@@ -1,37 +1,38 | |||
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1 | 1 | #ifndef WF_HANDLER_H_INCLUDED |
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2 | 2 | #define WF_HANDLER_H_INCLUDED |
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3 | 3 | |
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4 | 4 | #include <rtems.h> |
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5 | 5 | #include <fsw_params.h> |
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6 | 6 | #include <grspw.h> |
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7 | 7 | #include <grlib_regs.h> |
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8 | 8 | #include <ccsds_types.h> |
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9 | 9 | #include <stdio.h> |
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10 | 10 | #include <fsw_init.h> |
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11 | 11 | #include <math.h> |
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12 | 12 | |
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13 | 13 | #define pi 3.1415 |
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14 | 14 | |
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15 | 15 | //#include <sys/ioctl.h> |
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16 | 16 | |
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17 | 17 | extern rtems_id Task_id[]; /* array of task ids */ |
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18 | 18 | extern int fdSPW; |
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19 | 19 | extern volatile int wf_snap_f0[ ]; |
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20 | 20 | extern volatile int wf_snap_f1[ ]; |
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21 | extern volatile int wf_snap_f1_bis[ ]; | |
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21 | 22 | extern volatile int wf_snap_f2[ ]; |
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22 | 23 | extern volatile int wf_cont_f3[ ]; |
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23 | 24 | extern waveform_picker_regs_t *waveform_picker_regs; |
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24 | 25 | |
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25 | 26 | rtems_isr waveforms_isr( rtems_vector_number vector ); |
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26 | 27 | rtems_isr waveforms_simulator_isr( rtems_vector_number vector ); |
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27 | 28 | rtems_task wfrm_task(rtems_task_argument argument); |
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28 | 29 | |
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29 | 30 | //****************** |
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30 | 31 | // general functions |
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31 | 32 | void init_waveforms( void ); |
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32 | 33 | void reset_waveforms( void ); |
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33 | 34 | void send_waveform( ExtendedTMHeader_t *header, volatile int *waveform, unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send); |
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34 | 35 | void init_waveform_picker_regs(); |
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35 | 36 | int build_value(int value1, int value0); |
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36 | 37 | |
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37 | 38 | #endif // WF_HANDLER_H_INCLUDED |
@@ -1,52 +1,53 | |||
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1 | 1 | #include <fsw_processing.h> |
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2 | 2 | #include <rtems.h> |
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3 | 3 | #include <ccsds_types.h> |
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4 | 4 | |
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5 | 5 | // RTEMS GLOBAL VARIABLES |
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6 | 6 | rtems_name misc_name[5]; |
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7 | 7 | rtems_name misc_id[5]; |
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8 | 8 | rtems_id Task_id[15]; /* array of task ids */ |
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9 | 9 | rtems_name Task_name[15]; /* array of task names */ |
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10 | 10 | int fdSPW = 0; |
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11 | 11 | int fdUART = 0; |
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12 | 12 | |
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13 | 13 | spectral_matrices_regs_t *spectral_matrices_regs = NULL; |
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14 | 14 | |
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15 | 15 | // APB CONFIGURATION REGISTERS |
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16 | 16 | time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT; |
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17 | 17 | waveform_picker_regs_t *waveform_picker_regs = (waveform_picker_regs_t*) REGS_ADDR_WAVEFORM_PICKER; |
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18 | 18 | gptimer_regs_t *gptimer_regs = (gptimer_regs_t *) REGS_ADDR_GPTIMER; |
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19 | 19 | |
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20 | // WAVEFORMS GLOBAL VARIABLES | |
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21 |
volatile int wf_snap_f0[ |
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22 |
volatile int wf_snap_f1[ |
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23 |
volatile int wf_snap_f |
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24 |
volatile int wf_ |
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20 | // WAVEFORMS GLOBAL VARIABLES // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes | |
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21 | volatile int wf_snap_f0[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET]; | |
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22 | volatile int wf_snap_f1[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET]; | |
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23 | volatile int wf_snap_f1_bis[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET]; | |
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24 | volatile int wf_snap_f2[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET]; | |
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25 | volatile int wf_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET]; | |
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25 | 26 | |
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26 | 27 | // SPECTRAL MATRICES GLOBAL VARIABLES |
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27 | 28 | volatile int spec_mat_f0_a[ TOTAL_SIZE_SPEC_MAT ]; |
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28 | 29 | volatile int spec_mat_f0_b[ TOTAL_SIZE_SPEC_MAT ]; |
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29 | 30 | volatile int spec_mat_f0_c[ TOTAL_SIZE_SPEC_MAT ]; |
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30 | 31 | volatile int spec_mat_f0_d[ TOTAL_SIZE_SPEC_MAT ]; |
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31 | 32 | volatile int spec_mat_f0_e[ TOTAL_SIZE_SPEC_MAT ]; |
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32 | 33 | volatile int spec_mat_f0_f[ TOTAL_SIZE_SPEC_MAT ]; |
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33 | 34 | volatile int spec_mat_f0_g[ TOTAL_SIZE_SPEC_MAT ]; |
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34 | 35 | volatile int spec_mat_f0_h[ TOTAL_SIZE_SPEC_MAT ]; |
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35 | 36 | // |
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36 | 37 | float averaged_spec_mat_f0[ TOTAL_SIZE_SPEC_MAT ]; |
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37 | 38 | float compressed_spec_mat_f0[ TOTAL_SIZE_COMPRESSED_MATRIX_f0 ]; |
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38 | 39 | |
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39 | 40 | // MODE PARAMETERS |
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40 | 41 | struct param_norm_str param_norm; |
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41 | 42 | struct param_burst_str param_burst; |
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42 | 43 | struct param_sbm1_str param_sbm1; |
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43 | 44 | struct param_sbm2_str param_sbm2; |
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44 | 45 | unsigned char param_common[2]; |
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45 | 46 | |
