##// END OF EJS Templates
Switched to cmake, more portable and better conf options!
jeandet -
r301:04a96444cae4 R3_plus draft
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@@ -0,0 +1,29
1 cmake_minimum_required (VERSION 2.6)
2 project (LFR_FSW)
3
4 if(NOT CMAKE_BUILD_TYPE)
5 set(CMAKE_BUILD_TYPE "Release" CACHE STRING
6 "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE)
7 endif(NOT CMAKE_BUILD_TYPE)
8
9 set(LFR_BP_SRC ${CMAKE_CURRENT_SOURCE_DIR}/LFR_basic-parameters/basic_parameters.c)
10
11 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/sparc/")
12
13 include_directories("header"
14 "header/lfr_common_headers"
15 "header/processing"
16 "LFR_basic-parameters"
17 "src")
18
19 add_subdirectory(src)
20
21
22
23 option(test "Build all tests." ON) # Makes boolean 'test' available.
24
25
26 if (test)
27
28
29 endif()
@@ -0,0 +1,8
1 set(CMAKE_SYSTEM_NAME rtems)
2
3 set(CMAKE_C_COMPILER /opt/rtems-4.10/bin/sparc-rtems-gcc)
4 set(CMAKE_CXX_COMPILER /opt/rtems-4.10/bin/sparc-rtems-g++)
5 set(CMAKE_LINKER /opt/rtems-4.10/bin/sparc-rtems-g++)
6 SET(CMAKE_EXE_LINKER_FLAGS "-static")
7 set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_LINKER> <FLAGS> <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>")
8 include_directories("/opt/rtems-4.10/sparc-rtems/leon3/lib/include")
@@ -0,0 +1,72
1 cmake_minimum_required (VERSION 2.6)
2 project (FSW)
3
4 include(sparc-rtems)
5
6
7 set(SOURCES wf_handler.c
8 tc_handler.c
9 fsw_misc.c
10 fsw_init.c
11 fsw_globals.c
12 fsw_spacewire.c
13 tc_load_dump_parameters.c
14 tm_lfr_tc_exe.c
15 tc_acceptance.c
16 processing/fsw_processing.c
17 processing/avf0_prc0.c
18 processing/avf1_prc1.c
19 processing/avf2_prc2.c
20 lfr_cpu_usage_report.c
21 ${LFR_BP_SRC}
22 )
23
24
25 option(verbose "Enable verbose LFR" ON)
26 option(boot_messages "Enable LFR boot messages" ON)
27 option(debug_messages "Enable LFR debug messages" ON)
28 option(cpu_usage_report "Enable LFR cpu usage report" OFF)
29 option(stack_report "Enable LFR stack report" OFF)
30 option(vhdl_dev "?" OFF)
31 option(lpp_dpu_destid "Set to debug at LPP" ON)
32 option(debug_watchdog "Enable debug watchdog" OFF)
33 option(debug_tch "?" OFF)
34
35
36 if (verbose)
37 add_definitions(-DPRINT_MESSAGES_ON_CONSOLE)
38 endif()
39 if (boot_messages)
40 add_definitions(-DBOOT_MESSAGES)
41 endif()
42 if (debug_messages)
43 add_definitions(-DDEBUG_MESSAGES)
44 endif()
45 if (cpu_usage_report)
46 add_definitions(-DPRINT_TASK_STATISTICS)
47 endif()
48 if (stack_report)
49 add_definitions(-DPRINT_STACK_REPORT)
50 endif()
51 if (vhdl_dev)
52 add_definitions(-DVHDL_DEV)
53 endif()
54 if (lpp_dpu_destid)
55 add_definitions(-DLPP_DPU_DESTID)
56 endif()
57 if (debug_watchdog)
58 add_definitions(-DDEBUG_WATCHDOG)
59 endif()
60 if (debug_tch)
61 add_definitions(-DDEBUG_TCH)
62 endif()
63
64 add_definitions(-DMSB_FIRST_TCH)
65
66 add_definitions(-DSWVERSION=-1-0)
67 add_definitions(-DSW_VERSION_N1=3)
68 add_definitions(-DSW_VERSION_N2=1)
69 add_definitions(-DSW_VERSION_N3=0)
70 add_definitions(-DSW_VERSION_N4=4)
71
72 add_executable(FSW ${SOURCES})
@@ -1,22 +1,23
1 syntax: glob
1 syntax: glob
2 *.pdf
2 *.pdf
3 *~
3 *~
4 *.o
4 *.o
5 *.gcno
5 *.gcno
6 *.gcda
6 *.gcda
7 *.html
7 *.html
8 *.zip
8 *.zip
9 tests/*.err
9 tests/*.err
10 doc
10 doc
11 *.srec
11 *.srec
12 FSW-qt/bin/fsw
12 FSW-qt/bin/fsw
13 timegen-qt/bin/timegen
13 timegen-qt/bin/timegen
14 src/LFR_basic-parameters
14 src/LFR_basic-parameters
15 *.pro.user.*
15 *.pro.user.*
16 FSW-qt/bin/spectralmatrix/asm_f0_test_20140403_case1.txt
16 FSW-qt/bin/spectralmatrix/asm_f0_test_20140403_case1.txt
17 FSW-qt/bin/spectralmatrix/asm_f0_test_20140403_case2.txt
17 FSW-qt/bin/spectralmatrix/asm_f0_test_20140403_case2.txt
18 FSW-qt/bin/spectralmatrix/asm_f0_test_paul_1.txt
18 FSW-qt/bin/spectralmatrix/asm_f0_test_paul_1.txt
19 run2/src
19 run2/src
20 run2/trace
20 run2/trace
21 run3/src
21 run3/src
22 run3/trace
22 run3/trace
23 *CMakeLists.txt.user
@@ -1,955 +1,955
1 /** This is the RTEMS initialization module.
1 /** This is the RTEMS initialization module.
2 *
2 *
3 * @file
3 * @file
4 * @author P. LEROY
4 * @author P. LEROY
5 *
5 *
6 * This module contains two very different information:
