fsw_init.c
595 lines
| 22.7 KiB
| text/x-c
|
CLexer
/ src / fsw_init.c
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r5 | //************************* | ||
// GPL reminder to be added | ||||
//************************* | ||||
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r18 | #include <rtems.h> | ||
/* configuration information */ | ||||
#define CONFIGURE_INIT | ||||
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r5 | |||
#include <bsp.h> /* for device driver prototypes */ | ||||
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r18 | |||
/* configuration information */ | ||||
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | ||||
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r5 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | ||
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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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r5 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 | ||
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r18 | #define CONFIGURE_INIT_TASK_PRIORITY 100 | ||
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r5 | #define CONFIGURE_MAXIMUM_DRIVERS 16 | ||
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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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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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r18 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ | ||
#include <drvmgr/drvmgr_confdefs.h> | ||||
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r5 | #endif | ||
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r18 | |||
#include <fsw_init.h> | ||||
#include <fsw_config.c> | ||||
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r5 | |||
char *lstates[6] = {"Error-reset", | ||||
"Error-wait", | ||||
"Ready", | ||||
"Started", | ||||
"Connecting", | ||||
"Run" | ||||
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r18 | }; | ||
rtems_task Init( rtems_task_argument ignored ) | ||||
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r5 | { | ||
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r18 | rtems_status_code status; | ||
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r12 | rtems_isr_entry old_isr_handler; | ||
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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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r25 | //send_console_outputs_on_apbuart_port(); | ||
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r18 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); | ||
initLookUpTableForCRC(); // in tc_handler.h | ||||
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r28 | init_parameter_dump(); | ||
init_local_mode_parameters(); | ||||
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r21 | init_housekeeping_parameters(); | ||
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r18 | create_message_queue(); | ||
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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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r18 | |||
grspw_timecode_callback = &timecode_irq_handler; | ||||
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r23 | spacewire_configure_link(); | ||
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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 | ||||
#ifdef GSA | ||||
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r30 | // simulator | ||
PRINTF("GSA is defined *** fsw-gsa is running \n") | ||||
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r18 | 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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r23 | reset_wfp_regs(); | ||
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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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r30 | if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) { | ||
PRINTF("in INIT *** Error sending event to WFRM\n") | ||||
} | ||||
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r18 | #endif | ||
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r5 | |||
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r30 | LEON_Force_interrupt(IRQ_WF); | ||
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r5 | status = rtems_task_delete(RTEMS_SELF); | ||
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r18 | |||
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r5 | } | ||
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r28 | void init_parameter_dump(void) | ||
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r18 | { | ||
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r28 | parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID; | ||
parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID; | ||||
parameter_dump_packet.reserved = CCSDS_RESERVED; | ||||
parameter_dump_packet.userApplication = CCSDS_USER_APP; | ||||
parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8); | ||||
parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP; | ||||
parameter_dump_packet.packetSequenceControl[0] = (unsigned char) (TM_PACKET_SEQ_CTRL_STANDALONE << 6); | ||||
parameter_dump_packet.packetSequenceControl[1] = 0x00; | ||||
parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8); | ||||
parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP; | ||||
// DATA FIELD HEADER | ||||
parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2; | ||||
parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP; | ||||
parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP; | ||||
parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND; | ||||
parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24); | ||||
parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16); | ||||
parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8); | ||||
parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time); | ||||
parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8); | ||||
parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time); | ||||
parameter_dump_packet.sid = SID_PARAMETER_DUMP; | ||||
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r23 | |||
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r28 | //****************** | ||
// COMMON PARAMETERS | ||||
parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0; | ||||
parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1; | ||||
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r23 | |||
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r28 | //****************** | ||
// NORMAL PARAMETERS | ||||
parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8); | ||||
parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_L; | ||||
parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8); | ||||
parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_P; | ||||
parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8); | ||||
parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) DEFAULT_SY_LFR_N_ASM_P; | ||||
parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0; | ||||
parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1; | ||||
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r23 | |||
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r28 | //***************** | ||
// BURST PARAMETERS | ||||
parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0; | ||||
parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1; | ||||
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r23 | |||
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r28 | //**************** | ||
// SBM1 PARAMETERS | ||||
parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; | ||||
parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; | ||||
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r23 | |||
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r28 | //**************** | ||
// SBM2 PARAMETERS | ||||
parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0; | ||||
parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0; | ||||
} | ||||
void init_local_mode_parameters(void) | ||||
{ | ||||
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r23 | // LOCAL PARAMETERS | ||
// (2 snapshots of 2048 points per seconds) * (period of the NORM snashots) | ||||
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r28 | param_local.local_sbm1_nb_cwf_max = 2 * ( | ||
parameter_dump_packet.sy_lfr_n_swf_p[0] * 256 | ||||
+ parameter_dump_packet.sy_lfr_n_swf_p[1] | ||||
); | ||||
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r23 | // (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz) | ||