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46 | 47 | // HK PACKETS |
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47 | 48 | Packet_TM_LFR_HK_t housekeeping_packet; |
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48 | 49 | |
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49 | 50 | // BASIC PARAMETERS GLOBAL VARIABLES |
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50 | 51 | unsigned char LFR_BP1_F0[ NB_BINS_COMPRESSED_MATRIX_f0 * 9 ]; |
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51 | 52 | BP1_t data_BP1[ NB_BINS_COMPRESSED_MATRIX_f0 ]; |
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52 | 53 |
@@ -1,414 +1,414 | |||
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1 | 1 | //************************* |
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2 | 2 | // GPL reminder to be added |
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3 | 3 | //************************* |
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4 | 4 | |
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5 | 5 | #include <rtems.h> |
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6 | 6 | |
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7 | 7 | /* configuration information */ |
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8 | 8 | |
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9 | 9 | #define CONFIGURE_INIT |
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10 | 10 | |
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11 | 11 | #include <bsp.h> /* for device driver prototypes */ |
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12 | 12 | |
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13 | 13 | /* configuration information */ |
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14 | 14 | |
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15 | 15 | #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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16 | 16 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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17 | 17 | |
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18 | 18 | #define CONFIGURE_MAXIMUM_TASKS 15 |
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19 | 19 | #define CONFIGURE_RTEMS_INIT_TASKS_TABLE |
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20 | 20 | #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) |
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21 | 21 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 |
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22 | 22 | #define CONFIGURE_INIT_TASK_PRIORITY 100 |
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23 | 23 | #define CONFIGURE_MAXIMUM_DRIVERS 16 |
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24 | 24 | #define CONFIGURE_MAXIMUM_PERIODS 5 |
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25 | 25 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1 |
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26 | 26 | |
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27 | 27 | #include <rtems/confdefs.h> |
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28 | 28 | |
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29 | 29 | /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ |
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30 | 30 | #ifdef RTEMS_DRVMGR_STARTUP |
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31 | 31 | #ifdef LEON3 |
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32 | 32 | /* Add Timer and UART Driver */ |
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33 | 33 | #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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34 | 34 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER |
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35 | 35 | #endif |
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36 | 36 | #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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37 | 37 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART |
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38 | 38 | #endif |
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39 | 39 | #endif |
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40 | 40 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ |
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41 | 41 | #include <drvmgr/drvmgr_confdefs.h> |
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42 | 42 | #endif |
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43 | 43 | |
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44 | 44 | #include <fsw_init.h> |
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45 | 45 | #include <fsw_config.c> |
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46 | 46 | |
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47 | 47 | char *lstates[6] = {"Error-reset", |
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48 | 48 | "Error-wait", |
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49 | 49 | "Ready", |
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50 | 50 | "Started", |
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51 | 51 | "Connecting", |
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52 | 52 | "Run" |
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53 | 53 | }; |
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54 | 54 | |
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55 | 55 | rtems_task Init( rtems_task_argument ignored ) |
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56 | 56 | { |
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57 | 57 | rtems_status_code status; |
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58 | 58 | rtems_isr_entry old_isr_handler; |
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59 | 59 | |
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60 | 60 | PRINTF("\n\n\n\n\n") |
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61 | 61 | PRINTF("***************************\n") |
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62 | 62 | PRINTF("** START Flight Software **\n") |
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63 | 63 | PRINTF("***************************\n") |
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64 | 64 | PRINTF("\n\n") |
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65 | 65 | |
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66 | 66 | //send_console_outputs_on_serial_port(); |
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67 | 67 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); |
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68 | 68 | |
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69 | 69 | initLookUpTableForCRC(); // in tc_handler.h |
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70 | 70 | init_default_mode_parameters(); |
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71 | 71 | create_message_queue(); |
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72 | 72 | |
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73 | 73 | create_names(); |
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74 | 74 | create_all_tasks(); |
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75 | 75 | start_all_tasks(); |
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76 | 76 | |
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77 | 77 | grspw_timecode_callback = &timecode_irq_handler; |
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78 | 78 | |
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79 | 79 | configure_spw_link(); |
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80 | 80 | |
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81 | 81 | //**************************** |
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82 | 82 | // Spectral Matrices simulator |
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83 | 83 | configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, |
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84 | 84 | IRQ_SPARC_SM, spectral_matrices_isr ); |
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85 | 85 | |
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86 | 86 | //********** |
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87 | 87 | // WAVEFORMS |
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88 | 88 | // simulator |
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89 | 89 | |
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90 | 90 | #ifdef GSA |
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91 | 91 | configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR, |