6 * This module contains two very different information:
7 * - specific instructions to configure the compilation of the RTEMS executive
7 * - specific instructions to configure the compilation of the RTEMS executive
8 * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
8 * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
9 *
9 *
10 */
10 */
11
11
12 //*************************
12 //*************************
13 // GPL reminder to be added
13 // GPL reminder to be added
14 //*************************
14 //*************************
15
15
16 #include <rtems.h>
16 #include <rtems.h>
17
17
18 /* configuration information */
18 /* configuration information */
19
19
20 #define CONFIGURE_INIT
20 #define CONFIGURE_INIT
21
21
22 #include <bsp.h> /* for device driver prototypes */
22 #include <bsp.h> /* for device driver prototypes */
23
23
24 /* configuration information */
24 /* configuration information */
25
25
26 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
26 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
27 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
27 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
28
28
29 #define CONFIGURE_MAXIMUM_TASKS 21 // number of tasks concurrently active including INIT
29 #define CONFIGURE_MAXIMUM_TASKS 21 // number of tasks concurrently active including INIT
30 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
30 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
31 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
31 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
32 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
32 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
33 #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
33 #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
34 #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
34 #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
35 #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
35 #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
36 #define CONFIGURE_MAXIMUM_DRIVERS 16
36 #define CONFIGURE_MAXIMUM_DRIVERS 16
37 #define CONFIGURE_MAXIMUM_PERIODS 5 // [hous] [load] [avgv]
37 #define CONFIGURE_MAXIMUM_PERIODS 5 // [hous] [load] [avgv]
38 #define CONFIGURE_MAXIMUM_TIMERS 5 // [spiq] [link] [spacewire_reset_link]
38 #define CONFIGURE_MAXIMUM_TIMERS 5 // [spiq] [link] [spacewire_reset_link]
39 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
39 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
40 #ifdef PRINT_STACK_REPORT
40 #ifdef PRINT_STACK_REPORT
41 #define CONFIGURE_STACK_CHECKER_ENABLED
41 #define CONFIGURE_STACK_CHECKER_ENABLED
42 #endif
42 #endif
43
43
44 #include <rtems/confdefs.h>
44 #include <rtems/confdefs.h>
45
45
46 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
46 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
47 #ifdef RTEMS_DRVMGR_STARTUP
47 #ifdef RTEMS_DRVMGR_STARTUP
48 #ifdef LEON3
48 #ifdef LEON3
49 /* Add Timer and UART Driver */
49 /* Add Timer and UART Driver */
50
50
51 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
51 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
52 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
52 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
53 #endif
53 #endif
54
54
55 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
55 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
56 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
56 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
57 #endif
57 #endif
58
58
59 #endif
59 #endif
60 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
60 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
61
61
62 #include <drvmgr/drvmgr_confdefs.h>
62 #include <drvmgr/drvmgr_confdefs.h>
63 #endif
63 #endif
64
64
65 #include "fsw_init.h"
65 #include "fsw_init.h"
66 #include "fsw_config.c"
66 #include "fsw_config.c"
67 #include "GscMemoryLPP.hpp"
67 #include "GscMemoryLPP.hpp"
68
68
69 void initCache()
69 void initCache()
70 {
70 {
71 // ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
71 // ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
72 // These should only be read and written using 32-bit LDA/STA instructions.
