fsw_init.c
549 lines
| 20.0 KiB
| text/x-c
|
CLexer
/ src / fsw_init.c
paul@pc-solar1.lab-lpp.local
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r5 | //************************* | ||
| // GPL reminder to be added | ||||
| //************************* | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | #include <rtems.h> | ||
| /* configuration information */ | ||||
| #define CONFIGURE_INIT | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
| #include <bsp.h> /* for device driver prototypes */ | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
| /* configuration information */ | ||||
| #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | ||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
| #define CONFIGURE_MAXIMUM_TASKS 15 | ||||
| #define CONFIGURE_RTEMS_INIT_TASKS_TABLE | ||||
| #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 | ||
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paul@pc-solar1.lab-lpp.local
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r18 | #define CONFIGURE_INIT_TASK_PRIORITY 100 | ||
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paul@pc-solar1.lab-lpp.local
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r5 | #define CONFIGURE_MAXIMUM_DRIVERS 16 | ||
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paul@pc-solar1.lab-lpp.local
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r18 | #define CONFIGURE_MAXIMUM_PERIODS 5 | ||
| #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1 | ||||
| #include <rtems/confdefs.h> | ||||
| /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | #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 | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ | ||
| #include <drvmgr/drvmgr_confdefs.h> | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | #endif | ||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
| #include <fsw_init.h> | ||||
| #include <fsw_config.c> | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
| char *lstates[6] = {"Error-reset", | ||||
| "Error-wait", | ||||
| "Ready", | ||||
| "Started", | ||||
| "Connecting", | ||||
| "Run" | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | }; | ||
| rtems_task Init( rtems_task_argument ignored ) | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | { | ||
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paul@pc-solar1.lab-lpp.local
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r18 | rtems_status_code status; | ||
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paul@pc-solar1.lab-lpp.local
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r12 | rtems_isr_entry old_isr_handler; | ||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
| PRINTF("\n\n\n\n\n") | ||||
| PRINTF("***************************\n") | ||||
| PRINTF("** START Flight Software **\n") | ||||
| PRINTF("***************************\n") | ||||
| PRINTF("\n\n") | ||||
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paul@pc-solar1.lab-lpp.local
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r25 | //send_console_outputs_on_apbuart_port(); | ||
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paul@pc-solar1.lab-lpp.local
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r18 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); | ||
| initLookUpTableForCRC(); // in tc_handler.h | ||||
| init_default_mode_parameters(); | ||||
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paul@pc-solar1.lab-lpp.local
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r21 | init_housekeeping_parameters(); | ||
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paul@pc-solar1.lab-lpp.local
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r18 | create_message_queue(); | ||
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paul@pc-solar1.lab-lpp.local
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r22 | create_names(); // create all names | ||
| create_all_tasks(); // create all tasks | ||||
| start_all_tasks(); // start all tasks | ||||
| stop_current_mode(); // go in STANDBY mode | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
| grspw_timecode_callback = &timecode_irq_handler; | ||||
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paul@pc-solar1.lab-lpp.local
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r23 | spacewire_configure_link(); | ||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
| //**************************** | ||||
| // Spectral Matrices simulator | ||||
| configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, | ||||
| IRQ_SPARC_SM, spectral_matrices_isr ); | ||||
| //********** | ||||
| // WAVEFORMS | ||||
| // simulator | ||||
| #ifdef GSA | ||||
| configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR, | ||||
| IRQ_SPARC_WF, waveforms_simulator_isr ); | ||||
| #else | ||||
| // configure the registers of the waveform picker | ||||
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paul@pc-solar1.lab-lpp.local
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r23 | reset_wfp_regs(); | ||
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paul@pc-solar1.lab-lpp.local
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r18 | // configure the waveform picker interrupt service routine | ||
| status = rtems_interrupt_catch( waveforms_isr, | ||||
| IRQ_SPARC_WAVEFORM_PICKER, | ||||
| &old_isr_handler) ; | ||||
| LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
| #endif | ||||
| //********** | ||||
| //***************************************** | ||||
| // irq handling of the time management unit | ||||
| status = rtems_interrupt_catch( commutation_isr1, | ||||
| IRQ_SPARC_TIME1, | ||||
| &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels | ||||
| if (status==RTEMS_SUCCESSFUL) { | ||||
| PRINTF("OK *** commutation_isr1 *** rtems_interrupt_catch successfullly configured\n") | ||||
| } | ||||
| status = rtems_interrupt_catch( commutation_isr2, | ||||
| IRQ_SPARC_TIME2, | ||||
| &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels | ||||
| if (status==RTEMS_SUCCESSFUL) { | ||||
| PRINTF("OK *** commutation_isr2 *** rtems_interrupt_catch successfullly configured\n") | ||||
| } | ||||
| LEON_Unmask_interrupt( IRQ_TIME1 ); | ||||
| LEON_Unmask_interrupt( IRQ_TIME2 ); | ||||
