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Many corrections done after Logiscope analysis
paul -
r166:b9d810e81e1d patch rev 2
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@@ -1,6 +1,6
1 #############################################################################
1 #############################################################################
2 # Makefile for building: bin/fsw
2 # Makefile for building: bin/fsw
3 # Generated by qmake (2.01a) (Qt 4.8.6) on: Tue Jul 15 15:57:23 2014
3 # Generated by qmake (2.01a) (Qt 4.8.6) on: Wed Sep 24 11:10:53 2014
4 # Project: fsw-qt.pro
4 # Project: fsw-qt.pro
5 # Template: app
5 # Template: app
6 # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
6 # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
@@ -10,7 +10,7
10
10
11 CC = sparc-rtems-gcc
11 CC = sparc-rtems-gcc
12 CXX = sparc-rtems-g++
12 CXX = sparc-rtems-g++
13 DEFINES = -DSW_VERSION_N1=2 -DSW_VERSION_N2=0 -DSW_VERSION_N3=1 -DSW_VERSION_N4=0 -DPRINT_MESSAGES_ON_CONSOLE
13 DEFINES = -DSW_VERSION_N1=2 -DSW_VERSION_N2=0 -DSW_VERSION_N3=1 -DSW_VERSION_N4=1 -DPRINT_MESSAGES_ON_CONSOLE
14 CFLAGS = -pipe -O3 -Wall $(DEFINES)
14 CFLAGS = -pipe -O3 -Wall $(DEFINES)
15 CXXFLAGS = -pipe -O3 -Wall $(DEFINES)
15 CXXFLAGS = -pipe -O3 -Wall $(DEFINES)
16 INCPATH = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../header/processing -I../src/LFR_basic-parameters
16 INCPATH = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../header/processing -I../src/LFR_basic-parameters
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@@ -11,7 +11,7 SWVERSION=-1-0
11 DEFINES += SW_VERSION_N1=2 # major
11 DEFINES += SW_VERSION_N1=2 # major
12 DEFINES += SW_VERSION_N2=0 # minor
12 DEFINES += SW_VERSION_N2=0 # minor
13 DEFINES += SW_VERSION_N3=1 # patch
13 DEFINES += SW_VERSION_N3=1 # patch
14 DEFINES += SW_VERSION_N4=0 # internal
14 DEFINES += SW_VERSION_N4=1 # internal
15
15
16 contains( CONFIG, debug_tch ) {
16 contains( CONFIG, debug_tch ) {
17 DEFINES += DEBUG_TCH
17 DEFINES += DEBUG_TCH
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@@ -1,8 +1,12
1 <?xml version="1.0" encoding="UTF-8"?>
1 <?xml version="1.0" encoding="UTF-8"?>
2 <!DOCTYPE QtCreatorProject>
2 <!DOCTYPE QtCreatorProject>
3 <!-- Written by QtCreator 3.0.1, 2014-07-15T16:01:49. -->
3 <!-- Written by QtCreator 3.2.0, 2014-09-23T16:34:13. -->
4 <qtcreator>
4 <qtcreator>
5 <data>
5 <data>
6 <variable>EnvironmentId</variable>
7 <value type="QByteArray">{2e58a81f-9962-4bba-ae6b-760177f0656c}</value>
8 </data>
9 <data>
6 <variable>ProjectExplorer.Project.ActiveTarget</variable>
10 <variable>ProjectExplorer.Project.ActiveTarget</variable>
7 <value type="int">0</value>
11 <value type="int">0</value>
8 </data>
12 </data>
@@ -29,9 +33,12
29 <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
33 <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
30 <value type="int" key="EditorConfiguration.IndentSize">4</value>
34 <value type="int" key="EditorConfiguration.IndentSize">4</value>
31 <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
35 <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
36 <value type="int" key="EditorConfiguration.MarginColumn">80</value>
37 <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
32 <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
38 <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
33 <value type="int" key="EditorConfiguration.PaddingMode">1</value>
39 <value type="int" key="EditorConfiguration.PaddingMode">1</value>
34 <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
40 <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
41 <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
35 <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
42 <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
36 <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
43 <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
37 <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
44 <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -191,11 +198,11
191 <value type="int">1</value>
198 <value type="int">1</value>
192 </data>
199 </data>
193 <data>
200 <data>
194 <variable>ProjectExplorer.Project.Updater.EnvironmentId</variable>
201 <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
195 <value type="QByteArray">{2e58a81f-9962-4bba-ae6b-760177f0656c}</value>
202 <value type="int">16</value>
196 </data>
203 </data>
197 <data>
204 <data>
198 <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
205 <variable>Version</variable>
199 <value type="int">15</value>
206 <value type="int">16</value>
200 </data>
207 </data>
201 </qtcreator>
208 </qtcreator>
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@@ -1,6 +1,6
1 #############################################################################
1 #############################################################################
2 # Makefile for building: bin/timegen
