0 | ||
| status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started | ||||
|
paul
|
r46 | // -1 default hardcoded driver timeout | ||
| return status; | ||||
| } | ||||
| int spacewire_configure_link( int fd ) | ||||
|
paul
|
r35 | { | ||
|
paul
|
r45 | /** This function configures the SpaceWire link. | ||
| * | ||||
| * @return GR-RTEMS-DRIVER directive status codes: | ||||
| * - 22 EINVAL - Null pointer or an out of range value was given as the argument. | ||||
| * - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode. | ||||
| * - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used. | ||||
| * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up. | ||||
| * - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers. | ||||
| * - 5 EIO - Error when writing to grswp hardware registers. | ||||
| * - 2 ENOENT - No such file or directory | ||||
| */ | ||||
|
paul
|
r35 | rtems_status_code status; | ||
| spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force | ||||
| spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration | ||||
|
paul
|
r46 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception | ||
|
paul
|
r35 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") | ||
| // | ||||
|
paul
|
r46 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a | ||
|
paul
|
r35 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs | ||
| // | ||||
|
paul
|
r46 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts | ||
|
paul
|
r35 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") | ||
| // | ||||
|
paul
|
r46 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit | ||
|
paul
|
r35 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||
| // | ||||
|
paul
|
r46 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks | ||
|
paul
|
r35 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n") | ||
| // | ||||
|
paul
|
r48 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available | ||
|
paul
|
r35 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n") | ||
| // | ||||
|
paul
|
r46 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ] | ||
|
paul
|
r35 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") | ||
|
paul
|
r46 | return status; | ||
|
paul
|
r35 | } | ||
|
paul
|
r46 | int spacewire_reset_link( void ) | ||
|
paul
|
r35 | { | ||
|
paul
|
r46 | /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver. | ||
|
paul
|
r45 | * | ||
| * @return RTEMS directive status code: | ||||
| * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s. | ||||
| * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout. | ||||
| * | ||||
| */ | ||||
|
paul
|
r46 | rtems_status_code status_spw; | ||
| int i; | ||||
| for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ ) | ||||
| { | ||||
| PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i); | ||||
|
paul
|
r47 | |||
| // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM | ||||
|
paul
|
r35 | |||
|
paul
|
r127 | status_spw = spacewire_stop_and_start_link( fdSPW ); | ||
|
paul
|
r47 | if ( status_spw != RTEMS_SUCCESSFUL ) | ||
|
paul
|
r46 | { | ||
|
paul
|
r47 | PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw) | ||
|
paul
|
r46 | } | ||
| if ( status_spw == RTEMS_SUCCESSFUL) | ||||
| { | ||||
|
paul
|
r35 | break; | ||
| } | ||||
| } | ||||
|
paul
|
r46 | return status_spw; | ||
|
paul
|
r35 | } | ||
|
paul
|
r45 | void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force | ||
|
paul
|
r35 | { | ||
|
paul
|
r45 | /** This function sets the [N]o [P]ort force bit of the GRSPW control register. | ||
| * | ||||
| * @param val is the value, 0 or 1, used to set the value of the NP bit. | ||||
| * @param regAddr is the address of the GRSPW control register. | ||||
| * | ||||
| * NP is the bit 20 of the GRSPW control register. | ||||
| * | ||||
| */ | ||||
|
paul
|
r35 | unsigned int *spwptr = (unsigned int*) regAddr; | ||
| if (val == 1) { | ||||
| *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit | ||||
| } | ||||
| if (val== 0) { | ||||
| *spwptr = *spwptr & 0xffdfffff; | ||||
| } | ||||
| } | ||||
|
paul
|
r45 | void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable | ||
|
paul
|
r35 | { | ||
|
paul
|
r45 | /** This function sets the [R]MAP [E]nable bit of the GRSPW control register. | ||
| * | ||||
| * @param val is the value, 0 or 1, used to set the value of the RE bit. | ||||
| * @param regAddr is the address of the GRSPW control register. | ||||
| * | ||||
| * RE is the bit 16 of the GRSPW control register. | ||||
| * | ||||
| */ | ||||
|
paul
|
r35 | unsigned int *spwptr = (unsigned int*) regAddr; | ||
| if (val == 1) | ||||
| { | ||||
| *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit | ||||
| } | ||||
| if (val== 0) | ||||
| { | ||||
| *spwptr = *spwptr & 0xfffdffff; | ||||
| } | ||||
| } | ||||
|
paul
|
r40 | void spacewire_compute_stats_offsets( void ) | ||
|
paul
|
r35 | { | ||
|
paul
|
r40 | /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising. | ||
| * | ||||
| * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics | ||||
|
paul
|
r45 | * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it | ||
| * during the open systel call). | ||||
|
paul
|
r40 | * | ||
| */ | ||||
|
paul
|
r35 | spw_stats spacewire_stats_grspw; | ||
| rtems_status_code status; | ||||
| status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw ); | ||||
| spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received | ||||
| + spacewire_stats.packets_received; | ||||
| spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent | ||||