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92 | 92 | IRQ_SPARC_WF, waveforms_simulator_isr ); |
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93 | 93 | #else |
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94 | 94 | // configure the registers of the waveform picker |
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95 | 95 | init_waveform_picker_regs(); |
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96 | 96 | // configure the waveform picker interrupt service routine |
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97 | 97 | status = rtems_interrupt_catch( waveforms_isr, |
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98 | 98 | IRQ_SPARC_WAVEFORM_PICKER, |
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99 | 99 | &old_isr_handler) ; |
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100 | 100 | LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); |
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101 | 101 | #endif |
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102 | 102 | |
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103 | 103 | //********** |
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104 | 104 | |
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105 | 105 | //***************************************** |
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106 | 106 | // irq handling of the time management unit |
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107 | 107 | status = rtems_interrupt_catch( commutation_isr1, |
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108 | 108 | IRQ_SPARC_TIME1, |
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109 | 109 | &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels |
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110 | 110 | if (status==RTEMS_SUCCESSFUL) { |
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111 | 111 | PRINTF("OK *** commutation_isr1 *** rtems_interrupt_catch successfullly configured\n") |
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112 | 112 | } |
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113 | 113 | |
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114 | 114 | status = rtems_interrupt_catch( commutation_isr2, |
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115 | 115 | IRQ_SPARC_TIME2, |
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116 | 116 | &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels |
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117 | 117 | if (status==RTEMS_SUCCESSFUL) { |
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118 | 118 | PRINTF("OK *** commutation_isr2 *** rtems_interrupt_catch successfullly configured\n") |
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119 | 119 | } |
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120 | 120 | |
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121 | 121 | LEON_Unmask_interrupt( IRQ_TIME1 ); |
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122 | 122 | LEON_Unmask_interrupt( IRQ_TIME2 ); |
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123 | 123 | |
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124 | 124 | #ifdef GSA |
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125 | if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { | |
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126 | printf("in INIT *** Error sending event to WFRM\n"); | |
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127 | } | |
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125 | //if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { | |
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126 | // printf("in INIT *** Error sending event to WFRM\n"); | |
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127 | //} | |
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128 | 128 | #endif |
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129 | 129 | |
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130 | 130 | status = rtems_task_delete(RTEMS_SELF); |
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131 | 131 | |
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132 | 132 | } |
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133 | 133 | |
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134 | 134 | rtems_task spiq_task(rtems_task_argument unused) |
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135 | 135 | { |
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136 | 136 | rtems_event_set event_out; |
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137 | 137 | rtems_status_code status; |
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138 | 138 | |
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139 | 139 | while(true){ |
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140 | 140 | PRINTF("in SPIQ *** Waiting for SPW_LINKERR_EVENT\n") |
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141 | 141 | rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT |
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142 | 142 | |
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143 | 143 | if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) { // suspend RECV task |
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144 | 144 | PRINTF("in SPIQ *** Error suspending RECV Task\n") |
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145 | 145 | } |
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146 | 146 | if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) { // suspend HOUS task |
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147 | 147 | PRINTF("in SPIQ *** Error suspending HOUS Task\n") |
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148 | 148 | } |
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149 | 149 | |
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150 | 150 | configure_spw_link(); |
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151 | 151 | |
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152 | 152 | status = rtems_task_restart( Task_id[TASKID_HOUS], 1 ); |
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153 | 153 | if (status!=RTEMS_SUCCESSFUL) { |
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154 | 154 | PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status) |
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155 | 155 | } |
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156 | 156 | |
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157 | 157 | if (rtems_task_restart(Task_id[TASKID_RECV], 1)!=RTEMS_SUCCESSFUL) { // restart RECV task |
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158 | 158 | PRINTF("in SPIQ *** Error restarting RECV Task\n") |
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159 | 159 | } |
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160 | 160 | } |
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161 | 161 | } |
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162 | 162 | |
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163 | 163 | void init_default_mode_parameters() |
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164 | 164 | { |
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165 | 165 | // COMMON PARAMETERS |
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166 | 166 | param_common[0] = 0x00; |
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167 | 167 | param_common[1] = 0x10; // default value 0 0 0 1 0 0 0 0 |
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168 | 168 | // NORMAL MODE |
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169 | 169 | param_norm.sy_lfr_n_swf_l = 2048; // nb sample |
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170 | 170 | param_norm.sy_lfr_n_swf_p = 300; // sec |
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171 | 171 | param_norm.sy_lfr_n_asm_p = 3600; // sec |
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172 | 172 | param_norm.sy_lfr_n_bp_p0 = 4; // sec |
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173 | 173 | param_norm.sy_lfr_n_bp_p1 = 20; // sec |
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174 | 174 | // BURST MODE |
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175 | 175 | param_burst.sy_lfr_b_bp_p0 = 1; // sec |
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176 | 176 | param_burst.sy_lfr_b_bp_p1 = 5; // sec |
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177 | 177 | // SBM1 MODE |
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178 | 178 | param_sbm1.sy_lfr_s1_bp_p0 = 1; // sec |
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179 | 179 | param_sbm1.sy_lfr_s1_bp_p1 = 1; // sec |