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r28 | param_local.local_sbm2_nb_cwf_max = ( | ||
parameter_dump_packet.sy_lfr_n_swf_p[0] * 256 | ||||
+ parameter_dump_packet.sy_lfr_n_swf_p[1] | ||||
)/ 8; | ||||
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r23 | |||
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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r18 | } | ||
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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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r18 | int create_names( void ) | ||
{ | ||||
// task names | ||||
Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); | ||||
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r16 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); | ||
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r18 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | ||
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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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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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r5 | |||
// RECV | ||||
status = rtems_task_create( | ||||
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r16 | Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r5 | RTEMS_DEFAULT_MODES, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] | ||
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r18 | ); | ||
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r9 | // ACTN | ||
status = rtems_task_create( | ||||
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r23 | Task_name[TASKID_ACTN], 100, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r9 | RTEMS_DEFAULT_MODES, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN] | ||
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r5 | ); | ||
// SPIQ | ||||
status = rtems_task_create( | ||||
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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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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] | ||
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r5 | ); | ||
// SMIQ | ||||
status = rtems_task_create( | ||||
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r16 | Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r5 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ] | ||
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r5 | ); | ||
// STAT | ||||
status = rtems_task_create( | ||||
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r16 | Task_name[TASKID_STAT], 150, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r5 | RTEMS_DEFAULT_MODES, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] | ||
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r5 | ); | ||
// AVF0 | ||||
status = rtems_task_create( | ||||
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r16 | Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r5 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] | ||
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r5 | ); | ||
// BPF0 | ||||
status = rtems_task_create( | ||||
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r16 | Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r5 | RTEMS_DEFAULT_MODES, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0] | ||
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r18 | ); | ||
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r5 | // WFRM | ||
status = rtems_task_create( | ||||
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r23 | Task_name[TASKID_WFRM], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r5 | RTEMS_DEFAULT_MODES, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM] | ||
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r18 | ); | ||
// DUMB | ||||
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r13 | status = rtems_task_create( | ||
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r16 | Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r12 | RTEMS_DEFAULT_MODES, | ||
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] | ||
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r18 | ); | ||
// HOUS | ||||
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r16 | status = rtems_task_create( | ||
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r17 | Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2, | ||
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r16 | RTEMS_DEFAULT_MODES, | ||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS] | ||||
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r18 | ); | ||
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r5 | |||
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r18 | return 0; | ||
} | ||||
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r5 | |||
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r18 | int start_all_tasks( void ) | ||
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r5 | { | ||
rtems_status_code status; | ||||
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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; | ||||
} | ||||
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r30 | // SPACEWIRE | ||
rtems_task spiq_task(rtems_task_argument unused) | ||||
{ | ||||
rtems_event_set event_out; | ||||
rtems_status_code status; | ||||
unsigned char lfrMode; | ||||
while(true){ | ||||
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) | ||||
} | ||||
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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r23 | int spacewire_configure_link( void ) | ||
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r18 | { | ||
rtems_status_code status; | ||||
close(fdSPW); // close the device if it is already open | ||||
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r17 | PRINTF("OK *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n") | ||
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r5 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware | ||
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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){ | ||||
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r18 | PRINTF(".") | ||
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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") | ||||
} | ||||
|
r5 | rtems_task_wake_after(100); | ||
} | ||||
|
r18 | PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") | ||
|
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 | ||||
|
r15 | |||
|
r5 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception | ||
|
r18 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") | ||
|
r5 | // | ||
|
r30 | 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 | ||||
|
r5 | // | ||
|
r23 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts | ||
|
r18 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") | ||
|
r5 | // | ||
|
r30 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit | ||
|
r18 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||
// | ||||
|
r23 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks | ||
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n") | ||||
// | ||||
|
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") | ||||
|
r13 | |||
|
r17 | PRINTF("OK *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") | ||
|
r5 | |||
return RTEMS_SUCCESSFUL; | ||||
} | ||||
|
r18 | |||
|
r25 | int spacewire_wait_for_link(void) | ||
|
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 | ||||
|
r29 | PRINTF1("in spacewire_wait_for_link *** link status is: %s\n", lstates[linkStatus]) | ||
|
r23 | if ( linkStatus == 5) { | ||
|
r29 | PRINTF("in spacewire_wait_for_link *** link is running\n") | ||
|
r23 | 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 | ||||
|
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; | ||||
} | ||||
} | ||||
|
r23 | void spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable | ||
|
r18 | { | ||
unsigned int *spwptr = (unsigned int*) regAddr; | ||||
|
r5 | |||
|
r18 | if (val == 1) | ||
{ | ||||
*spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit | ||||
} | ||||
if (val== 0) | ||||
{ | ||||
*spwptr = *spwptr & 0xfffdffff; | ||||
} | ||||
} | ||||
|
r5 | |||
|
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; | ||||
} | ||||
|
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 ); | ||||
|
r23 | if (status != RTEMS_SUCCESSFUL){ | ||
//PRINTF1("ERR *** in write_spw *** write operation failed with code: %d\n", status) | ||||
} | ||||
|
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"); | ||||
} | ||||
} | ||||