| #ifdef GSA | ||||
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paul@pc-solar1.lab-lpp.local
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r19 | //if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { | ||
| // printf("in INIT *** Error sending event to WFRM\n"); | ||||
| //} | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | #endif | ||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
| status = rtems_task_delete(RTEMS_SELF); | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
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paul@pc-solar1.lab-lpp.local
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r5 | } | ||
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paul@pc-solar1.lab-lpp.local
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r18 | rtems_task spiq_task(rtems_task_argument unused) | ||
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paul@pc-solar1.lab-lpp.local
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r5 | { | ||
| rtems_event_set event_out; | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | rtems_status_code status; | ||
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paul@pc-solar1.lab-lpp.local
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r23 | unsigned char lfrMode; | ||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
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paul@pc-solar1.lab-lpp.local
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r18 | while(true){ | ||
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paul@pc-solar1.lab-lpp.local
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r17 | PRINTF("in SPIQ *** Waiting for SPW_LINKERR_EVENT\n") | ||
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paul@pc-solar1.lab-lpp.local
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r5 | rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT | ||
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paul@pc-solar1.lab-lpp.local
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r23 | lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode | ||
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paul@pc-solar1.lab-lpp.local
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r25 | 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") | ||||
| } | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
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paul@pc-solar1.lab-lpp.local
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r25 | //*************************** | ||
| // RESTART THE SPACEWIRE LINK | ||||
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paul@pc-solar1.lab-lpp.local
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r23 | spacewire_configure_link(); | ||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
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paul@pc-solar1.lab-lpp.local
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r25 | //******************* | ||
| // 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) | ||||
| } | ||||
| if (rtems_task_restart(Task_id[TASKID_RECV], 1) != RTEMS_SUCCESSFUL) { // restart RECV task | ||||
| PRINTF("in SPIQ *** Error restarting RECV Task\n") | ||||
| } | ||||
| //enter_mode(lfrMode, NULL); // enter the mode that was running before the SpaceWire interruption | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | } | ||
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paul@pc-solar1.lab-lpp.local
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r5 | } | ||
| } | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | |||
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paul@pc-solar1.lab-lpp.local
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r21 | void init_default_mode_parameters(void) | ||
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paul@pc-solar1.lab-lpp.local
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r18 | { | ||
| // COMMON PARAMETERS | ||||
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paul@pc-solar1.lab-lpp.local
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r21 | param_common.sy_lfr_common0 = 0x00; | ||
| param_common.sy_lfr_common1 = 0x10; // default value 0 0 0 1 0 0 0 0 | ||||
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paul@pc-solar1.lab-lpp.local
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r23 | |||
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paul@pc-solar1.lab-lpp.local
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r18 | // NORMAL MODE | ||
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paul@pc-solar1.lab-lpp.local
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r23 | param_norm.sy_lfr_n_swf_l = DEFAULT_SY_LFR_N_SWF_L; // nb sample | ||
| param_norm.sy_lfr_n_swf_p = DEFAULT_SY_LFR_N_SWF_P; // sec | ||||
| param_norm.sy_lfr_n_asm_p = DEFAULT_SY_LFR_N_ASM_P; // sec | ||||
| param_norm.sy_lfr_n_bp_p0 = DEFAULT_SY_LFR_N_BP_P0; // sec | ||||
| param_norm.sy_lfr_n_bp_p1 = DEFAULT_SY_LFR_N_BP_P1; // sec | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | // BURST MODE | ||
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paul@pc-solar1.lab-lpp.local
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r23 | param_burst.sy_lfr_b_bp_p0 = DEFAULT_SY_LFR_B_BP_P0; // sec | ||
| param_burst.sy_lfr_b_bp_p1 = DEFAULT_SY_LFR_B_BP_P1; // sec | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | // SBM1 MODE | ||
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paul@pc-solar1.lab-lpp.local
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r23 | param_sbm1.sy_lfr_s1_bp_p0 = DEFAULT_SY_LFR_S1_BP_P0; // sec | ||
| param_sbm1.sy_lfr_s1_bp_p1 = DEFAULT_SY_LFR_B_BP_P1; // sec | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | // SBM2 MODE | ||
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paul@pc-solar1.lab-lpp.local
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r23 | param_sbm2.sy_lfr_s2_bp_p0 = DEFAULT_SY_LFR_S2_BP_P0; // sec | ||
| param_sbm2.sy_lfr_s2_bp_p1 = DEFAULT_SY_LFR_S2_BP_P1; // sec | ||||
| // LOCAL PARAMETERS | ||||
| // (2 snapshots of 2048 points per seconds) * (period of the NORM snashots) | ||||
| param_local.local_sbm1_nb_cwf_max = 2 * param_norm.sy_lfr_n_swf_p; | ||||
