HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r13:662dfd68ecbc

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FSW-rtems/FSW-rtems.layout +6 -6

             <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
             <CodeBlocks_layout_file>
             	<ActiveTarget name="Debug" />
-            	<File name="../header/ccsds_types.h" open="0" top="0" tabpos="3">
+            	<File name="../header/ccsds_types.h" open="1" top="0" tabpos="2">
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             	</File>
             	<File name="../src/fsw_init.c" open="1" top="0" tabpos="1">
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             	</File>
-            	<File name="../src/tc_handler.c" open="1" top="1" tabpos="2">
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FSW-rtems/bin/Debug/fsw binary modified 0 0

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header/ccsds_types.h +2 -1

             #ifndef CCSDS_H_INCLUDED
             #define CCSDS_H_INCLUDED
             #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4
             #define CCSDS_TM_PKT_MAX_SIZE 4412
             #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4
             #define CCSDS_TC_PKT_MAX_SIZE 50 // size of the TC_LFR_UPDATE_INFO packet
             #define CCSDS_TC_TM_PACKET_OFFSET 7
             #define CCSDS_PROCESS_ID 76
             #define CCSDS_PACKET_CATEGORY 12
-            #define CCSDS_DESTINATION_ID 0x21
+            #define CCSDS_NODE_ADDRESS 0x01     // SY_DPU_LFR_LA 1 is not allowed by the StarDundee brick, use 101 instead 0x65
+            #define CCSDS_DESTINATION_ID 0x02   // SY_LFR_DPU_LA 2 is not allowed by the StarDundee brick, use 102 instead 0x66
             #define CCSDS_PROTOCOLE_ID 0x02
             #define CCSDS_USER_APP 0x00
             #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24
             #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32
             #define ILLEGAL_APID 0
             #define WRONG_LEN_PACKET 1
             #define INCOR_CHECKSUM 2
             #define ILL_TYPE 3
             #define ILL_SUBTYPE 4
             #define WRONG_APP_DATA 5
             #define WRONG_CMD_CODE 6
             #define CCSDS_TM_VALID 7
             //
             #define TC_NOT_EXE 40000
             #define WRONG_SRC_ID 40001
             #define FUNCT_NOT_IMPL 40002
             #define FAIL_DETECTED 40003
             #define NOT_ALLOWED 40004
             #define CORRUPTED 40005
             // // TC SUBTYPES
             #define TC_SUBTYPE_RESET 3
             #define TC_SUBTYPE_LOAD_COMM 20
             #define TC_SUBTYPE_LOAD_NORM 21
             #define TC_SUBTYPE_LOAD_BURST 24
             #define TC_SUBTYPE_LOAD_SBM1 27
             #define TC_SUBTYPE_LOAD_SBM2 28
             #define TC_SUBTYPE_DUMP 30
             #define TC_SUBTYPE_ENTER 40
             #define TC_SUBTYPE_UPDT_INFO 50
             #define TC_SUBTYPE_EN_CAL 60
             #define TC_SUBTYPE_DIS_CAL 61
             #define TC_SUBTYPE_UPDT_TIME 129
             #define SID_DEFAULT 0
             #define SID_EXE_INC 5
             #define SID_NOT_EXE 40000
             #define SID_NOT_IMP 40002
             #define SID_EXE_ERR 40003
             #define SID_EXE_CORR 40005
             #define SID_NORM_SWF_F0 3
             #define SID_NORM_SWF_F1 4
             #define SID_NORM_SWF_F2 5
             #define SID_NORM_CWF_F3 1
             #define SID_BURST_CWF_F2 2
             #define SID_SBM1_CWF_F1 24
             #define SID_SBM2_CWF_F2 25
             #define SID_NORM_ASM_F0 11
             #define SID_NORM_ASM_F1 12
             #define SID_NORM_ASM_F2 13
             #define SID_NORM_BP1_F0 14
             #define SID_NORM_BP1_F1 15
             #define SID_NORM_BP1_F2 16
             #define SID_NORM_BP2_F0 19
             #define SID_NORM_BP2_F1 20
             #define SID_NORM_BP2_F2 21
             #define SID_BURST_BP1_F0 17
             #define SID_BURST_BP2_F0 22
             #define SID_BURST_BP1_F1 18
             #define SID_BURST_BP2_F1 23
             #define SID_SBM1_BP1_F0 28
             #define SID_SBM1_BP2_F0 31
             #define SID_SBM2_BP1_F0 29
             #define SID_SBM2_BP2_F0 32
             #define SID_SBM1_BP1_F1 30
             #define SID_SBM1_BP2_F1 33
             #define TM_LEN_EXE 20 - CCSDS_TC_TM_PACKET_OFFSET
             #define TM_LEN_NOT_EXE 26 - CCSDS_TC_TM_PACKET_OFFSET
             #define TM_LEN_NOT_IMP 24 - CCSDS_TC_TM_PACKET_OFFSET
             #define TM_LEN_EXE_ERR 24 - CCSDS_TC_TM_PACKET_OFFSET
             #define TM_LEN_EXE_CORR 32 - CCSDS_TC_TM_PACKET_OFFSET
             #define TM_HEADER_LEN 16
             #define TM_LEN_SCI_NORM_SWF_340 340 * 12 + 6 + 10 - 1
             #define TM_LEN_SCI_NORM_SWF_8 8 * 12 + 6 + 10 - 1
             enum TM_TYPE{
                 TM_LFR_TC_EXE_OK,
                 TM_LFR_TC_EXE_ERR,
                 TM_LFR_HK,
                 TM_LFR_SCI,
                 TM_LFR_SCI_SBM,
                 TM_LFR_PAR_DUMP
             };
             struct TMHeader_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 volatile unsigned char dataFieldHeader[10];
             };
             typedef struct TMHeader_str TMHeader_t;
             struct ExtendedTMHeader_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 volatile unsigned char dataFieldHeader[10];
                 volatile unsigned char auxiliaryHeader[6];
             };
             typedef struct ExtendedTMHeader_str ExtendedTMHeader_t;
             struct ccsdsTelecommandPacket_str
             {
                 //unsigned char targetLogicalAddress; // removed by the grspw module
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 volatile unsigned char dataFieldHeader[4];
                 volatile unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10];