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180 | 180 | // SBM2 MODE |
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181 | 181 | param_sbm2.sy_lfr_s2_bp_p0 = 1; // sec |
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182 | 182 | param_sbm2.sy_lfr_s2_bp_p0 = 5; // sec |
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183 | 183 | } |
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184 | 184 | |
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185 | 185 | int create_names( void ) |
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186 | 186 | { |
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187 | 187 | // task names |
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188 | 188 | Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); |
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189 | 189 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); |
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190 | 190 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); |
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191 | 191 | Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' ); |
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192 | 192 | Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' ); |
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193 | 193 | Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' ); |
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194 | 194 | Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' ); |
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195 | 195 | Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' ); |
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196 | 196 | Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' ); |
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197 | 197 | Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' ); |
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198 | 198 | |
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199 | 199 | // rate monotonic period name |
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200 | 200 | HK_name = rtems_build_name( 'H', 'O', 'U', 'S' ); |
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201 | 201 | |
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202 | 202 | return 0; |
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203 | 203 | } |
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204 | 204 | |
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205 | 205 | int create_all_tasks( void ) |
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206 | 206 | { |
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207 | 207 | rtems_status_code status; |
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208 | 208 | |
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209 | 209 | // RECV |
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210 | 210 | status = rtems_task_create( |
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211 | 211 | Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2, |
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212 | 212 | RTEMS_DEFAULT_MODES, |
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213 | 213 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] |
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214 | 214 | ); |
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215 | 215 | // ACTN |
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216 | 216 | status = rtems_task_create( |
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217 | 217 | Task_name[TASKID_ACTN], 50, RTEMS_MINIMUM_STACK_SIZE * 2, |
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218 | 218 | RTEMS_DEFAULT_MODES, |
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219 | 219 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN] |
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220 | 220 | ); |
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221 | 221 | // SPIQ |
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222 | 222 | status = rtems_task_create( |
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223 | 223 | Task_name[TASKID_SPIQ], 5, RTEMS_MINIMUM_STACK_SIZE * 2, |
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224 | 224 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
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225 | 225 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] |
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226 | 226 | ); |
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227 | 227 | // SMIQ |
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228 | 228 | status = rtems_task_create( |
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229 | 229 | Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2, |
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230 | 230 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
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231 | 231 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ] |
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232 | 232 | ); |
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233 | 233 | // STAT |
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234 | 234 | status = rtems_task_create( |
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235 | 235 | Task_name[TASKID_STAT], 150, RTEMS_MINIMUM_STACK_SIZE * 2, |
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236 | 236 | RTEMS_DEFAULT_MODES, |
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237 | 237 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] |
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238 | 238 | ); |
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239 | 239 | // AVF0 |
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240 | 240 | status = rtems_task_create( |
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241 | 241 | Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, |
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242 | 242 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
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243 | 243 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] |
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244 | 244 | ); |
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245 | 245 | // BPF0 |
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246 | 246 | status = rtems_task_create( |
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247 | 247 | Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, |
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248 | 248 | RTEMS_DEFAULT_MODES, |
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249 | 249 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0] |
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250 | 250 | ); |
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251 | 251 | // WFRM |
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252 | 252 | status = rtems_task_create( |
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253 | 253 | Task_name[TASKID_WFRM], 100, RTEMS_MINIMUM_STACK_SIZE * 2, |
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254 | 254 | RTEMS_DEFAULT_MODES, |
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255 | 255 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM] |
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256 | 256 | ); |
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257 | 257 | // DUMB |
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258 | 258 | status = rtems_task_create( |
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259 | 259 | Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2, |
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260 | 260 | RTEMS_DEFAULT_MODES, |
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261 | 261 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] |
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262 | 262 | ); |
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263 | 263 | // HOUS |
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264 | 264 | status = rtems_task_create( |
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265 | 265 | Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2, |
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266 | 266 | RTEMS_DEFAULT_MODES, |
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267 | 267 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS] |
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268 | 268 | ); |
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269 | 269 | |
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270 | 270 | return 0; |
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271 | 271 | } |