72 // These should only be read and written using 32-bit LDA/STA instructions.
73 // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
73 // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
74 // The table below shows the register addresses:
74 // The table below shows the register addresses:
75 // 0x00 Cache control register
75 // 0x00 Cache control register
76 // 0x04 Reserved
76 // 0x04 Reserved
77 // 0x08 Instruction cache configuration register
77 // 0x08 Instruction cache configuration register
78 // 0x0C Data cache configuration register
78 // 0x0C Data cache configuration register
79
79
80 // Cache Control Register Leon3 / Leon3FT
80 // Cache Control Register Leon3 / Leon3FT
81 // 31..30 29 28 27..24 23 22 21 20..19 18 17 16
81 // 31..30 29 28 27..24 23 22 21 20..19 18 17 16
82 // RFT PS TB DS FD FI FT ST IB
82 // RFT PS TB DS FD FI FT ST IB
83 // 15 14 13..12 11..10 9..8 7..6 5 4 3..2 1..0
83 // 15 14 13..12 11..10 9..8 7..6 5 4 3..2 1..0
84 // IP DP ITE IDE DTE DDE DF IF DCS ICS
84 // IP DP ITE IDE DTE DDE DF IF DCS ICS
85
85
86 unsigned int cacheControlRegister;
86 unsigned int cacheControlRegister;
87
87
88 CCR_resetCacheControlRegister();
88 CCR_resetCacheControlRegister();
89 ASR16_resetRegisterProtectionControlRegister();
89 ASR16_resetRegisterProtectionControlRegister();
90
90
91 cacheControlRegister = CCR_getValue();
91 cacheControlRegister = CCR_getValue();
92 PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
92 PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
93 PRINTF1("(0) ASR16 = %x\n", *asr16Ptr);
93 PRINTF1("(0) ASR16 = %x\n", *asr16Ptr);
94
94
95 CCR_enableInstructionCache(); // ICS bits
95 CCR_enableInstructionCache(); // ICS bits
96 CCR_enableDataCache(); // DCS bits
96 CCR_enableDataCache(); // DCS bits
97 CCR_enableInstructionBurstFetch(); // IB bit
97 CCR_enableInstructionBurstFetch(); // IB bit
98
98
99 faultTolerantScheme();
99 faultTolerantScheme();
100
100
101 cacheControlRegister = CCR_getValue();
101 cacheControlRegister = CCR_getValue();
102 PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
102 PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
103 PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
103 PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
104
104
105 PRINTF("\n");
105 PRINTF("\n");
106 }
106 }
107
107
108 rtems_task Init( rtems_task_argument ignored )
108 rtems_task Init( rtems_task_argument ignored )
109 {
109 {
110 /** This is the RTEMS INIT taks, it is the first task launched by the system.
110 /** This is the RTEMS INIT taks, it is the first task launched by the system.
111 *
111 *
112 * @param unused is the starting argument of the RTEMS task
112 * @param unused is the starting argument of the RTEMS task
113 *
113 *
114 * The INIT task create and run all other RTEMS tasks.
114 * The INIT task create and run all other RTEMS tasks.