             };
             typedef struct ccsdsTelecommandPacket_str ccsdsTelecommandPacket_t;
             #endif // CCSDS_H_INCLUDED

src/fsw_init.c +16 -11

             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS             10
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS         (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY	100
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 1
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #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
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include <fsw_init.h>
             #include <fsw_config.c>
             char *link_status(int status);
             char *lstates[6] = {"Error-reset",
                                 "Error-wait",
                                 "Ready",
                                 "Started",
                                 "Connecting",
                                 "Run"
             };
             rtems_task Init( rtems_task_argument ignored )
             {
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 //send_console_outputs_on_serial_port();
                 initLookUpTableForCRC(); // in tc_handler.h
                 init_default_mode_parameters();
                 create_message_queue();
                 create_all_tasks();
                 start_all_tasks();
                 configure_spw_link();
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr );
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
                                 IRQ_SPARC_WF, waveforms_isr );
                 // irq handling of the time management unit
-                /*status = rtems_interrupt_catch( commutation_isr1,
+                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("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("commutation_isr2 *** rtems_interrupt_catch successfullly configured\n")
                 LEON_Unmask_interrupt( IRQ_TIME1 );
-                LEON_Unmask_interrupt( IRQ_TIME2 );*/
+                LEON_Unmask_interrupt( IRQ_TIME2 );
                 status = rtems_task_delete(RTEMS_SELF);
             }
             rtems_task spiq_task(rtems_task_argument unused)
             {
                 rtems_event_set event_out;
                 struct grspw_regs_str *grspw_regs;
                 grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW;
                 while(1){
                     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
                     if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL)   // suspend RECV task
                         PRINTF("In SPIQ *** Error suspending RECV Task\n")
                     configure_spw_link();
                     if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task
                         PRINTF("In SPIQ *** Error resume RECV Task\n")
                 }
             }
             void init_default_mode_parameters()
             {
                 // COMMON PARAMETERS
                 param_common[0] = 0x00;
                 param_common[1] = 0x10;             // default value 0 0 0 1 0 0 0 0
                 // NORMAL MODE
                 param_norm.sy_lfr_n_swf_l = 2048;   // nb sample
                 param_norm.sy_lfr_n_swf_p = 300;    // sec
                 param_norm.sy_lfr_n_asm_p = 3600;   // sec
                 param_norm.sy_lfr_n_bp_p0 = 4;      // sec
                 param_norm.sy_lfr_n_bp_p1 = 20;     // sec
                 // BURST MODE
                 param_burst.sy_lfr_b_bp_p0 = 1;     // sec
                 param_burst.sy_lfr_b_bp_p1 = 5;     // sec
                 // SBM1 MODE
                 param_sbm1.sy_lfr_s1_bp_p0 = 1;     // sec
                 param_sbm1.sy_lfr_s1_bp_p1 = 1;     // sec
                 // SBM2 MODE
                 param_sbm2.sy_lfr_s2_bp_p0 = 1;     // sec
                 param_sbm2.sy_lfr_s2_bp_p0 = 5;     // sec
             }
             int create_all_tasks()
             {
                 rtems_status_code status;
                 Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[2] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' );
                 Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' );
                 Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' );
-                //Task_name[9] = rtems_build_name( 'D', 'U', 'M', 'B' );
+                Task_name[9] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 // RECV
                 status = rtems_task_create(
                     Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1]
                 );
                 // ACTN
                 status = rtems_task_create(
                     Task_name[2], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[2]
                 );
                 // SPIQ
                 status = rtems_task_create(
                     Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3]
                 );
                 // SMIQ
                 status = rtems_task_create(
                     Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4]
                 );
                 // STAT
                 status = rtems_task_create(
                     Task_name[5], 150, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5]
                 );
                 // AVF0
                 status = rtems_task_create(
                     Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6]
                 );
                 // BPF0
                 status = rtems_task_create(
                     Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7]
                 );
                 // WFRM
                 status = rtems_task_create(
                     Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8]