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272 | 272 | |
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273 | 273 | int start_all_tasks( void ) |
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274 | 274 | { |
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275 | 275 | rtems_status_code status; |
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276 | 276 | |
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277 | 277 | status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); |
|
278 | 278 | if (status!=RTEMS_SUCCESSFUL) { |
|
279 | 279 | PRINTF("In INIT *** Error starting TASK_SPIQ\n") |
|
280 | 280 | } |
|
281 | 281 | |
|
282 | 282 | status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 ); |
|
283 | 283 | if (status!=RTEMS_SUCCESSFUL) { |
|
284 | 284 | PRINTF("In INIT *** Error starting TASK_RECV\n") |
|
285 | 285 | } |
|
286 | 286 | |
|
287 | 287 | status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 ); |
|
288 | 288 | if (status!=RTEMS_SUCCESSFUL) { |
|
289 | 289 | PRINTF("In INIT *** Error starting TASK_ACTN\n") |
|
290 | 290 | } |
|
291 | 291 | |
|
292 | 292 | status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 ); |
|
293 | 293 | if (status!=RTEMS_SUCCESSFUL) { |
|
294 | 294 | PRINTF("In INIT *** Error starting TASK_BPPR\n") |
|
295 | 295 | } |
|
296 | 296 | |
|
297 | 297 | status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 ); |
|
298 | 298 | if (status!=RTEMS_SUCCESSFUL) { |
|
299 | 299 | PRINTF("In INIT *** Error starting TASK_STAT\n") |
|
300 | 300 | } |
|
301 | 301 | |
|
302 | 302 | status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 ); |
|
303 | 303 | if (status!=RTEMS_SUCCESSFUL) { |
|
304 | 304 | PRINTF("In INIT *** Error starting TASK_AVF0\n") |
|
305 | 305 | } |
|
306 | 306 | |
|
307 | 307 | status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 ); |
|
308 | 308 | if (status!=RTEMS_SUCCESSFUL) { |
|
309 | 309 | PRINTF("In INIT *** Error starting TASK_BPF0\n") |
|
310 | 310 | } |
|
311 | 311 | |
|
312 | 312 | status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 ); |
|
313 | 313 | if (status!=RTEMS_SUCCESSFUL) { |
|
314 | 314 | PRINTF("In INIT *** Error starting TASK_WFRM\n") |
|
315 | 315 | } |
|
316 | 316 | |
|
317 | 317 | status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); |
|
318 | 318 | if (status!=RTEMS_SUCCESSFUL) { |
|
319 | 319 | PRINTF("In INIT *** Error starting TASK_DUMB\n") |
|
320 | 320 | } |
|
321 | 321 | |
|
322 | 322 | status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 ); |
|
323 | 323 | if (status!=RTEMS_SUCCESSFUL) { |
|
324 | 324 | PRINTF("In INIT *** Error starting TASK_HOUS\n") |
|
325 | 325 | } |
|
326 | 326 | |
|
327 | 327 | return 0; |
|
328 | 328 | } |
|
329 | 329 | |
|
330 | 330 | int configure_spw_link( void ) |
|
331 | 331 | { |
|
332 | 332 | rtems_status_code status; |
|
333 | 333 | |
|
334 | 334 | close(fdSPW); // close the device if it is already open |
|
335 | 335 | PRINTF("OK *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n") |
|
336 | 336 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware |
|
337 | 337 | if (fdSPW<0) PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") |
|
338 | 338 | while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){ |
|
339 | 339 | PRINTF(".") |
|
340 | 340 | fflush(stdout); |
|
341 | 341 | close(fdSPW); // close the device |
|
342 | 342 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware |
|
343 | 343 | if (fdSPW<0) PRINTF("ERR *** In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") |
|
344 | 344 | rtems_task_wake_after(100); |
|
345 | 345 | } |
|
346 | 346 | |
|
347 | 347 | PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") |
|
348 | 348 | |
|
349 | 349 | configure_spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force |
|
350 | 350 | configure_spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to break the no port force configuration |
|
351 | 351 | |
|
352 | 352 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception |
|
353 | 353 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") |
|
354 | 354 | // |
|
355 | 355 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a |
|
356 | 356 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs |
|
357 | 357 | // |
|
358 | 358 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts |
|
359 | 359 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") |
|
360 | 360 | // |
|
361 | 361 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit |
|
362 | 362 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") |
|
363 | 363 | // |
|
364 | 364 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0); // transmission blocks on full |
|
365 | 365 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n") |
|
366 | 366 | // |
|
367 | 367 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); |
|
368 | 368 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") |
|
369 | 369 | |
|
370 | 370 | PRINTF("OK *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") |
|
371 | 371 | |
|
372 | 372 | return RTEMS_SUCCESSFUL; |
|
373 | 373 | } |
|
374 | 374 | |
|
375 | 375 | void configure_spacewire_set_NP(unsigned char val, unsigned int regAddr) // [N]o [P]ort force |
|
376 | 376 | { |
|
377 | 377 | unsigned int *spwptr = (unsigned int*) regAddr; |
|
378 | 378 | |
|
379 | 379 | if (val == 1) { |
|
380 | 380 | *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit |
|
381 | 381 | } |
|
382 | 382 | if (val== 0) { |
|
383 | 383 | *spwptr = *spwptr & 0xffdfffff; |
|
384 | 384 | } |
|
385 | 385 | } |
|
386 | 386 | |
|
387 | 387 | void configure_spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable |
|
388 | 388 | { |
|
389 | 389 | unsigned int *spwptr = (unsigned int*) regAddr; |
|
390 | 390 | |
|
391 | 391 | if (val == 1) |
|
392 | 392 | { |
|
393 | 393 | *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit |
|
394 | 394 | } |
|
395 | 395 | if (val== 0) |
|
396 | 396 | { |
|
397 | 397 | *spwptr = *spwptr & 0xfffdffff; |
|
398 | 398 | } |
|
399 | 399 | } |
|
400 | 400 | |
|
401 | 401 | rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send) |
|
402 | 402 | { |
|
403 | 403 | rtems_status_code status; |
|
404 | 404 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send ); |
|
405 | 405 | return status; |
|
406 | 406 | } |
|
407 | 407 | |
|
408 | 408 | void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc) |
|
409 | 409 | { |
|
410 | 410 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) { |
|
411 | 411 | printf("In timecode_irq_handler *** Error sending event to DUMB\n"); |
|
412 | 412 | } |
|
413 | 413 | } |
|
414 | 414 |
@@ -1,711 +1,736 | |||
|
1 | 1 | #include <tc_handler.h> |
|
2 | 2 | #include <fsw_params.h> |
|
3 | 3 | |
|
4 | 4 | char *DumbMessages[5] = {"default", |
|
5 | 5 | "timecode_irq_handler", |
|
6 | 6 | "waveforms_isr", |
|
7 | 7 | "", |
|
8 | 8 | "" |
|
9 | 9 | }; |
|
10 | 10 | |
|
11 | 11 | unsigned char currentTC_LEN_RCV[2]; // SHALL be equal to the current TC packet estimated packet length field |
|
12 | 12 | unsigned char currentTC_COMPUTED_CRC[2]; |
|
13 | 13 | unsigned int currentTC_LEN_RCV_AsUnsignedInt; |
|
14 | 14 | unsigned int currentTM_length; |
|
15 | 15 | unsigned char currentTC_processedFlag; |
|
16 | 16 | |
|
17 | 17 | unsigned int lookUpTableForCRC[256]; |
|
18 | 18 | |
|
19 | 19 | //********************** |
|
20 | 20 | // GENERAL USE FUNCTIONS |
|
21 | 21 | unsigned int Crc_opt( unsigned char D, unsigned int Chk) |
|
22 | 22 | { |
|
23 | 23 | return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]); |
|
24 | 24 | } |
|
25 | 25 | |
|
26 | 26 | void initLookUpTableForCRC( void ) |
|
27 | 27 | { |
|
28 | 28 | unsigned int i; |
|
29 | 29 | unsigned int tmp; |
|
30 | 30 | |
|
31 | 31 | for (i=0; i<256; i++) |
|
32 | 32 | { |
|
33 | 33 | tmp = 0; |
|
34 | 34 | if((i & 1) != 0) { |
|
35 | 35 | tmp = tmp ^ 0x1021; |
|
36 | 36 | } |
|
37 | 37 | if((i & 2) != 0) { |
|
38 | 38 | tmp = tmp ^ 0x2042; |
|
39 | 39 | } |
|
40 | 40 | if((i & 4) != 0) { |
|
41 | 41 | tmp = tmp ^ 0x4084; |
|
42 | 42 | } |
|
43 | 43 | if((i & 8) != 0) { |
|
44 | 44 | tmp = tmp ^ 0x8108; |
|
45 | 45 | } |
|
46 | 46 | if((i & 16) != 0) { |
|
47 | 47 | tmp = tmp ^ 0x1231; |
|
48 | 48 | } |
|
49 | 49 | if((i & 32) != 0) { |
|
50 | 50 | tmp = tmp ^ 0x2462; |
|
51 | 51 | } |
|
52 | 52 | if((i & 64) != 0) { |
|
53 | 53 | tmp = tmp ^ 0x48c4; |
|
54 | 54 | } |
|
55 | 55 | if((i & 128) != 0) { |
|
56 | 56 | tmp = tmp ^ 0x9188; |
|
57 | 57 | } |
|
58 | 58 | lookUpTableForCRC[i] = tmp; |
|
59 | 59 | } |
|
60 | 60 | } |
|
61 | 61 | |
|
62 | 62 | void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData) |
|
63 | 63 | { |
|
64 | 64 | unsigned int Chk; |
|
65 | 65 | int j; |
|
66 | 66 | Chk = 0xffff; // reset the syndrom to all ones |