2 # Makefile for building: bin/timegen
3 # Generated by qmake (2.01a) (Qt 4.8.5) on: Fri Mar 21 09:10:01 2014
3 # Generated by qmake (2.01a) (Qt 4.8.6) on: Wed Sep 24 10:50:53 2014
4 # Project: timegen.pro
4 # Project: timegen.pro
5 # Template: app
5 # Template: app
6 # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile timegen.pro
6 # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile timegen.pro
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@@ -6,7 +6,6
6
6
7 #include "fsw_params.h"
7 #include "fsw_params.h"
8 #include "fsw_misc.h"
8 #include "fsw_misc.h"
9 #include "fsw_processing.h"
10 #include "wf_handler.h"
9 #include "wf_handler.h"
11
10
12 #include "timegen_spacewire.h"
11 #include "timegen_spacewire.h"
@@ -14,6 +13,7
14
13
15 extern rtems_name Task_name[20]; /* array of task names */
14 extern rtems_name Task_name[20]; /* array of task names */
16 extern rtems_id Task_id[20]; /* array of task ids */
15 extern rtems_id Task_id[20]; /* array of task ids */
16 extern rtems_name misc_name[5];
17
17
18 // RTEMS TASKS
18 // RTEMS TASKS
19 rtems_task Init( rtems_task_argument argument);
19 rtems_task Init( rtems_task_argument argument);
@@ -32,8 +32,6 int start_recv_send_tasks( void );
32 void init_local_mode_parameters( void );
32 void init_local_mode_parameters( void );
33 void reset_local_time( void );
33 void reset_local_time( void );
34
34
35 extern int rtems_cpu_usage_report( void );
36 extern int rtems_cpu_usage_reset( void );
37 extern void rtems_stack_checker_report_usage( void );
35 extern void rtems_stack_checker_report_usage( void );
38
36
39 extern int sched_yield( void );
37 extern int sched_yield( void );
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@@ -24,6 +24,8 unsigned int coarseTime;
24
24
25 rtems_name rtems_name_updt;
25 rtems_name rtems_name_updt;
26 rtems_id rtems_id_updt;
26 rtems_id rtems_id_updt;
27 rtems_name rtems_name_act_;
28 rtems_id rtems_id_act_;
27
29
28 void timegen_timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
30 void timegen_timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
29
31
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@@ -18,34 +18,12 rtems_isr commutation_isr2( rtems_vector
18
18
19 //***********
19 //***********
20 // RTEMS TASK
20 // RTEMS TASK
21 rtems_task actn_task( rtems_task_argument unused );
21 rtems_task act__task( rtems_task_argument unused );
22
22
23 //***********
23 //***********
24 // TC ACTIONS
24 // TC ACTIONS
25 int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
25 int timegen_action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
26 int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
26 int timegen_action_update_time(ccsdsTelecommandPacket_t *TC);
27 int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
28 int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
29 int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
30 int action_update_time(ccsdsTelecommandPacket_t *TC);
31
32 // mode transition
33 int transition_validation(unsigned char requestedMode);
34 int stop_current_mode( void );
35 int enter_mode(unsigned char mode);
36 int restart_science_tasks();
37 int suspend_science_tasks();
38 void launch_waveform_picker( unsigned char mode );
39 void launch_spectral_matrix( unsigned char mode );
40 void set_irq_on_new_ready_matrix(unsigned char value );
41 void set_run_matrix_spectral( unsigned char value );
42 void launch_spectral_matrix_simu( unsigned char mode );
43
44 // other functions
45 void updateLFRCurrentMode();
46 void update_last_TC_exe(ccsdsTelecommandPacket_t *TC );
47 void update_last_TC_rej(ccsdsTelecommandPacket_t *TC );
48 void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
49
27
50 extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
28 extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
51 extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
29 extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
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@@ -155,13 +155,6 rtems_task Init( rtems_task_argument ign
155 PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
155 PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
156 }
156 }
157
157
158 // suspend science tasks. they will be restarted later depending on the mode
159 status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
160 if (status != RTEMS_SUCCESSFUL)
161 {
162 PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
163 }
164
165 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
158 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
166 if ( status_spw != RTEMS_SUCCESSFUL )
159 if ( status_spw != RTEMS_SUCCESSFUL )
167 {
160 {
@@ -177,31 +170,6 rtems_task Init( rtems_task_argument ign
177
170
178 }
171 }
179
172
180 void init_local_mode_parameters( void )
181 {
182 /** This function initialize the param_local global variable with default values.
183 *
184 */
185