115 *
115 *
116 */
116 */
117
117
118 //***********
118 //***********
119 // INIT CACHE
119 // INIT CACHE
120
120
121 unsigned char *vhdlVersion;
121 unsigned char *vhdlVersion;
122
122
123 reset_lfr();
123 reset_lfr();
124
124
125 reset_local_time();
125 reset_local_time();
126
126
127 rtems_cpu_usage_reset();
127 rtems_cpu_usage_reset();
128
128
129 rtems_status_code status;
129 rtems_status_code status;
130 rtems_status_code status_spw;
130 rtems_status_code status_spw;
131 rtems_isr_entry old_isr_handler;
131 rtems_isr_entry old_isr_handler;
132
132
133 // UART settings
133 // UART settings
134 enable_apbuart_transmitter();
134 enable_apbuart_transmitter();
135 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
135 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
136
136
137 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
137 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
138
138
139
139
140 PRINTF("\n\n\n\n\n")
140 PRINTF("\n\n\n\n\n")
141
141
142 initCache();
142 initCache();
143
143
144 PRINTF("*************************\n")
144 PRINTF("*************************\n")
145 PRINTF("** LFR Flight Software **\n")
145 PRINTF("** LFR Flight Software **\n")
146 PRINTF1("** %d-", SW_VERSION_N1)
146 PRINTF1("** %d-", SW_VERSION_N1)
147 PRINTF1("%d-" , SW_VERSION_N2)
147 PRINTF1("%d-" , SW_VERSION_N2)
148 PRINTF1("%d-" , SW_VERSION_N3)
148 PRINTF1("%d-" , SW_VERSION_N3)
149 PRINTF1("%d **\n", SW_VERSION_N4)
149 PRINTF1("%d **\n", SW_VERSION_N4)
150
150
151 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
151 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
152 PRINTF("** VHDL **\n")
152 PRINTF("** VHDL **\n")
153 PRINTF1("** %d.", vhdlVersion[1])
153 PRINTF1("** %d.", vhdlVersion[1])
154 PRINTF1("%d." , vhdlVersion[2])
154 PRINTF1("%d." , vhdlVersion[2])
155 PRINTF1("%d **\n", vhdlVersion[3])
155 PRINTF1("%d **\n", vhdlVersion[3])
156 PRINTF("*************************\n")
156 PRINTF("*************************\n")
157 PRINTF("\n\n")
157 PRINTF("\n\n")
158
158
159 init_parameter_dump();
159 init_parameter_dump();
160 init_kcoefficients_dump();
160 init_kcoefficients_dump();
161 init_local_mode_parameters();
161 init_local_mode_parameters();
162 init_housekeeping_parameters();
162 init_housekeeping_parameters();
163 init_k_coefficients_prc0();
163 init_k_coefficients_prc0();
164 init_k_coefficients_prc1();
164 init_k_coefficients_prc1();
165 init_k_coefficients_prc2();
165 init_k_coefficients_prc2();
166 pa_bia_status_info = 0x00;
166 pa_bia_status_info = 0x00;
167 cp_rpw_sc_rw_f_flags = 0x00;
167 cp_rpw_sc_rw_f_flags = 0x00;
168 cp_rpw_sc_rw1_f1 = 0.0;
168 cp_rpw_sc_rw1_f1 = 0.0;
169 cp_rpw_sc_rw1_f2 = 0.0;
169 cp_rpw_sc_rw1_f2 = 0.0;
170 cp_rpw_sc_rw2_f1 = 0.0;
170 cp_rpw_sc_rw2_f1 = 0.0;
171 cp_rpw_sc_rw2_f2 = 0.0;
171 cp_rpw_sc_rw2_f2 = 0.0;
172 cp_rpw_sc_rw3_f1 = 0.0;
172 cp_rpw_sc_rw3_f1 = 0.0;
173 cp_rpw_sc_rw3_f2 = 0.0;
173 cp_rpw_sc_rw3_f2 = 0.0;
174 cp_rpw_sc_rw4_f1 = 0.0;
174 cp_rpw_sc_rw4_f1 = 0.0;
175 cp_rpw_sc_rw4_f2 = 0.0;
175 cp_rpw_sc_rw4_f2 = 0.0;
176 // initialize filtering parameters
176 // initialize filtering parameters
177 filterPar.spare_sy_lfr_pas_filter_enabled = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
177 filterPar.spare_sy_lfr_pas_filter_enabled = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
178 filterPar.sy_lfr_pas_filter_modulus = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
178 filterPar.sy_lfr_pas_filter_modulus = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
179 filterPar.sy_lfr_pas_filter_tbad = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
179 filterPar.sy_lfr_pas_filter_tbad = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
180 filterPar.sy_lfr_pas_filter_offset = DEFAULT_SY_LFR_PAS_FILTER_OFFSET;
180 filterPar.sy_lfr_pas_filter_offset = DEFAULT_SY_LFR_PAS_FILTER_OFFSET;
181 filterPar.sy_lfr_pas_filter_shift = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
181 filterPar.sy_lfr_pas_filter_shift = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