                 );
                 // DUMB
-                /*status = rtems_task_create(
+                status = rtems_task_create(
                     Task_name[9], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[9]
-                );*/
+                );
                 return 0;
             }
             int start_all_tasks()
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[3], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n")
                 status = rtems_task_start( Task_id[1], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n")
                 status = rtems_task_start( Task_id[2], actn_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_ACTN\n")
                 status = rtems_task_start( Task_id[4], smiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n")
                 status = rtems_task_start( Task_id[5], stat_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n")
                 status = rtems_task_start( Task_id[6], avf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n")
                 status = rtems_task_start( Task_id[7], bpf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n")
                 status = rtems_task_start( Task_id[8], wfrm_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n")
-                /*status = rtems_task_start( Task_id[9], dumb_task, 1 );
+                status = rtems_task_start( Task_id[9], dumb_task, 1 );
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_DUMB\n")*/
+                if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_DUMB\n")
                 return 0;
             }
             int configure_spw_link()
             {
                 rtems_status_code status;
                 close(fdSPW); // close the device if it is already open
                 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
                 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
                 while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){
                     PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n")
                     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("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
                     rtems_task_wake_after(100);
                 }
                 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
                 // sets a few parameters of the link
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1);      // sets the RMAP enable bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n")
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]);    // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
-                //
-                //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID);  // sets the destination key
+                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID);  // sets the destination key
-                //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
+                PRINTF1("destination address set to: %d\n", CCSDS_DESTINATION_ID)
-                //
+                if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
+                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_NODEADDR, CCSDS_NODE_ADDRESS);  // sets the destination key
+                PRINTF1("node address set to: %d\n", CCSDS_NODE_ADDRESS)
+                if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
                 return RTEMS_SUCCESSFUL;
             }
             char *link_status(int status){
                     return lstates[status];
             }
             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 );
                 if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n");
                 return status;
             }

src/tc_handler.c +1 -1

             #include <tc_handler.h>
             #include <fsw_params.h>
             char *errorCCSDSMsg[8] = { "ILLEGAL_APID 0",
                                         "WRONG_LEN_PACKET 1",
                                         "INCOR_CHECKSUM 2",
                                         "ILL_TYPE 3",
                                         "ILL_SUBTYPE 4",
                                         "WRONG_APP_DATA 5",
                                         "WRONG_CMD_CODE 6",
                                         "CCSDS_TM_VALID 7"
             };
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
             }
             void initLookUpTableForCRC()
             {
                 unsigned int i, tmp;
                 for (i=0; i<256; i++)
                 {
                     tmp = 0;
                     if((i & 1) != 0) tmp = tmp ^ 0x1021;
                     if((i & 2) != 0) tmp = tmp ^ 0x2042;
                     if((i & 4) != 0) tmp = tmp ^ 0x4084;
                     if((i & 8) != 0) tmp = tmp ^ 0x8108;
                     if((i & 16) != 0) tmp = tmp ^ 0x1231;
                     if((i & 32) != 0) tmp = tmp ^ 0x2462;
                     if((i & 64) != 0) tmp = tmp ^ 0x48c4;
                     if((i & 128) != 0) tmp = tmp ^ 0x9188;
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 unsigned int Chk;
                 int j;
                 Chk = 0xffff; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
             }
             //*********************
             // ACCEPTANCE FUNCTIONS
             int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
             {
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TMHeader_t TM_header;
                 unsigned int code = 0;
                 unsigned char computed_CRC[2];
                 char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
                 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
                 code = acceptTM( TC, tc_len_recv ) ;