186 unsigned int i;
187
188 // LOCAL PARAMETERS
189 // set_local_nb_interrupt_f0_MAX();
190
191 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
192 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
193 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
194
195 // init sequence counters
196
197 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
198 {
199 sequenceCounters_TC_EXE[i] = 0x00;
200 }
201 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
202 sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
203 }
204
205 void create_names( void ) // create all names for tasks and queues
173 void create_names( void ) // create all names for tasks and queues
206 {
174 {
207 /** This function creates all RTEMS names used in the software for tasks and queues.
175 /** This function creates all RTEMS names used in the software for tasks and queues.
@@ -213,27 +181,15 void create_names( void ) // create all
213
181
214 // task names
182 // task names
215 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
183 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
216 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
217 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
184 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
218 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
219 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
185 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
220 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
221 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
222 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
223 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
186 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
224 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
225 Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
226 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
227 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
228 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
229 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
187 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
230 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
188 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
231
189
232 // TIMEGEN
190 // TIMEGEN
233 rtems_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' );
191 rtems_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' );
234
192 rtems_name_act_ = rtems_build_name( 'A', 'C', 'T', '_' );
235 // rate monotonic period names
236 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
237
193
238 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
194 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
239 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
195 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
@@ -281,12 +237,12 int create_all_tasks( void ) // create a
281 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
237 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
282 );
238 );
283 }
239 }
284 if (status == RTEMS_SUCCESSFUL) // ACTN
240 if (status == RTEMS_SUCCESSFUL) // ACT_
285 {
241 {
286 status = rtems_task_create(
242 status = rtems_task_create(
287 Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
243 rtems_id_act_, TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
288 RTEMS_DEFAULT_MODES,
244 RTEMS_DEFAULT_MODES,
289 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
245 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &rtems_id_act_
290 );
246 );
291 }
247 }
292 if (status == RTEMS_SUCCESSFUL) // SPIQ
248 if (status == RTEMS_SUCCESSFUL) // SPIQ
@@ -379,11 +335,11 int start_all_tasks( void ) // start all
379 }
335 }
380 }
336 }
381
337
382 if (status == RTEMS_SUCCESSFUL) // ACTN
338 if (status == RTEMS_SUCCESSFUL) // ACT_
383 {
339 {
384 status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
340 status = rtems_task_start( rtems_id_act_, act__task, 1 );
385 if (status!=RTEMS_SUCCESSFUL) {
341 if (status!=RTEMS_SUCCESSFUL) {
386 BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
342 BOOT_PRINTF("in INIT *** Error starting TASK_ACT_\n")
387 }
343 }
388 }
344 }
389
345
@@ -425,7 +381,7 rtems_status_code create_message_queues(
425
381
426 // create the queue for handling valid TCs
382 // create the queue for handling valid TCs
427 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
383 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
428 ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
384 MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
429 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
385 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
430 if ( status_recv != RTEMS_SUCCESSFUL ) {
386 if ( status_recv != RTEMS_SUCCESSFUL ) {
431 PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
387 PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
@@ -433,7 +389,7 rtems_status_code create_message_queues(