|
67 | 67 | for (j=0; j<sizeOfData; j++) { |
|
68 | 68 | Chk = Crc_opt(data[j], Chk); |
|
69 | 69 | } |
|
70 | 70 | crcAsTwoBytes[0] = (unsigned char) (Chk >> 8); |
|
71 | 71 | crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff); |
|
72 | 72 | } |
|
73 | 73 | |
|
74 | 74 | //********************* |
|
75 | 75 | // ACCEPTANCE FUNCTIONS |
|
76 | 76 | int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv) |
|
77 | 77 | { |
|
78 | 78 | int ret = 0; |
|
79 | 79 | rtems_status_code status; |
|
80 | 80 | spw_ioctl_pkt_send spw_ioctl_send; |
|
81 | 81 | TMHeader_t TM_header; |
|
82 | 82 | unsigned int code = 0; |
|
83 | 83 | unsigned char computed_CRC[2]; |
|
84 | 84 | char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ]; |
|
85 | 85 | |
|
86 | 86 | GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 ); |
|
87 | 87 | code = acceptTM( TC, tc_len_recv ) ; |
|
88 | 88 | if ( (code == 0) | (code == 1) | (code == 2) |
|
89 | 89 | | (code == 3) | (code == 4) | (code == 5) ) |
|
90 | 90 | { // generate TM_LFR_TC_EXE_CORRUPTED |
|
91 | 91 | // BUILD HEADER |
|
92 | 92 | TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_EXE_CORR, 0, 0, &TM_header); |
|
93 | 93 | // BUILD DATA |
|
94 | 94 | TM_build_data( TC, data, SID_EXE_CORR, computed_CRC); |
|
95 | 95 | // PREPARE TM SENDING |
|
96 | 96 | spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header |
|
97 | 97 | spw_ioctl_send.hdr = (char*) &TM_header; |
|
98 | 98 | spw_ioctl_send.dlen = 16; |
|
99 | 99 | spw_ioctl_send.data = data; |
|
100 | 100 | // SEND PACKET |
|
101 | 101 | write_spw(&spw_ioctl_send); |
|
102 | 102 | } |
|
103 | 103 | else { // send valid TC to the action launcher |
|
104 | 104 | status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3); |
|
105 | 105 | ret = -1; |
|
106 | 106 | } |
|
107 | 107 | return ret; |
|
108 | 108 | } |
|
109 | 109 | |
|
110 | 110 | unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV) |
|
111 | 111 | { |
|
112 | 112 | unsigned char ret = 0; |
|
113 | 113 | unsigned char pid = 0; |
|
114 | 114 | unsigned char category = 0; |
|
115 | 115 | unsigned int length = 0; |
|
116 | 116 | unsigned char packetType = 0; |
|
117 | 117 | unsigned char packetSubtype = 0; |
|
118 | 118 | unsigned char * CCSDSContent = NULL; |
|
119 | 119 | |
|
120 | 120 | // APID check *** APID on 2 bytes |
|
121 | 121 | pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx |
|
122 | 122 | category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210 |
|
123 | 123 | length = (TMPacket->packetLength[0] * 256) + TMPacket->packetLength[1]; |
|
124 | 124 | packetType = TMPacket->dataFieldHeader[1]; |
|
125 | 125 | packetSubtype = TMPacket->dataFieldHeader[2]; |
|
126 | 126 | |
|
127 | 127 | if (pid!=CCSDS_PROCESS_ID) { |
|
128 | 128 | ret = ILLEGAL_APID; |
|
129 | 129 | } |
|
130 | 130 | else if (category!=CCSDS_PACKET_CATEGORY) { |
|
131 | 131 | ret = ILLEGAL_APID; |
|
132 | 132 | } |
|
133 | 133 | else if (length != TC_LEN_RCV ) { // packet length check |
|
134 | 134 | ret = WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD |
|
135 | 135 | } |
|
136 | 136 | else if (length >= CCSDS_TC_PKT_MAX_SIZE) { |
|
137 | 137 | ret = WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size |
|
138 | 138 | } |
|
139 | 139 | else if (packetType == TC_TYPE_GEN){ // service type, subtype and packet length check |
|
140 | 140 | switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61 |
|
141 | 141 | case TC_SUBTYPE_RESET: |
|
142 | 142 | if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
143 | 143 | ret = WRONG_LEN_PACKET; |
|
144 | 144 | } |
|
145 | 145 | else { |
|
146 | 146 | ret = CCSDS_TM_VALID; |
|
147 | 147 | } |
|
148 | 148 | break; |
|
149 | 149 | case TC_SUBTYPE_LOAD_COMM: |
|
150 | 150 | if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
151 | 151 | ret = WRONG_LEN_PACKET; |
|
152 | 152 | } |
|
153 | 153 | else { |
|
154 | 154 | ret = CCSDS_TM_VALID; |
|
155 | 155 | } |
|
156 | 156 | break; |
|
157 | 157 | case TC_SUBTYPE_LOAD_NORM: |
|
158 | 158 | if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
159 | 159 | ret = WRONG_LEN_PACKET; |
|
160 | 160 | } |
|
161 | 161 | else { |
|
162 | 162 | ret = CCSDS_TM_VALID; |
|
163 | 163 | } |
|
164 | 164 | break; |
|
165 | 165 | case TC_SUBTYPE_LOAD_BURST: |
|
166 | 166 | if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
167 | 167 | ret = WRONG_LEN_PACKET; |
|
168 | 168 | } |
|
169 | 169 | else { |
|
170 | 170 | ret = CCSDS_TM_VALID; |
|
171 | 171 | } |
|
172 | 172 | break; |
|
173 | 173 | case TC_SUBTYPE_LOAD_SBM1: |
|
174 | 174 | if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
175 | 175 | ret = WRONG_LEN_PACKET; |
|
176 | 176 | } |
|
177 | 177 | else { |
|
178 | 178 | ret = CCSDS_TM_VALID; |
|
179 | 179 | } |
|
180 | 180 | break; |
|
181 | 181 | case TC_SUBTYPE_LOAD_SBM2: |
|
182 | 182 | if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
183 | 183 | ret = WRONG_LEN_PACKET; |
|
184 | 184 | } |
|
185 | 185 | else { |
|
186 | 186 | ret = CCSDS_TM_VALID; |
|
187 | 187 | } |
|
188 | 188 | break; |
|
189 | 189 | case TC_SUBTYPE_DUMP: |
|
190 | 190 | if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
191 | 191 | ret = WRONG_LEN_PACKET; |
|
192 | 192 | } |
|
193 | 193 | else { |
|
194 | 194 | ret = CCSDS_TM_VALID; |
|
195 | 195 | } |
|
196 | 196 | break; |
|
197 | 197 | case TC_SUBTYPE_ENTER: |
|
198 | 198 | if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
199 | 199 | ret = WRONG_LEN_PACKET; |
|
200 | 200 | } |
|
201 | 201 | else { |
|
202 | 202 | ret = CCSDS_TM_VALID; |
|
203 | 203 | } |
|
204 | 204 | break; |
|
205 | 205 | case TC_SUBTYPE_UPDT_INFO: |
|
206 | 206 | if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
207 | 207 | ret = WRONG_LEN_PACKET; |
|
208 | 208 | } |
|
209 | 209 | else { |
|
210 | 210 | ret = CCSDS_TM_VALID; |
|
211 | 211 | } |
|
212 | 212 | break; |
|
213 | 213 | case TC_SUBTYPE_EN_CAL: |
|
214 | 214 | if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
215 | 215 | ret = WRONG_LEN_PACKET; |
|
216 | 216 | } |
|
217 | 217 | else { |
|
218 | 218 | ret = CCSDS_TM_VALID; |
|
219 | 219 | } |
|
220 | 220 | break; |
|
221 | 221 | case TC_SUBTYPE_DIS_CAL: |
|
222 | 222 | if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
223 | 223 | ret = WRONG_LEN_PACKET; |
|
224 | 224 | } |
|
225 | 225 | else { |
|
226 | 226 | ret = CCSDS_TM_VALID; |
|
227 | 227 | } |
|
228 | 228 | break; |
|
229 | 229 | default: |
|
230 | 230 | ret = ILL_SUBTYPE; |
|
231 | 231 | break; |
|
232 | 232 | } |
|
233 | 233 | } |
|
234 | 234 | else if (packetType == TC_TYPE_TIME){ |
|
235 | 235 | if (packetSubtype!=TC_SUBTYPE_UPDT_TIME) { |
|
236 | 236 | ret = ILL_SUBTYPE; |
|
237 | 237 | } |
|
238 | 238 | else if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) { |
|
239 | 239 | ret = WRONG_LEN_PACKET; |
|
240 | 240 | } |
|
241 | 241 | else { |
|
242 | 242 | ret = CCSDS_TM_VALID; |
|
243 | 243 | } |
|
244 | 244 | } |
|
245 | 245 | else { |
|
246 | 246 | ret = ILL_TYPE; |
|
247 | 247 | } |
|
248 | 248 | |
|
249 | 249 | // source ID check // Source ID not documented in the ICD |
|
250 | 250 | |
|
251 | 251 | // packet error control, CRC check |
|
252 | 252 | CCSDSContent = (unsigned char*) TMPacket->packetID; |
|
253 | 253 | GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC |
|
254 | 254 | if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) { |
|
255 | 255 | ret = INCOR_CHECKSUM; |
|
256 | 256 | } |
|
257 | 257 | else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) { |
|
258 | 258 | ret = INCOR_CHECKSUM; |
|
259 | 259 | } |
|
260 | 260 | else { |
|
261 | 261 | ret = CCSDS_TM_VALID; |
|
262 | 262 | } |
|
263 | 263 | |
|
264 | 264 | return ret; |
|
265 | 265 | } |
|
266 | 266 | |
|
267 | 267 | unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength, |
|
268 | 268 | unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader) |
|
269 | 269 | { |
|
270 | 270 | TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
271 | 271 | TMHeader->protocolIdentifier = 0x02; |
|
272 | 272 | TMHeader->reserved = 0x00; |
|
273 | 273 | TMHeader->userApplication = 0x00; |
|
274 | 274 | TMHeader->packetID[0] = 0x0c; |
|
275 | 275 | TMHeader->packetSequenceControl[0] = 0xc0; |
|
276 | 276 | TMHeader->packetSequenceControl[1] = 0x00; |
|
277 | 277 | TMHeader->packetLength[0] = (unsigned char) (packetLength>>8); |
|
278 | 278 | TMHeader->packetLength[1] = (unsigned char) packetLength; |
|
279 | 279 | TMHeader->dataFieldHeader[0] = 0x10; |
|
280 | 280 | TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID; |
|
281 | 281 | switch (tm_type){ |
|
282 | 282 | case(TM_LFR_TC_EXE_OK): |
|
283 | 283 | TMHeader->packetID[1] = 0xc1; |
|
284 | 284 | TMHeader->dataFieldHeader[1] = 1; // type |
|
285 | 285 | TMHeader->dataFieldHeader[2] = 7; // subtype |