182 filterPar.sy_lfr_sc_rw_delta_f = DEFAULT_SY_LFR_SC_RW_DELTA_F;
182 filterPar.sy_lfr_sc_rw_delta_f = DEFAULT_SY_LFR_SC_RW_DELTA_F;
183 update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE );
183 update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE );
184
184
185 // waveform picker initialization
185 // waveform picker initialization
186 WFP_init_rings();
186 WFP_init_rings();
187 LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG ); // initialize the waveform rings
187 LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG ); // initialize the waveform rings
188 WFP_reset_current_ring_nodes();
188 WFP_reset_current_ring_nodes();
189 reset_waveform_picker_regs();
189 reset_waveform_picker_regs();
190
190
191 // spectral matrices initialization
191 // spectral matrices initialization
192 SM_init_rings(); // initialize spectral matrices rings
192 SM_init_rings(); // initialize spectral matrices rings
193 SM_reset_current_ring_nodes();
193 SM_reset_current_ring_nodes();
194 reset_spectral_matrix_regs();
194 reset_spectral_matrix_regs();
195
195
196 // configure calibration
196 // configure calibration
197 configureCalibration( false ); // true means interleaved mode, false is for normal mode
197 configureCalibration( false ); // true means interleaved mode, false is for normal mode
198
198
199 updateLFRCurrentMode( LFR_MODE_STANDBY );
199 updateLFRCurrentMode( LFR_MODE_STANDBY );
200
200
201 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
201 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
202
202
203 create_names(); // create all names
203 create_names(); // create all names
204
204
205 status = create_timecode_timer(); // create the timer used by timecode_irq_handler
205 status = create_timecode_timer(); // create the timer used by timecode_irq_handler
206 if (status != RTEMS_SUCCESSFUL)
206 if (status != RTEMS_SUCCESSFUL)
207 {
207 {
208 PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
208 PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
209 }
209 }
210
210
211 status = create_message_queues(); // create message queues
211 status = create_message_queues(); // create message queues
212 if (status != RTEMS_SUCCESSFUL)
212 if (status != RTEMS_SUCCESSFUL)
213 {
213 {
214 PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
214 PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
215 }
215 }
216
216
217 status = create_all_tasks(); // create all tasks
217 status = create_all_tasks(); // create all tasks
218 if (status != RTEMS_SUCCESSFUL)
218 if (status != RTEMS_SUCCESSFUL)
219 {
219 {
220 PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
220 PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
221 }
221 }
222
222
223 // **************************
223 // **************************
224 // <SPACEWIRE INITIALIZATION>
224 // <SPACEWIRE INITIALIZATION>
225 status_spw = spacewire_open_link(); // (1) open the link
225 status_spw = spacewire_open_link(); // (1) open the link
226 if ( status_spw != RTEMS_SUCCESSFUL )
226 if ( status_spw != RTEMS_SUCCESSFUL )
227 {
227 {
228 PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
228 PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
229 }
229 }
230
230
231 if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
231 if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
232 {
232 {
233 status_spw = spacewire_configure_link( fdSPW );
233 status_spw = spacewire_configure_link( fdSPW );
234 if ( status_spw != RTEMS_SUCCESSFUL )
234 if ( status_spw != RTEMS_SUCCESSFUL )
235 {
235 {
236 PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
236 PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
237 }
237 }
238 }
238 }
239
239
240 if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
240 if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
241 {
241 {
242 status_spw = spacewire_start_link( fdSPW );
242 status_spw = spacewire_start_link( fdSPW );
243 if ( status_spw != RTEMS_SUCCESSFUL )