433
389
434 // create the queue for handling TM packet sending
390 // create the queue for handling TM packet sending
435 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
391 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
436 ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE,
392 MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
437 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
393 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
438 if ( status_send != RTEMS_SUCCESSFUL ) {
394 if ( status_send != RTEMS_SUCCESSFUL ) {
439 PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
395 PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
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@@ -83,14 +83,6 rtems_task spiq_task(rtems_task_argument
83 }
83 }
84 else // [3.b] the link is not in run state, go in STANDBY mode
84 else // [3.b] the link is not in run state, go in STANDBY mode
85 {
85 {
86 status = stop_current_mode();
87 if ( status != RTEMS_SUCCESSFUL ) {
88 PRINTF1("in SPIQ *** ERR stop_current_mode *** code %d\n", status)
89 }
90 status = enter_mode( LFR_MODE_STANDBY );
91 if ( status != RTEMS_SUCCESSFUL ) {
92 PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
93 }
94 // wake the WTDG task up to wait for the link recovery
86 // wake the WTDG task up to wait for the link recovery
95 status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
87 status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
96 status = rtems_task_suspend( RTEMS_SELF );
88 status = rtems_task_suspend( RTEMS_SELF );
@@ -98,476 +90,6 rtems_task spiq_task(rtems_task_argument
98 }
90 }
99 }
91 }
100
92
101 rtems_task recv_task( rtems_task_argument unused )
102 {
103 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
104 *
105 * @param unused is the starting argument of the RTEMS task
106 *
107 * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
108 * 1. It reads the incoming data.
109 * 2. Launches the acceptance procedure.
110 * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
111 *
112 */
113
114 int len;
115 ccsdsTelecommandPacket_t currentTC;
116 unsigned char computed_CRC[ 2 ];
117 unsigned char currentTC_LEN_RCV[ 2 ];
118 unsigned char destinationID;
119 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
120 unsigned int parserCode;
121 unsigned char time[6];
122 rtems_status_code status;
123 rtems_id queue_recv_id;
124 rtems_id queue_send_id;
125
126 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
127
128 status = get_message_queue_id_recv( &queue_recv_id );
129 if (status != RTEMS_SUCCESSFUL)
130 {
131 PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
132 }
133
134 status = get_message_queue_id_send( &queue_send_id );
135 if (status != RTEMS_SUCCESSFUL)
136 {
137 PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
138 }
139
140 BOOT_PRINTF("in RECV *** \n")
141
142 while(1)
143 {
144 len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
145 if (len == -1){ // error during the read call
146 PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
147 }
148 else {
149 if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
150 PRINTF("in RECV *** packet lenght too short\n")
151 }
152 else {
153 currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
154 currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
155 currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt );
156 // CHECK THE TC
157 parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
158 if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT)
159 || (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE)
160 || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA)
161 || (parserCode == WRONG_SRC_ID) )
162 { // send TM_LFR_TC_EXE_CORRUPTED
163 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
164 &&
165 !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
166 )
167 {
168 if ( parserCode == WRONG_SRC_ID )
169 {
170 destinationID = SID_TC_GROUND;
171 }
172 else
173 {
174 destinationID = currentTC.sourceID;
175 }
176 getTime( time );
177 close_action( &currentTC, LFR_DEFAULT, queue_send_id );
178 send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
179 computed_CRC, currentTC_LEN_RCV,
180 destinationID );
181 }
182 }
183 else
184 { // send valid TC to the action launcher
185 status = rtems_message_queue_send( queue_recv_id, &currentTC,
186 currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
187 }
188 }
189 }
190 }
191 }
192
193 rtems_task send_task( rtems_task_argument argument)
194 {
195 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
196 *
197 * @param unused is the starting argument of the RTEMS task
198 *
199 * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
200 * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
201 * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
202 * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
203 * data it contains.
