fsw_spacewire.c
207 lines
| 8.4 KiB
| text/x-c
|
CLexer
/ src / fsw_spacewire.c
paul
|
r35 | #include "fsw_spacewire.h" | ||
char *lstates[6] = {"Error-reset", | ||||
"Error-wait", | ||||
"Ready", | ||||
"Started", | ||||
"Connecting", | ||||
"Run" | ||||
}; | ||||
// RTEMS TASK | ||||
rtems_task spiq_task(rtems_task_argument unused) | ||||
{ | ||||
rtems_event_set event_out; | ||||
rtems_status_code status; | ||||
unsigned char lfrMode; | ||||
while(true){ | ||||
BOOT_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 | ||||
lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode | ||||
status = spacewire_wait_for_link(); | ||||
if (status != RTEMS_SUCCESSFUL) | ||||
{ | ||||
//**************** | ||||
// STOP THE SYSTEM | ||||
spacewire_compute_stats_offsets(); | ||||
stop_current_mode(); | ||||
if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) { // suspend RECV task | ||||
PRINTF("in SPIQ *** Error suspending RECV Task\n") | ||||
} | ||||
if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) { // suspend HOUS task | ||||
PRINTF("in SPIQ *** Error suspending HOUS Task\n") | ||||
} | ||||
//*************************** | ||||
// RESTART THE SPACEWIRE LINK | ||||
spacewire_configure_link(); | ||||
//******************* | ||||
// RESTART THE SYSTEM | ||||
//ioctl(fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS); // clear statistics | ||||
status = rtems_task_restart( Task_id[TASKID_HOUS], 1 ); | ||||
if (status != RTEMS_SUCCESSFUL) { | ||||
PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status) | ||||
} | ||||
status = rtems_task_restart(Task_id[TASKID_RECV], 1); | ||||
if ( status != RTEMS_SUCCESSFUL) { | ||||
PRINTF("in SPIQ *** Error restarting RECV Task\n") | ||||
} | ||||
enter_mode(lfrMode, NULL); // enter the mode that was running before the SpaceWire interruption | ||||
} | ||||
} | ||||
} | ||||
int spacewire_configure_link( void ) | ||||
{ | ||||
rtems_status_code status; | ||||
close(fdSPW); // close the device if it is already open | ||||
BOOT_PRINTF("OK *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n") | ||||
fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware | ||||
if ( fdSPW<0 ) { | ||||
PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") | ||||
} | ||||
while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, -1) != RTEMS_SUCCESSFUL){ | ||||
PRINTF(".") | ||||
fflush( stdout ); | ||||
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("ERR *** In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") | ||||
} | ||||
rtems_task_wake_after(100); | ||||
} | ||||
BOOT_PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") | ||||
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 | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** 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 SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n") | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0); // transmission blocks on full | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n") | ||||
// | ||||
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ] | ||||
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") | ||||
BOOT_PRINTF("OK *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") | ||||
return RTEMS_SUCCESSFUL; | ||||
} | ||||
int spacewire_wait_for_link(void) | ||||
{ | ||||
unsigned int i; | ||||
int linkStatus; | ||||
rtems_status_code status = RTEMS_UNSATISFIED; | ||||
for(i = 0; i< 10; i++){ | ||||
PRINTF(".") | ||||
fflush( stdout ); | ||||
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status | ||||
PRINTF1("in spacewire_wait_for_link *** link status is: %s\n", lstates[linkStatus]) | ||||
if ( linkStatus == 5) { | ||||
PRINTF("in spacewire_wait_for_link *** link is running\n") | ||||
status = RTEMS_SUCCESSFUL; | ||||
break; | ||||
} | ||||
rtems_task_wake_after(100); | ||||
} | ||||
return status; | ||||
} | ||||
void spacewire_set_NP(unsigned char val, unsigned int regAddr) // [N]o [P]ort force | ||||
{ | ||||
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; | ||||
} | ||||
} | ||||
void spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable | ||||
{ | ||||
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
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r40 | void spacewire_compute_stats_offsets( void ) | ||
paul
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r35 | { | ||
paul
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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 | ||||
* to keep the counters consistent even after a reset of the SpaceWire driver. | ||||
* | ||||
*/ | ||||
paul
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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; | ||||
} | ||||
void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc) | ||||
{ | ||||
//if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) { | ||||
// printf("In timecode_irq_handler *** Error sending event to DUMB\n"); | ||||
//} | ||||
} | ||||