243 if ( status_spw != RTEMS_SUCCESSFUL )
244 {
244 {
245 PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
245 PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
246 }
246 }
247 }
247 }
248 // </SPACEWIRE INITIALIZATION>
248 // </SPACEWIRE INITIALIZATION>
249 // ***************************
249 // ***************************
250
250
251 status = start_all_tasks(); // start all tasks
251 status = start_all_tasks(); // start all tasks
252 if (status != RTEMS_SUCCESSFUL)
252 if (status != RTEMS_SUCCESSFUL)
253 {
253 {
254 PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
254 PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
255 }
255 }
256
256
257 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
257 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
258 status = start_recv_send_tasks();
258 status = start_recv_send_tasks();
259 if ( status != RTEMS_SUCCESSFUL )
259 if ( status != RTEMS_SUCCESSFUL )
260 {
260 {
261 PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
261 PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
262 }
262 }
263
263
264 // suspend science tasks, they will be restarted later depending on the mode
264 // suspend science tasks, they will be restarted later depending on the mode
265 status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
265 status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
266 if (status != RTEMS_SUCCESSFUL)
266 if (status != RTEMS_SUCCESSFUL)
267 {
267 {
268 PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
268 PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
269 }
269 }
270
270
271 // configure IRQ handling for the waveform picker unit
271 // configure IRQ handling for the waveform picker unit
272 status = rtems_interrupt_catch( waveforms_isr,
272 status = rtems_interrupt_catch( waveforms_isr,
273 IRQ_SPARC_WAVEFORM_PICKER,
273 IRQ_SPARC_WAVEFORM_PICKER,
274 &old_isr_handler) ;
274 &old_isr_handler) ;
275 // configure IRQ handling for the spectral matrices unit
275 // configure IRQ handling for the spectral matrices unit
276 status = rtems_interrupt_catch( spectral_matrices_isr,
276 status = rtems_interrupt_catch( spectral_matrices_isr,
277 IRQ_SPARC_SPECTRAL_MATRIX,
277 IRQ_SPARC_SPECTRAL_MATRIX,
278 &old_isr_handler) ;
278 &old_isr_handler) ;
279
279
280 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
280 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
281 if ( status_spw != RTEMS_SUCCESSFUL )
281 if ( status_spw != RTEMS_SUCCESSFUL )
282 {
282 {
283 status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
283 status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
284 if ( status != RTEMS_SUCCESSFUL ) {
284 if ( status != RTEMS_SUCCESSFUL ) {
285 PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
285 PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
286 }
286 }
287 }
287 }
288
288
289 BOOT_PRINTF("delete INIT\n")
289 BOOT_PRINTF("delete INIT\n")
290
290
291 set_hk_lfr_sc_potential_flag( true );
291 set_hk_lfr_sc_potential_flag( true );
292
292
293 // start the timer to detect a missing spacewire timecode
293 // start the timer to detect a missing spacewire timecode
294 // the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
294 // the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
295 // if a tickout is generated, the timer is restarted
295 // if a tickout is generated, the timer is restarted
296 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
296 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
297
297
298 grspw_timecode_callback = &timecode_irq_handler;
298 grspw_timecode_callback = &timecode_irq_handler;
299
299
300 status = rtems_task_delete(RTEMS_SELF);
300 status = rtems_task_delete(RTEMS_SELF);
301
301
302 }
302 }
303
303
304 void init_local_mode_parameters( void )
304 void init_local_mode_parameters( void )
305 {
305 {
306 /** This function initialize the param_local global variable with default values.
306 /** This function initialize the param_local global variable with default values.