204 *
205 */
206
207 rtems_status_code status; // RTEMS status code
208 char incomingData[ACTION_MSG_PKTS_MAX_SIZE]; // incoming data buffer
209 size_t size; // size of the incoming TC packet
210 u_int32_t count;
211 rtems_id queue_id;
212
213 status = get_message_queue_id_send( &queue_id );
214 if (status != RTEMS_SUCCESSFUL)
215 {
216 PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
217 }
218
219 BOOT_PRINTF("in SEND *** \n")
220
221 while(1)
222 {
223 status = rtems_message_queue_receive( queue_id, incomingData, &size,
224 RTEMS_WAIT, RTEMS_NO_TIMEOUT );
225
226 if (status!=RTEMS_SUCCESSFUL)
227 {
228 PRINTF1("in SEND *** (1) ERR = %d\n", status)
229 }
230 else
231 {
232 status = write( fdSPW, incomingData, size );
233 if (status == -1){
234 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
235 }
236 }
237
238 status = rtems_message_queue_get_number_pending( queue_id, &count );
239 if (status != RTEMS_SUCCESSFUL)
240 {
241 PRINTF1("in SEND *** (3) ERR = %d\n", status)
242 }
243 else
244 {
245 if (count > maxCount)
246 {
247 maxCount = count;
248 }
249 }
250 }
251 }
252
253 rtems_task wtdg_task( rtems_task_argument argument )
254 {
255 rtems_event_set event_out;
256 rtems_status_code status;
257 int linkStatus;
258
259 BOOT_PRINTF("in WTDG ***\n")
260
261 while(1)
262 {
263 // wait for an RTEMS_EVENT
264 rtems_event_receive( RTEMS_EVENT_0,
265 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
266 PRINTF("in WTDG *** wait for the link\n")
267 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
268 while( linkStatus != 5) // wait for the link
269 {
270 rtems_task_wake_after( 10 );
271 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
272 }
273
274 status = spacewire_stop_start_link( fdSPW );
275
276 if (status != RTEMS_SUCCESSFUL)
277 {
278 PRINTF1("in WTDG *** ERR link not started %d\n", status)
279 }
280 else
281 {
282 PRINTF("in WTDG *** OK link started\n")
283 }
284
285 // restart the SPIQ task
286 status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
287 if ( status != RTEMS_SUCCESSFUL ) {
288 PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
289 }
290
291 // restart RECV and SEND
292 status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
293 if ( status != RTEMS_SUCCESSFUL ) {
294 PRINTF("in SPIQ *** ERR restarting SEND Task\n")
295 }
296 status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
297 if ( status != RTEMS_SUCCESSFUL ) {
298 PRINTF("in SPIQ *** ERR restarting RECV Task\n")
299 }
300 }
301 }
302
303 //****************
304 // OTHER FUNCTIONS
305 int spacewire_open_link( void )
306 {
307 /** This function opens the SpaceWire link.
308 *
309 * @return a valid file descriptor in case of success, -1 in case of a failure
310 *
311 */
312 rtems_status_code status;
313
314 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
315 if ( fdSPW < 0 ) {
316 PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
317 }
318 else
319 {
320 status = RTEMS_SUCCESSFUL;
321 }
322
323 return status;
324 }
325
326 int spacewire_start_link( int fd )
327 {
328 rtems_status_code status;
329
330 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
331 // -1 default hardcoded driver timeout
332
333 return status;
334 }
335
336 int spacewire_stop_start_link( int fd )
337 {
338 rtems_status_code status;
339
340 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
341 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
342 // -1 default hardcoded driver timeout
343
344 return status;
345 }
346
347 int spacewire_configure_link( int fd )
348 {
349 /** This function configures the SpaceWire link.
350 *
351 * @return GR-RTEMS-DRIVER directive status codes:
352 * - 22 EINVAL - Null pointer or an out of range value was given as the argument.
353 * - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
354 * - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
355 * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
356 * - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
357 * - 5 EIO - Error when writing to grswp hardware registers.