|
286 | 286 | break; |
|
287 | 287 | case(TM_LFR_TC_EXE_ERR): |
|
288 | 288 | TMHeader->packetID[1] = 0xc1; |
|
289 | 289 | TMHeader->dataFieldHeader[1] = 1; // type |
|
290 | 290 | TMHeader->dataFieldHeader[2] = 8; // subtype |
|
291 | 291 | break; |
|
292 | 292 | case(TM_LFR_HK): |
|
293 | 293 | TMHeader->packetID[1] = 0xc4; |
|
294 | 294 | TMHeader->dataFieldHeader[1] = 3; // type |
|
295 | 295 | TMHeader->dataFieldHeader[2] = 25; // subtype |
|
296 | 296 | break; |
|
297 | 297 | case(TM_LFR_SCI): |
|
298 | 298 | TMHeader->packetID[1] = 0xcc; |
|
299 | 299 | TMHeader->dataFieldHeader[1] = 21; // type |
|
300 | 300 | TMHeader->dataFieldHeader[2] = 3; // subtype |
|
301 | 301 | break; |
|
302 | 302 | case(TM_LFR_SCI_SBM): |
|
303 | 303 | TMHeader->packetID[1] = 0xfc; |
|
304 | 304 | TMHeader->dataFieldHeader[1] = 21; // type |
|
305 | 305 | TMHeader->dataFieldHeader[2] = 3; // subtype |
|
306 | 306 | break; |
|
307 | 307 | case(TM_LFR_PAR_DUMP): |
|
308 | 308 | TMHeader->packetID[1] = 0xc9; |
|
309 | 309 | TMHeader->dataFieldHeader[1] = 181; // type |
|
310 | 310 | TMHeader->dataFieldHeader[2] = 31; // subtype |
|
311 | 311 | break; |
|
312 | 312 | default: |
|
313 | 313 | return 0; |
|
314 | 314 | } |
|
315 | 315 | TMHeader->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
316 | 316 | TMHeader->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
317 | 317 | TMHeader->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
318 | 318 | TMHeader->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time); |
|
319 | 319 | TMHeader->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8); |
|
320 | 320 | TMHeader->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time); |
|
321 | 321 | return 1; |
|
322 | 322 | } |
|
323 | 323 | |
|
324 | 324 | unsigned char TM_build_header_bis( enum TM_TYPE tm_type, unsigned int packetLength, |
|
325 | 325 | unsigned int coarseTime, unsigned int fineTime, Packet_TM_LFR_TC_EXE_t *packet) |
|
326 | 326 | { |
|
327 | 327 | |
|
328 | 328 | packet->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
329 | 329 | packet->protocolIdentifier = 0x02; |
|
330 | 330 | packet->reserved = 0x00; |
|
331 | 331 | packet->userApplication = 0x00; |
|
332 | 332 | packet->packetID[0] = 0x0c; |
|
333 | 333 | packet->packetSequenceControl[0] = 0xc0; |
|
334 | 334 | packet->packetSequenceControl[1] = 0x00; |
|
335 | 335 | packet->packetLength[0] = (unsigned char) (packetLength>>8); |
|
336 | 336 | packet->packetLength[1] = (unsigned char) packetLength; |
|
337 | 337 | packet->dataFieldHeader[0] = 0x10; |
|
338 | 338 | packet->dataFieldHeader[3] = CCSDS_DESTINATION_ID; |
|
339 | 339 | switch (tm_type){ |
|
340 | 340 | case(TM_LFR_TC_EXE_OK): |
|
341 | 341 | packet->packetID[1] = 0xc1; |
|
342 | 342 | packet->dataFieldHeader[1] = 1; // type |
|
343 | 343 | packet->dataFieldHeader[2] = 7; // subtype |
|
344 | 344 | break; |
|
345 | 345 | case(TM_LFR_TC_EXE_ERR): |
|
346 | 346 | packet->packetID[1] = 0xc1; |
|
347 | 347 | packet->dataFieldHeader[1] = 1; // type |
|
348 | 348 | packet->dataFieldHeader[2] = 8; // subtype |
|
349 | 349 | break; |
|
350 | 350 | case(TM_LFR_HK): |
|
351 | 351 | packet->packetID[1] = 0xc4; |
|
352 | 352 | packet->dataFieldHeader[1] = 3; // type |
|
353 | 353 | packet->dataFieldHeader[2] = 25; // subtype |
|
354 | 354 | break; |
|
355 | 355 | case(TM_LFR_SCI): |
|
356 | 356 | packet->packetID[1] = 0xcc; |
|
357 | 357 | packet->dataFieldHeader[1] = 21; // type |
|
358 | 358 | packet->dataFieldHeader[2] = 3; // subtype |
|
359 | 359 | break; |
|
360 | 360 | case(TM_LFR_SCI_SBM): |
|
361 | 361 | packet->packetID[1] = 0xfc; |
|
362 | 362 | packet->dataFieldHeader[1] = 21; // type |
|
363 | 363 | packet->dataFieldHeader[2] = 3; // subtype |
|
364 | 364 | break; |
|
365 | 365 | case(TM_LFR_PAR_DUMP): |
|
366 | 366 | packet->packetID[1] = 0xc9; |
|
367 | 367 | packet->dataFieldHeader[1] = 181; // type |
|
368 | 368 | packet->dataFieldHeader[2] = 31; // subtype |
|
369 | 369 | break; |
|
370 | 370 | default: |
|
371 | 371 | return 0; |
|
372 | 372 | } |
|
373 | 373 | packet->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
374 | 374 | packet->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
375 | 375 | packet->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
376 | 376 | packet->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time); |
|
377 | 377 | packet->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8); |
|
378 | 378 | packet->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time); |
|
379 | 379 | return 1; |
|
380 | 380 | } |
|
381 | 381 | |
|
382 | 382 | unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC) |
|
383 | 383 | { |
|
384 | 384 | unsigned int packetLength; |
|
385 | 385 | packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1]; |
|
386 | 386 | switch (SID){ |
|
387 | 387 | case (SID_NOT_EXE): |
|
388 | 388 | break; |
|
389 | 389 | case (SID_NOT_IMP): |
|
390 | 390 | data[0] = 0x9c; |
|
391 | 391 | data[1] = 0x42; |
|
392 | 392 | data[2] = TC->packetID[0]; |
|
393 | 393 | data[3] = TC->packetID[1]; |
|
394 | 394 | data[4] = TC->packetSequenceControl[0]; |
|
395 | 395 | data[5] = TC->packetSequenceControl[1]; |
|
396 | 396 | data[6] = TC->dataFieldHeader[1]; // type |
|
397 | 397 | data[7] = TC->dataFieldHeader[2]; // subtype |
|
398 | 398 | break; |
|
399 | 399 | case (SID_EXE_ERR): |
|
400 | 400 | break; |
|
401 | 401 | case (SID_EXE_CORR): |
|
402 | 402 | data[0] = 0x9c; |
|
403 | 403 | data[1] = 0x45; |
|
404 | 404 | data[2] = TC->packetID[0]; |
|
405 | 405 | data[3] = TC->packetID[1]; |
|
406 | 406 | data[4] = TC->packetSequenceControl[0]; |
|
407 | 407 | data[5] = TC->packetSequenceControl[1]; |
|
408 | 408 | data[6] = TC->dataFieldHeader[1]; // type |
|
409 | 409 | data[7] = TC->dataFieldHeader[2]; // subtype |
|
410 | 410 | data[8] = currentTC_LEN_RCV[0]; |
|
411 | 411 | data[9] = currentTC_LEN_RCV[1]; |
|
412 | 412 | data[10] = TC->packetLength[0]; |
|
413 | 413 | data[11] = TC->packetLength[1]; |
|
414 | 414 | data[12] = TC->dataAndCRC[packetLength]; |
|
415 | 415 | data[13] = TC->dataAndCRC[packetLength+1]; |
|
416 | 416 | data[14] = computed_CRC[0]; |
|
417 | 417 | data[15] = computed_CRC[1]; |
|
418 | 418 | break; |
|
419 | 419 | default: |
|
420 | 420 | return 0; |
|
421 | 421 | } |
|
422 | 422 | return 1; |
|
423 | 423 | } |
|
424 | 424 | |
|
425 | 425 | int create_message_queue( void ) |
|
426 | 426 | { |
|
427 | 427 | rtems_status_code status; |
|
428 | 428 | misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' ); |
|
429 | 429 | status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE, |
|
430 | 430 | RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] ); |
|
431 | 431 | if (status!=RTEMS_SUCCESSFUL) { |
|
432 | 432 | PRINTF("in create_message_queue *** error creating message queue\n") |
|
433 | 433 | } |
|
434 | 434 | |
|
435 | 435 | return 0; |
|
436 | 436 | } |
|
437 | 437 | |
|
438 | 438 | //*********** |
|
439 | 439 | // RTEMS TASK |
|
440 | 440 | rtems_task recv_task( rtems_task_argument unused ) |
|
441 | 441 | { |
|
442 | 442 | int len = 0; |
|
443 | 443 | unsigned int i = 0; |
|
444 | 444 | unsigned int data_length = 0; |
|
445 | 445 | ccsdsTelecommandPacket_t currentTC; |
|
446 | 446 | char data[100]; |
|
447 | 447 | |
|
448 | 448 | for(i=0; i<100; i++) data[i] = 0; |
|
449 | 449 | |
|
450 | 450 | PRINTF("in RECV *** \n") |
|
451 | 451 | |
|
452 | 452 | while(1) |
|
453 | 453 | { |
|
454 | 454 | len = read(fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking |
|
455 | 455 | if (len == -1){ // error during the read call |
|
456 | 456 | PRINTF("In RECV *** last read call returned -1\n") |
|
457 | 457 | if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) { |
|
458 | 458 | PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n") |
|
459 | 459 | } |
|
460 | 460 | if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) { |
|
461 | 461 | PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n") |
|
462 | 462 | } |
|
463 | 463 | } |
|
464 | 464 | else { |
|
465 | 465 | PRINTF1("Got pck of length %d\n", len+1) |
|
466 | 466 | currentTC_LEN_RCV[0] = 0x00; |
|
467 | 467 | currentTC_LEN_RCV[1] = (unsigned char) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // build the corresponding packet size field |
|
468 | 468 | currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes |
|
469 | 469 | // CHECK THE TC AND BUILD THE APPROPRIATE TM |
|
470 | 470 | data_length = TC_checker(¤tTC, currentTC_LEN_RCV_AsUnsignedInt); |
|
471 | 471 | if (data_length!=-1) |
|
472 | 472 | { |
|
473 | 473 | } |
|
474 | 474 | } |
|
475 | 475 | } |
|
476 | 476 | } |
|
477 | 477 | |
|
478 | 478 | rtems_task actn_task( rtems_task_argument unused ) |
|
479 | 479 | { |
|