                 if ( (code == 0) | (code == 1) | (code == 2)
                     | (code == 3) | (code == 4) | (code == 5) )
                 { // generate TM_LFR_TC_EXE_CORRUPTED
                     // BUILD HEADER
                     TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_EXE_CORR, 0, 0, &TM_header);
                     // BUILD DATA
                     TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
                     // PREPARE TM SENDING
                     spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                     spw_ioctl_send.hdr = (char*) &TM_header;
                     spw_ioctl_send.dlen = 16;
                     spw_ioctl_send.data = data;
                     // SEND PACKET
                     write_spw(&spw_ioctl_send);
                 }
                 else { // send valid TC to the action launcher
                     status =  rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
                     return -1;
                 }
                 return -1;
             }
             unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
             {
                 unsigned char pid = 0;
                 unsigned char category = 0;
                 unsigned int length = 0;
                 unsigned char packetType = 0;
                 unsigned char packetSubtype = 0;
                 unsigned char * CCSDSContent;
                 // APID check *** APID on 2 bytes
                 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category = (TMPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID;
                 if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID;
                 // packet length check
                 length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1];
                 if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
                 if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
                 packetType = TMPacket->dataFieldHeader[1];
                 packetSubtype = TMPacket->dataFieldHeader[2];
                 // service type, subtype and packet length check
                 if (packetType == 181){
                     switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
                         case 3:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 20:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 21:
                             if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 24:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 27:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 28:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 30:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 40:
                             if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 50:
                             if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 60:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 61:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         default:
                             return ILL_SUBTYPE;
                             break;
                         }
                 }
                 else if (packetType == 9){
                     if (packetSubtype!=129) return ILL_SUBTYPE;
                     if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                 }
                 else return ILL_TYPE;
                 // source ID check // Source ID not documented in the ICD
                 // packet error control, CRC check
                 CCSDSContent = (unsigned char*) TMPacket->packetID;
                 GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
                 if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM;
                 if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM;
                 return CCSDS_TM_VALID;
             }
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
                                           unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
             {
                 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TMHeader->protocolIdentifier = 0x02;
                 TMHeader->reserved = 0x00;
                 TMHeader->userApplication = 0x00;
                 TMHeader->packetID[0] = 0x0c;
                 TMHeader->packetSequenceControl[0] = 0xc0;
                 TMHeader->packetSequenceControl[1] = 0x00;
                 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
                 TMHeader->packetLength[1] = (unsigned char) packetLength;
                 TMHeader->dataFieldHeader[0] = 0x10;
                 TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
                 switch (tm_type){
                     case(TM_LFR_TC_EXE_OK):
                         TMHeader->packetID[1] = 0xc1;
                         TMHeader->dataFieldHeader[1] = 1; // type
                         TMHeader->dataFieldHeader[2] = 7; // subtype
                         break;
                     case(TM_LFR_TC_EXE_ERR):
                         TMHeader->packetID[1] = 0xc1;
                         TMHeader->dataFieldHeader[1] = 1; // type
                         TMHeader->dataFieldHeader[2] = 8; // subtype
                         break;
                     case(TM_LFR_HK):
                         TMHeader->packetID[1] = 0xc4;
                         TMHeader->dataFieldHeader[1] = 3;  // type
                         TMHeader->dataFieldHeader[2] = 25; // subtype
                         break;
                     case(TM_LFR_SCI):
                         TMHeader->packetID[1] = 0xcc;
                         TMHeader->dataFieldHeader[1] = 21;  // type
                         TMHeader->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_SCI_SBM):
                         TMHeader->packetID[1] = 0xfc;