| + spacewire_stats.packets_sent; | ||||
| spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err | ||||
| + spacewire_stats.parity_err; | ||||
| spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err | ||||
| + spacewire_stats.disconnect_err; | ||||
| spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err | ||||
| + spacewire_stats.escape_err; | ||||
| spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err | ||||
| + spacewire_stats.credit_err; | ||||
| spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err | ||||
| + spacewire_stats.write_sync_err; | ||||
| spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err | ||||
| + spacewire_stats.rx_rmap_header_crc_err; | ||||
| spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err | ||||
| + spacewire_stats.rx_rmap_data_crc_err; | ||||
| spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep | ||||
| + spacewire_stats.early_ep; | ||||
| spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address | ||||
| + spacewire_stats.invalid_address; | ||||
| spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err | ||||
| + spacewire_stats.rx_eep_err; | ||||
| spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated | ||||
| + spacewire_stats.rx_truncated; | ||||
| } | ||||
|
paul
|
r45 | void spacewire_update_statistics( void ) | ||
| { | ||||
| rtems_status_code status; | ||||
| spw_stats spacewire_stats_grspw; | ||||
| status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw ); | ||||
| spacewire_stats.packets_received = spacewire_stats_backup.packets_received | ||||
| + spacewire_stats_grspw.packets_received; | ||||
| spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent | ||||
| + spacewire_stats_grspw.packets_sent; | ||||
| spacewire_stats.parity_err = spacewire_stats_backup.parity_err | ||||
| + spacewire_stats_grspw.parity_err; | ||||
| spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err | ||||
| + spacewire_stats_grspw.disconnect_err; | ||||
| spacewire_stats.escape_err = spacewire_stats_backup.escape_err | ||||
| + spacewire_stats_grspw.escape_err; | ||||
| spacewire_stats.credit_err = spacewire_stats_backup.credit_err | ||||
| + spacewire_stats_grspw.credit_err; | ||||
| spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err | ||||
| + spacewire_stats_grspw.write_sync_err; | ||||
| spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err | ||||
| + spacewire_stats_grspw.rx_rmap_header_crc_err; | ||||
| spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err | ||||
| + spacewire_stats_grspw.rx_rmap_data_crc_err; | ||||
| spacewire_stats.early_ep = spacewire_stats_backup.early_ep | ||||
| + spacewire_stats_grspw.early_ep; | ||||
| spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address | ||||
| + spacewire_stats_grspw.invalid_address; | ||||
| spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err | ||||
| + spacewire_stats_grspw.rx_eep_err; | ||||
| spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated | ||||
| + spacewire_stats_grspw.rx_truncated; | ||||
| //spacewire_stats.tx_link_err; | ||||
| //**************************** | ||||
| // DPU_SPACEWIRE_IF_STATISTICS | ||||
| housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8); | ||||
| housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received); | ||||
| housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8); | ||||
| housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent); | ||||
| //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt; | ||||
| //housekeeping_packet.hk_lfr_dpu_spw_last_timc; | ||||
| //****************************************** | ||||
| // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY | ||||
| housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err; | ||||
| housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err; | ||||
| housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err; | ||||
| housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err; | ||||
| housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err; | ||||
| //********************************************* | ||||
| // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY | ||||
| housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep; | ||||
| housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address; | ||||
| housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err; | ||||
| housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated; | ||||
| } | ||||
| void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ) | ||||
|
paul
|
r35 | { | ||
|
paul
|
r109 | // rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_9 ); | ||
|
paul
|
r107 | struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO; | ||
| grgpio_regs->io_port_direction_register = | ||||
| grgpio_regs->io_port_direction_register | 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled | ||||
| if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 ) | ||||
| { | ||||
| grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7; | ||||
| } | ||||
| else | ||||
| { | ||||
| grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x08; | ||||
| } | ||||
|
paul
|
r35 | } | ||
|
paul
|
r46 | |||
| rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data ) | ||||
| { | ||||
| int linkStatus; | ||||
| rtems_status_code status; | ||||
|
paul
|
r77 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status | ||
|
paul
|
r46 | |||
| if ( linkStatus == 5) { | ||||
| PRINTF("in spacewire_reset_link *** link is running\n") | ||||
| status = RTEMS_SUCCESSFUL; | ||||
| } | ||||
| } | ||||