358 * - 2 ENOENT - No such file or directory
359 */
360
361 rtems_status_code status;
362
363 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
364 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
365
366 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
367 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
368 //
369 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
370 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
371 //
372 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
373 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
374 //
375 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
376 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
377 //
378 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
379 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
380 //
381 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available
382 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
383 //
384 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
385 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL\n")
386
387 return status;
388 }
389
390 int spacewire_reset_link( void )
391 {
392 /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
393 *
394 * @return RTEMS directive status code:
395 * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
396 * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
397 *
398 */
399
400 rtems_status_code status_spw;
401 int i;
402
403 for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
404 {
405 PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
406
407 // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
408
409 status_spw = spacewire_stop_start_link( fdSPW );
410 if ( status_spw != RTEMS_SUCCESSFUL )
411 {
412 PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
413 }
414
415 if ( status_spw == RTEMS_SUCCESSFUL)
416 {
417 break;
418 }
419 }
420
421 return status_spw;
422 }
423
424 void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
425 {
426 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
427 *
428 * @param val is the value, 0 or 1, used to set the value of the NP bit.
429 * @param regAddr is the address of the GRSPW control register.
430 *
431 * NP is the bit 20 of the GRSPW control register.
432 *
433 */
434
435 unsigned int *spwptr = (unsigned int*) regAddr;
436
437 if (val == 1) {
438 *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
439 }
440 if (val== 0) {
441 *spwptr = *spwptr & 0xffdfffff;
442 }
443 }
444
445 void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
446 {
447 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
448 *
449 * @param val is the value, 0 or 1, used to set the value of the RE bit.
450 * @param regAddr is the address of the GRSPW control register.
451 *
452 * RE is the bit 16 of the GRSPW control register.
453 *
454 */
455
456 unsigned int *spwptr = (unsigned int*) regAddr;
457
458 if (val == 1)
459 {
460 *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
461 }
462 if (val== 0)
463 {
464 *spwptr = *spwptr & 0xfffdffff;
465 }
466 }
467
468 void spacewire_compute_stats_offsets( void )
469 {
470 /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
471 *
472 * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
473 * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
474 * during the open systel call).
475 *
476 */
477
478 spw_stats spacewire_stats_grspw;
479 rtems_status_code status;
480
481 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
482
483 spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
484 + spacewire_stats.packets_received;
485 spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
486 + spacewire_stats.packets_sent;
487 spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
488 + spacewire_stats.parity_err;
489 spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
490 + spacewire_stats.disconnect_err;
491 spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
492 + spacewire_stats.escape_err;
493 spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
494 + spacewire_stats.credit_err;
495 spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
496 + spacewire_stats.write_sync_err;
497 spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
498 + spacewire_stats.rx_rmap_header_crc_err;
499 spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
500 + spacewire_stats.rx_rmap_data_crc_err;
501 spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
502 + spacewire_stats.early_ep;
503 spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
504 + spacewire_stats.invalid_address;
505 spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
506 + spacewire_stats.rx_eep_err;
507 spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
508 + spacewire_stats.rx_truncated;
509 }
510
511 void spacewire_update_statistics( void )
512 {
513 rtems_status_code status;
514 spw_stats spacewire_stats_grspw;
515
516 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
517
518 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
519 + spacewire_stats_grspw.packets_received;
520 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
521 + spacewire_stats_grspw.packets_sent;
522 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
523 + spacewire_stats_grspw.parity_err;
524 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
525 + spacewire_stats_grspw.disconnect_err;
526 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
527 + spacewire_stats_grspw.escape_err;
528 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
529 + spacewire_stats_grspw.credit_err;
530 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
531 + spacewire_stats_grspw.write_sync_err;
532 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
533 + spacewire_stats_grspw.rx_rmap_header_crc_err;
534 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
535 + spacewire_stats_grspw.rx_rmap_data_crc_err;
536 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
537 + spacewire_stats_grspw.early_ep;
538 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
539 + spacewire_stats_grspw.invalid_address;
540 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
541 + spacewire_stats_grspw.rx_eep_err;