| // (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz) | ||||
| param_local.local_sbm2_nb_cwf_max = param_norm.sy_lfr_n_swf_p / 8; | ||||
| PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max) | ||||
| PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max) | ||||
| param_local.local_sbm1_nb_cwf_sent = 0; | ||||
| param_local.local_sbm2_nb_cwf_sent = 0; | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | } | ||
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paul@pc-solar1.lab-lpp.local
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r21 | void init_housekeeping_parameters(void) | ||
| { | ||||
| unsigned int i = 0; | ||||
| unsigned int j = 0; | ||||
| unsigned int k = 0; | ||||
| char *parameters; | ||||
| parameters = (char*) &housekeeping_packet.lfr_status_word; | ||||
| for(i = 0; i< SIZE_HK_PARAMETERS; i++) | ||||
| { | ||||
| parameters[i] = 0x00; | ||||
| } | ||||
| // init status word | ||||
| housekeeping_packet.lfr_status_word[0] = 0x00; | ||||
| housekeeping_packet.lfr_status_word[1] = 0x00; | ||||
| // init software version | ||||
| housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1; | ||||
| housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2; | ||||
| housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3; | ||||
| housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4; | ||||
| // init sequence counters | ||||
| for (i = 0; i<SEQ_CNT_NB_PID; i++) | ||||
| { | ||||
| for(j = 0; j<SEQ_CNT_NB_CAT; j++) | ||||
| { | ||||
| for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++) | ||||
| { | ||||
| sequenceCounters[i][j][k] = 0x00; | ||||
| } | ||||
| } | ||||
| } | ||||
| } | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | int create_names( void ) | ||
| { | ||||
| // task names | ||||
| Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); | ||||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); | ||
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paul@pc-solar1.lab-lpp.local
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r18 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | ||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' ); | ||
| Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' ); | ||||
| Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' ); | ||||
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paul@pc-solar1.lab-lpp.local
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r18 | Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' ); | ||
| Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' ); | ||||
| Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' ); | ||||
| Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' ); | ||||
| // rate monotonic period name | ||||
| HK_name = rtems_build_name( 'H', 'O', 'U', 'S' ); | ||||
| return 0; | ||||
| } | ||||
| int create_all_tasks( void ) | ||||
| { | ||||
| rtems_status_code status; | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
| // RECV | ||||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
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r5 | RTEMS_DEFAULT_MODES, | ||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] | ||
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paul@pc-solar1.lab-lpp.local
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r18 | ); | ||
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paul@pc-solar1.lab-lpp.local
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r9 | // ACTN | ||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r23 | Task_name[TASKID_ACTN], 100, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
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r9 | RTEMS_DEFAULT_MODES, | ||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN] | ||
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paul@pc-solar1.lab-lpp.local
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r5 | ); | ||
| // SPIQ | ||||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r17 | Task_name[TASKID_SPIQ], 5, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
| RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] | ||
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paul@pc-solar1.lab-lpp.local
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r5 | ); | ||
| // SMIQ | ||||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
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r5 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ] | ||
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paul@pc-solar1.lab-lpp.local
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r5 | ); | ||
| // STAT | ||||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_STAT], 150, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
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r5 | RTEMS_DEFAULT_MODES, | ||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] | ||
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paul@pc-solar1.lab-lpp.local
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r5 | ); | ||
| // AVF0 | ||||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
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r5 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] | ||
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paul@pc-solar1.lab-lpp.local
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r5 | ); | ||
| // BPF0 | ||||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
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r5 | RTEMS_DEFAULT_MODES, | ||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0] | ||
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paul@pc-solar1.lab-lpp.local
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r18 | ); | ||
|
paul@pc-solar1.lab-lpp.local
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r5 | // WFRM | ||
| status = rtems_task_create( | ||||
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paul@pc-solar1.lab-lpp.local
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r23 | Task_name[TASKID_WFRM], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
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r5 | RTEMS_DEFAULT_MODES, | ||