307 *
307 *
308 */
308 */
309
309
310 unsigned int i;
310 unsigned int i;
311
311
312 // LOCAL PARAMETERS
312 // LOCAL PARAMETERS
313
313
314 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
314 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
315 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
315 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
316 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
316 //BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
317
317
318 // init sequence counters
318 // init sequence counters
319
319
320 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
320 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
321 {
321 {
322 sequenceCounters_TC_EXE[i] = 0x00;
322 sequenceCounters_TC_EXE[i] = 0x00;
323 sequenceCounters_TM_DUMP[i] = 0x00;
323 sequenceCounters_TM_DUMP[i] = 0x00;
324 }
324 }
325 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
325 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
326 sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
326 sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
327 sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
327 sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
328 }
328 }
329
329
330 void reset_local_time( void )
330 void reset_local_time( void )
331 {
331 {
332 time_management_regs->ctrl = time_management_regs->ctrl | 0x02; // [0010] software reset, coarse time = 0x80000000
332 time_management_regs->ctrl = time_management_regs->ctrl | 0x02; // [0010] software reset, coarse time = 0x80000000
333 }
333 }
334
334
335 void create_names( void ) // create all names for tasks and queues
335 void create_names( void ) // create all names for tasks and queues
336 {
336 {
337 /** This function creates all RTEMS names used in the software for tasks and queues.
337 /** This function creates all RTEMS names used in the software for tasks and queues.
338 *
338 *
339 * @return RTEMS directive status codes:
339 * @return RTEMS directive status codes:
340 * - RTEMS_SUCCESSFUL - successful completion
340 * - RTEMS_SUCCESSFUL - successful completion
341 *
341 *
342 */
342 */
343
343
344 // task names
344 // task names
345 Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' );
345 Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' );
346 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
346 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
347 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
347 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
348 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
348 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
349 Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
349 Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
350 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
350 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
351 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
351 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
352 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
352 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
353 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
353 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
354 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
354 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
355 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
355 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
356 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
356 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
357 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
357 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
358 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
358 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
359 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
359 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
360 Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
360 Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
361 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
361 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
362 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
362 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
363 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
363 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
364 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
364 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
365
365
366 // rate monotonic period names
366 // rate monotonic period names
367 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
367 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
368 name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' );
368 name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' );
369
369
370 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
370 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
371 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
371 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
372 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
372 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
373 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
373 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
374 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
374 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
375
375
376 timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
376 timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
377 }
377 }
378
378
379 int create_all_tasks( void ) // create all tasks which run in the software
379 int create_all_tasks( void ) // create all tasks which run in the software
380 {
380 {
381 /** This function creates all RTEMS tasks used in the software.
381 /** This function creates all RTEMS tasks used in the software.
382 *
382 *
383 * @return RTEMS directive status codes:
383 * @return RTEMS directive status codes:
384 * - RTEMS_SUCCESSFUL - task created successfully
384 * - RTEMS_SUCCESSFUL - task created successfully
385 * - RTEMS_INVALID_ADDRESS - id is NULL
385 * - RTEMS_INVALID_ADDRESS - id is NULL
386 * - RTEMS_INVALID_NAME - invalid task name
386 * - RTEMS_INVALID_NAME - invalid task name
387 * - RTEMS_INVALID_PRIORITY - invalid task priority
387 * - RTEMS_INVALID_PRIORITY - invalid task priority
388 * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
388 * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
389 * - RTEMS_TOO_MANY - too many tasks created
389 * - RTEMS_TOO_MANY - too many tasks created
390 * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
390 * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