                         TMHeader->dataFieldHeader[1] = 21;  // type
                         TMHeader->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_PAR_DUMP):
                         TMHeader->packetID[1] = 0xc9;
                         TMHeader->dataFieldHeader[1] = 181;  // type
                         TMHeader->dataFieldHeader[2] = 31; // subtype
                         break;
                     default:
                         return 0;
                 }
                 TMHeader->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TMHeader->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TMHeader->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TMHeader->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
                 TMHeader->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
                 TMHeader->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
                 return 1;
             }
             unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
             {
                 unsigned int packetLength;
                 packetLength = TC->packetLength[0] * 256 + TC->packetLength[1];
                 switch (SID){
                     case (SID_NOT_EXE):
                         break;
                     case (SID_NOT_IMP):
                         data[0] = 0x9c;
                         data[1] = 0x42;
                         data[2] = TC->packetID[0];
                         data[3] = TC->packetID[1];
                         data[4] = TC->packetSequenceControl[0];
                         data[5] = TC->packetSequenceControl[1];
                         data[6] = TC->dataFieldHeader[1]; // type
                         data[7] = TC->dataFieldHeader[2]; // subtype
                         break;
                     case (SID_EXE_ERR):
                         break;
                     case (SID_EXE_CORR):
                         data[0] = 0x9c;
                         data[1] = 0x45;
                         data[2] = TC->packetID[0];
                         data[3] = TC->packetID[1];
                         data[4] = TC->packetSequenceControl[0];
                         data[5] = TC->packetSequenceControl[1];
                         data[6] = TC->dataFieldHeader[1]; // type
                         data[7] = TC->dataFieldHeader[2]; // subtype
                         data[8] = currentTC_LEN_RCV[0];
                         data[9] = currentTC_LEN_RCV[1];
                         data[10] = TC->packetLength[0];
                         data[11] = TC->packetLength[1];
                         data[12] = TC->dataAndCRC[packetLength];
                         data[13] = TC->dataAndCRC[packetLength+1];
                         data[14] = computed_CRC[0];
                         data[15] = computed_CRC[1];
                         break;
                     default:
                         return 0;
                 }
                 return 1;
             }
             //***********
             // RTEMS TASK
             rtems_task recv_task( rtems_task_argument unused )
             {
                 int len = 0;
                 unsigned int i = 0;
                 unsigned int data_length = 0;
                 ccsdsTelecommandPacket_t currentTC;
                 char data[100];
                 for(i=0; i<100; i++) data[i] = 0;
                 PRINTF("In RECV *** \n")
                 while(1)
                 {
                     len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF("In RECV *** last read call returned -1\n")
                         if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL)
                             PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
                         if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL)
                             PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
                     }
                     else {
-                        PRINTF1("In RECV *** Got Message of length %d\n", len)
+                        PRINTF1("Got pck of length %d\n", len+1)
                         currentTC_LEN_RCV[0] = 0x00;
                         currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; //  build the corresponding packet size field
                         currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes
                         // CHECK THE TC AND BUILD THE APPROPRIATE TM
                         data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
                         if (data_length!=-1)
                         {
                         }
                     }
                 }
             }
             rtems_task actn_task( rtems_task_argument unused )
             {
                 int result = 0;
                 rtems_status_code status;           // RTEMS status code
                 ccsdsTelecommandPacket_t TC;        // TC sent to the ACTN task
                 size_t size;                        // size of the incoming TC packet
                 unsigned char subtype = 0;          // subtype of the current TC packet
                 PRINTF("In ACTN *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status)
                     else
                     {
                         subtype = TC.dataFieldHeader[2];
                         switch(subtype)
                         {
                             case TC_SUBTYPE_RESET:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_COMM:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_NORM:
                                 result = action_load_norm( &TC );
                                 send_tm_lfr_tc_exe_success( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_BURST:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM1:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM2:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_DUMP:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_ENTER:
                                 result = action_enter( &TC );
                                 send_tm_lfr_tc_exe_success( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_INFO:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_EN_CAL:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_DIS_CAL:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_TIME:
                                 result = action_updt_time( &TC );
                                 send_tm_lfr_tc_exe_success( &TC );
                                 break;
                                 //
                             default:
                                 break;
                         }
                     }
                 }
             }
             int create_message_queue()
             {
                 rtems_status_code status;
                 misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
                 status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
                                                              RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in create_message_queue *** error creating message queue\n")
                 return 0;
             }
             //***********
             // TC ACTIONS
             int action_default(ccsdsTelecommandPacket_t *TC)
             {
                 char data[100];                     // buffer for the generic TM packet
                 TMHeader_t TM_header;               // TM header
                 spw_ioctl_pkt_send spw_ioctl_send;  // structure to send the TM packet if any
                 // BUILD HEADER
                 TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP, 0, 0, &TM_header);
                 // BUILD DATA
                 TM_build_data( TC, data, SID_NOT_IMP, NULL);
                 // filling the strture for the spcawire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 8;
                 spw_ioctl_send.data = data;
                 // SEND DATA
                 write_spw(&spw_ioctl_send);
                 return 0;
             }
             int action_enter(ccsdsTelecommandPacket_t *TC)
             {
                 unsigned char lfr_mode = TC->dataAndCRC[1];
                 printf("enter mode %d\n", lfr_mode);
                 switch(lfr_mode)
                 {
                     case(LFR_MODE_STANDBY):
                         LEON_Mask_interrupt( IRQ_WF );
                         LEON_Mask_interrupt( IRQ_SM );
                         break;
                     case(LFR_MODE_NORMAL):
                         LEON_Unmask_interrupt( IRQ_WF );
                         LEON_Unmask_interrupt( IRQ_SM );
                         break;
                     case(LFR_MODE_BURST):
                         break;
                     case(LFR_MODE_SBM1):
                         break;
                     case(LFR_MODE_SBM2):
                         break;
                 }
                 return 0;
             }
             int action_load_norm(ccsdsTelecommandPacket_t *TC)
             {
                 param_norm.sy_lfr_n_swf_l = TC->dataAndCRC[0] * 256 + TC->dataAndCRC[1];
                 param_norm.sy_lfr_n_swf_p = TC->dataAndCRC[2] * 256 + TC->dataAndCRC[3];
                 param_norm.sy_lfr_n_asm_p = TC->dataAndCRC[4] * 256 + TC->dataAndCRC[5];
                 param_norm.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
                 param_norm.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
                 /*printf("sy_lfr_n_ => swf_l %d, swf_p %d, asm_p %d, bsp_p0 %d, bsp_p1 %d\n",
                        param_norm.sy_lfr_n_swf_l, param_norm.sy_lfr_n_swf_p,
                        param_norm.sy_lfr_n_asm_p, param_norm.sy_lfr_n_bp_p0, param_norm.sy_lfr_n_bp_p1);*/
                 return 0;
             }
             int action_updt_time(ccsdsTelecommandPacket_t *TC)
             {
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 //time_management_regs->ctrl = time_management_regs->ctrl | 1;
                 return 0;
             }
             int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
             {
                 TMHeader_t TM_header;
                 char data[4];
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TM_build_header( TM_LFR_TC_EXE_OK, TM_LEN_EXE,
                                           time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header);
                 data[0] = TC->packetID[0];
                 data[1] = TC->packetID[1];
                 data[2] = TC->packetSequenceControl[0];
                 data[3] = TC->packetSequenceControl[1];
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 3; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 3;
                 spw_ioctl_send.data = data;
                 // SEND DATA
                 write_spw(&spw_ioctl_send);
                 return 0;
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     printf("In spectral_matrices_isr *** Error sending event to DUMB\n");
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     printf("In spectral_matrices_isr *** Error sending event to DUMB\n");
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 unsigned int coarse_time;
                 unsigned int fine_time;
                 rtems_event_set event_out;
                 PRINTF("In DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     coarse_time = time_management_regs->coarse_time;
                     fine_time = time_management_regs->fine_time;
                     printf("commutation_isr*, coarse time = %x, fine time = %x\n", coarse_time, fine_time);
                 }
             }

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