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM] | ||
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paul@pc-solar1.lab-lpp.local
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r18 | ); | ||
| // DUMB | ||||
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paul@pc-solar1.lab-lpp.local
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r13 | status = rtems_task_create( | ||
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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paul@pc-solar1.lab-lpp.local
|
r12 | RTEMS_DEFAULT_MODES, | ||
|
paul@pc-solar1.lab-lpp.local
|
r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] | ||
|
paul@pc-solar1.lab-lpp.local
|
r18 | ); | ||
| // HOUS | ||||
|
paul@pc-solar1.lab-lpp.local
|
r16 | status = rtems_task_create( | ||
|
paul@pc-solar1.lab-lpp.local
|
r17 | Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
|
paul@pc-solar1.lab-lpp.local
|
r16 | RTEMS_DEFAULT_MODES, | ||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS] | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | ); | ||
|
paul@pc-solar1.lab-lpp.local
|
r5 | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | return 0; | ||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r5 | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | int start_all_tasks( void ) | ||
|
paul@pc-solar1.lab-lpp.local
|
r5 | { | ||
| rtems_status_code status; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); | ||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_SPIQ\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_RECV\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_ACTN\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_BPPR\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_STAT\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_AVF0\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_BPF0\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_WFRM\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_DUMB\n") | ||||
| } | ||||
| status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 ); | ||||
| if (status!=RTEMS_SUCCESSFUL) { | ||||
| PRINTF("In INIT *** Error starting TASK_HOUS\n") | ||||
| } | ||||
| return 0; | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | int spacewire_configure_link( void ) | ||
|
paul@pc-solar1.lab-lpp.local
|
r18 | { | ||
| rtems_status_code status; | ||||
| close(fdSPW); // close the device if it is already open | ||||
|
paul@pc-solar1.lab-lpp.local
|
r17 | PRINTF("OK *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n") | ||
|
paul@pc-solar1.lab-lpp.local
|
r5 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | if ( fdSPW<0 ) { | ||
| PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") | ||||
| } | ||||
| while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, -1) != RTEMS_SUCCESSFUL){ | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | PRINTF(".") | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | 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") | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r5 | rtems_task_wake_after(100); | ||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force | ||
| spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to break the no port force configuration | ||||
|
paul@pc-solar1.lab-lpp.local
|
r15 | |||
|
paul@pc-solar1.lab-lpp.local
|
r5 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception | ||
|
paul@pc-solar1.lab-lpp.local
|
r18 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") | ||
|
paul@pc-solar1.lab-lpp.local
|
r5 | // | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | //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 | ||||
|
paul@pc-solar1.lab-lpp.local
|
r5 | // | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts | ||
|
paul@pc-solar1.lab-lpp.local
|
r18 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") | ||
|
paul@pc-solar1.lab-lpp.local
|
r5 | // | ||
| status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||
| // | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks | ||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n") | ||||
| // | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | 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); | ||||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") | ||||
|
paul@pc-solar1.lab-lpp.local
|
r13 | |||
|
paul@pc-solar1.lab-lpp.local
|
r17 | PRINTF("OK *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") | ||
|
paul@pc-solar1.lab-lpp.local
|
r5 | |||
| return RTEMS_SUCCESSFUL; | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | |||
|
paul@pc-solar1.lab-lpp.local
|
r25 | int spacewire_wait_for_link(void) | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
| 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_try_to_start *** link status is: %s\n", lstates[linkStatus]) | ||||
| if ( linkStatus == 5) { | ||||
| PRINTF("in spacewire_try_to_start *** 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 | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | { | ||
| 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@pc-solar1.lab-lpp.local
|
r23 | void spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable | ||
|
paul@pc-solar1.lab-lpp.local
|
r18 | { | ||
| unsigned int *spwptr = (unsigned int*) regAddr; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r5 | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | if (val == 1) | ||
| { | ||||
| *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit | ||||
| } | ||||
| if (val== 0) | ||||
| { | ||||
| *spwptr = *spwptr & 0xfffdffff; | ||||
| } | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r5 | |||
|
paul@pc-solar1.lab-lpp.local
|
r23 | void spacewire_compute_stats_offsets() | ||
| { | ||||
| 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@pc-solar1.lab-lpp.local
|
r18 | 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 ); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | if (status != RTEMS_SUCCESSFUL){ | ||
| //PRINTF1("ERR *** in write_spw *** write operation failed with code: %d\n", status) | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | return status; | ||
| } | ||||
| 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"); | ||||
| } | ||||
| } | ||||