391 * - RTEMS_TOO_MANY - too many global objects
391 * - RTEMS_TOO_MANY - too many global objects
392 *
392 *
393 */
393 */
394
394
395 rtems_status_code status;
395 rtems_status_code status;
396
396
397 //**********
397 //**********
398 // SPACEWIRE
398 // SPACEWIRE
399 // RECV
399 // RECV
400 status = rtems_task_create(
400 status = rtems_task_create(
401 Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
401 Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
402 RTEMS_DEFAULT_MODES,
402 RTEMS_DEFAULT_MODES,
403 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
403 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
404 );
404 );
405 if (status == RTEMS_SUCCESSFUL) // SEND
405 if (status == RTEMS_SUCCESSFUL) // SEND
406 {
406 {
407 status = rtems_task_create(
407 status = rtems_task_create(
408 Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
408 Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
409 RTEMS_DEFAULT_MODES,
409 RTEMS_DEFAULT_MODES,
410 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
410 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
411 );
411 );
412 }
412 }
413 if (status == RTEMS_SUCCESSFUL) // LINK
413 if (status == RTEMS_SUCCESSFUL) // LINK
414 {
414 {
415 status = rtems_task_create(
415 status = rtems_task_create(
416 Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
416 Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
417 RTEMS_DEFAULT_MODES,
417 RTEMS_DEFAULT_MODES,
418 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LINK]
418 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LINK]
419 );
419 );
420 }
420 }
421 if (status == RTEMS_SUCCESSFUL) // ACTN
421 if (status == RTEMS_SUCCESSFUL) // ACTN
422 {
422 {
423 status = rtems_task_create(
423 status = rtems_task_create(
424 Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
424 Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
425 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
425 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
426 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
426 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
427 );
427 );
428 }
428 }
429 if (status == RTEMS_SUCCESSFUL) // SPIQ
429 if (status == RTEMS_SUCCESSFUL) // SPIQ
430 {
430 {
431 status = rtems_task_create(
431 status = rtems_task_create(
432 Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
432 Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
433 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
433 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
434 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
434 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
435 );
435 );
436 }
436 }
437
437
438 //******************
438 //******************
439 // SPECTRAL MATRICES
439 // SPECTRAL MATRICES
440 if (status == RTEMS_SUCCESSFUL) // AVF0
440 if (status == RTEMS_SUCCESSFUL) // AVF0
441 {
441 {
442 status = rtems_task_create(
442 status = rtems_task_create(
443 Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
443 Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
444 RTEMS_DEFAULT_MODES,
444 RTEMS_DEFAULT_MODES,
445 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
445 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
446 );
446 );
447 }
447 }
448 if (status == RTEMS_SUCCESSFUL) // PRC0
448 if (status == RTEMS_SUCCESSFUL) // PRC0
449 {
449 {
450 status = rtems_task_create(
450 status = rtems_task_create(
451 Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
451 Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
452 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
452 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
453 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
453 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
454 );
454 );
455 }
455 }
456 if (status == RTEMS_SUCCESSFUL) // AVF1
456 if (status == RTEMS_SUCCESSFUL) // AVF1
457 {
457 {
458 status = rtems_task_create(
458 status = rtems_task_create(
459 Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
459 Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
460 RTEMS_DEFAULT_MODES,
460 RTEMS_DEFAULT_MODES,
461 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
461 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
462 );
462 );
463 }
463 }
464 if (status == RTEMS_SUCCESSFUL) // PRC1
464 if (status == RTEMS_SUCCESSFUL) // PRC1
465 {
465 {
466 status = rtems_task_create(
466 status = rtems_task_create(
467 Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
467 Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
468 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
468 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
469 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
469 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
470 );
470 );
471 }
471 }
472 if (status == RTEMS_SUCCESSFUL) // AVF2
472 if (status == RTEMS_SUCCESSFUL) // AVF2
473 {
473 {
474 status = rtems_task_create(
474 status = rtems_task_create(
475 Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
475 Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
476 RTEMS_DEFAULT_MODES,
476 RTEMS_DEFAULT_MODES,
477 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
477 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
478 );
478 );
479 }
479 }
480 if (status == RTEMS_SUCCESSFUL) // PRC2
480 if (status == RTEMS_SUCCESSFUL) // PRC2
481 {
481 {
482 status = rtems_task_create(
482 status = rtems_task_create(
483 Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
483 Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
484 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
484 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
485 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
485 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
486 );
486 );
487 }
487 }
488
488
489 //****************
489 //****************
490 // WAVEFORM PICKER
490 // WAVEFORM PICKER
491 if (status == RTEMS_SUCCESSFUL) // WFRM
491 if (status == RTEMS_SUCCESSFUL) // WFRM
492 {
492 {
493 status = rtems_task_create(
493 status = rtems_task_create(
494 Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
494 Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
495 RTEMS_DEFAULT_MODES,
495 RTEMS_DEFAULT_MODES,
496 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
496 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
497 );
497 );
498 }
498 }
499 if (status == RTEMS_SUCCESSFUL) // CWF3
499 if (status == RTEMS_SUCCESSFUL) // CWF3
500 {
500 {
501 status = rtems_task_create(
501 status = rtems_task_create(
502 Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
502 Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
503