480 | 480 | int result = 0; |
|
481 | 481 | rtems_status_code status; // RTEMS status code |
|
482 | 482 | ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task |
|
483 | 483 | size_t size; // size of the incoming TC packet |
|
484 | 484 | unsigned char subtype = 0; // subtype of the current TC packet |
|
485 | 485 | |
|
486 | 486 | PRINTF("in ACTN *** \n") |
|
487 | 487 | |
|
488 | 488 | while(1) |
|
489 | 489 | { |
|
490 | 490 | status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size, |
|
491 | 491 | RTEMS_WAIT, RTEMS_NO_TIMEOUT); |
|
492 | 492 | if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status) |
|
493 | 493 | else |
|
494 | 494 | { |
|
495 | 495 | subtype = TC.dataFieldHeader[2]; |
|
496 | 496 | switch(subtype) |
|
497 | 497 | { |
|
498 | 498 | case TC_SUBTYPE_RESET: |
|
499 | 499 | result = action_default( &TC ); |
|
500 | 500 | break; |
|
501 | 501 | // |
|
502 | 502 | case TC_SUBTYPE_LOAD_COMM: |
|
503 | 503 | result = action_default( &TC ); |
|
504 | 504 | break; |
|
505 | 505 | // |
|
506 | 506 | case TC_SUBTYPE_LOAD_NORM: |
|
507 | 507 | result = action_load_norm( &TC ); |
|
508 | 508 | send_tm_lfr_tc_exe_success( &TC ); |
|
509 | 509 | break; |
|
510 | 510 | // |
|
511 | 511 | case TC_SUBTYPE_LOAD_BURST: |
|
512 | 512 | result = action_default( &TC ); |
|
513 | 513 | break; |
|
514 | 514 | // |
|
515 | 515 | case TC_SUBTYPE_LOAD_SBM1: |
|
516 | 516 | result = action_default( &TC ); |
|
517 | 517 | break; |
|
518 | 518 | // |
|
519 | 519 | case TC_SUBTYPE_LOAD_SBM2: |
|
520 | 520 | result = action_default( &TC ); |
|
521 | 521 | break; |
|
522 | 522 | // |
|
523 | 523 | case TC_SUBTYPE_DUMP: |
|
524 | 524 | result = action_default( &TC ); |
|
525 | 525 | break; |
|
526 | 526 | // |
|
527 | 527 | case TC_SUBTYPE_ENTER: |
|
528 | 528 | result = action_enter( &TC ); |
|
529 | 529 | send_tm_lfr_tc_exe_success( &TC ); |
|
530 | 530 | break; |
|
531 | 531 | // |
|
532 | 532 | case TC_SUBTYPE_UPDT_INFO: |
|
533 | 533 | result = action_default( &TC ); |
|
534 | 534 | break; |
|
535 | 535 | // |
|
536 | 536 | case TC_SUBTYPE_EN_CAL: |
|
537 | 537 | result = action_default( &TC ); |
|
538 | 538 | break; |
|
539 | 539 | // |
|
540 | 540 | case TC_SUBTYPE_DIS_CAL: |
|
541 | 541 | result = action_default( &TC ); |
|
542 | 542 | break; |
|
543 | 543 | // |
|
544 | 544 | case TC_SUBTYPE_UPDT_TIME: |
|
545 | 545 | result = action_updt_time( &TC ); |
|
546 | 546 | send_tm_lfr_tc_exe_success( &TC ); |
|
547 | 547 | break; |
|
548 | 548 | // |
|
549 | 549 | default: |
|
550 | 550 | break; |
|
551 | 551 | } |
|
552 | 552 | } |
|
553 | 553 | } |
|
554 | 554 | } |
|
555 | 555 | |
|
556 | 556 | rtems_task dumb_task( rtems_task_argument unused ) |
|
557 | 557 | { |
|
558 | 558 | unsigned int coarse_time = 0; |
|
559 | 559 | unsigned int fine_time = 0; |
|
560 | 560 | unsigned int indice = 0; |
|
561 | 561 | unsigned int shiftedIndice = 0; |
|
562 | 562 | rtems_event_set event_out; |
|
563 | 563 | |
|
564 | 564 | PRINTF("in DUMB *** \n") |
|
565 | 565 | |
|
566 | 566 | while(1){ |
|
567 | 567 | rtems_event_receive(RTEMS_EVENT_1, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0 |
|
568 | 568 | indice = 0; |
|
569 | 569 | shiftedIndice = (unsigned int) event_out; |
|
570 | 570 | while(!(shiftedIndice & 0x0001)) |
|
571 | 571 | { |
|
572 | 572 | shiftedIndice = shiftedIndice >> 1; |
|
573 | 573 | indice++; |
|
574 | 574 | } |
|
575 | 575 | coarse_time = time_management_regs->coarse_time; |
|
576 | 576 | fine_time = time_management_regs->fine_time; |
|
577 | 577 | printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[indice]); |
|
578 | 578 | } |
|
579 | 579 | } |
|
580 | 580 | |
|
581 | 581 | //*********** |
|
582 | 582 | // TC ACTIONS |
|
583 | 583 | |
|
584 | 584 | int action_default(ccsdsTelecommandPacket_t *TC) |
|
585 | 585 | { |
|
586 | 586 | Packet_TM_LFR_TC_EXE_t packet; |
|
587 | 587 | |
|
588 | 588 | TM_build_header_bis( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP, |
|
589 | 589 | time_management_regs->coarse_time, time_management_regs->fine_time, &packet); |
|
590 | 590 | |
|
591 | 591 | packet.data[0] = 0x9c; |
|
592 | 592 | packet.data[1] = 0x42; |
|
593 | 593 | packet.data[2] = TC->packetID[0]; |
|
594 | 594 | packet.data[3] = TC->packetID[1]; |
|
595 | 595 | packet.data[4] = TC->packetSequenceControl[0]; |
|
596 | 596 | packet.data[5] = TC->packetSequenceControl[1]; |
|
597 | 597 | packet.data[6] = TC->dataFieldHeader[1]; // type |
|
598 | 598 | packet.data[7] = TC->dataFieldHeader[2]; // subtype |
|
599 | 599 | |
|
600 | 600 | // SEND DATA |
|
601 | 601 | if (write ( fdSPW, &packet, LEN_TM_LFR_TC_EXE_NOT_IMP)==-1) { |
|
602 | 602 | PRINTF("ERR *** in action_default *** send TM packet\n"); |
|
603 | 603 | } |
|
604 | 604 | |
|
605 | 605 | return 0; |
|
606 | 606 | } |
|
607 | 607 | |
|
608 | 608 | int action_enter(ccsdsTelecommandPacket_t *TC) |
|
609 | 609 | { |
|
610 | 610 | unsigned char lfr_mode = TC->dataAndCRC[1]; |
|
611 | 611 | printf("enter mode %d\n", lfr_mode); |
|
612 | 612 | switch(lfr_mode) |
|
613 | 613 | { |
|
614 | //******** | |
|
615 | // STANDBY | |
|
614 | 616 | case(LFR_MODE_STANDBY): |
|
615 | 617 | LEON_Mask_interrupt( IRQ_WF ); |
|
616 | 618 | LEON_Mask_interrupt( IRQ_SM ); |
|
617 | 619 | LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); |
|
618 | 620 | waveform_picker_regs->burst_enable = 0x00; |
|
619 | 621 | break; |
|
622 | ||
|
623 | //****** | |
|
624 | // NORMAL | |
|
620 | 625 | case(LFR_MODE_NORMAL): |
|
621 | ||
|
622 | 626 | #ifdef GSA |
|
623 | 627 | LEON_Unmask_interrupt( IRQ_WF ); |
|
624 | 628 | #else |
|
625 | 629 | LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); |
|
626 | 630 | LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); |
|
627 | 631 | waveform_picker_regs->burst_enable = 0x07; |
|
628 | 632 | waveform_picker_regs->status = 0x00; |
|
629 | 633 | #endif |
|
634 | LEON_Unmask_interrupt( IRQ_SM ); | |
|
635 | break; | |
|
630 | 636 | |
|
631 | break; | |
|
637 | //****** | |
|
638 | // BURST | |
|
632 | 639 | case(LFR_MODE_BURST): |
|
633 | 640 | break; |
|
641 | ||
|
642 | //***** | |
|
643 | // SBM1 | |
|
634 | 644 | case(LFR_MODE_SBM1): |
|
645 | #ifdef GSA | |
|
646 | #else | |
|
647 | LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); | |
|
648 | LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); | |
|
649 | waveform_picker_regs->burst_enable = 0x20; // [0010 0000] burst f2, f1, f0 enable f3 f2 f1 f0 | |
|
650 | waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x02; | |
|
651 | waveform_picker_regs->status = 0x00; | |
|
652 | #endif | |
|
653 | //LEON_Unmask_interrupt( IRQ_SM ); | |
|
635 | 654 | break; |
|
655 | ||
|
656 | //***** | |
|
657 | // SBM2 | |
|
636 | 658 | case(LFR_MODE_SBM2): |
|
637 | 659 | break; |
|
660 | ||
|
661 | //******** | |
|
662 | // DEFAULT | |
|
638 | 663 | default: |
|
639 | 664 | break; |
|
640 | 665 | } |
|
641 | 666 | return 0; |
|
642 | 667 | } |
|
643 | 668 | |
|
644 | 669 | int action_load_norm(ccsdsTelecommandPacket_t *TC) |
|
645 | 670 | { |
|
646 | 671 | param_norm.sy_lfr_n_swf_l = (TC->dataAndCRC[0] * 256) + TC->dataAndCRC[1]; |
|
647 | 672 | param_norm.sy_lfr_n_swf_p = (TC->dataAndCRC[2] * 256) + TC->dataAndCRC[3]; |
|
648 | 673 | param_norm.sy_lfr_n_asm_p = (TC->dataAndCRC[4] * 256) + TC->dataAndCRC[5]; |
|
649 | 674 | param_norm.sy_lfr_n_bp_p0 = TC->dataAndCRC[6]; |
|
650 | 675 | param_norm.sy_lfr_n_bp_p1 = TC->dataAndCRC[7]; |
|
651 | 676 | /*printf("sy_lfr_n_ => swf_l %d, swf_p %d, asm_p %d, bsp_p0 %d, bsp_p1 %d\n", |
|
652 | 677 | param_norm.sy_lfr_n_swf_l, param_norm.sy_lfr_n_swf_p, |
|
653 | 678 | param_norm.sy_lfr_n_asm_p, param_norm.sy_lfr_n_bp_p0, param_norm.sy_lfr_n_bp_p1);*/ |
|
654 | 679 | return 0; |
|
655 | 680 | } |
|
656 | 681 | |
|
657 | 682 | int action_updt_time(ccsdsTelecommandPacket_t *TC) |
|
658 | 683 | { |
|
659 | 684 | time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24) |
|
660 | 685 | + (TC->dataAndCRC[1] << 16) |
|
661 | 686 | + (TC->dataAndCRC[2] << 8) |
|
662 | 687 | + TC->dataAndCRC[3]; |
|
663 | 688 | //time_management_regs->ctrl = time_management_regs->ctrl | 1; |
|
664 | 689 | return 0; |
|
665 | 690 | } |
|
666 | 691 | |
|
667 | 692 | int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC) |
|
668 | 693 | { |
|
669 | 694 | TMHeader_t TM_header; |
|
670 | 695 | char data[4]; |
|
671 | 696 | spw_ioctl_pkt_send spw_ioctl_send; |
|
672 | 697 | |
|
673 | 698 | TM_build_header( TM_LFR_TC_EXE_OK, TM_LEN_EXE, |
|
674 | 699 | time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header); |
|
675 | 700 | |
|
676 | 701 | data[0] = TC->packetID[0]; |
|
677 | 702 | data[1] = TC->packetID[1]; |
|
678 | 703 | data[2] = TC->packetSequenceControl[0]; |
|
679 | 704 | data[3] = TC->packetSequenceControl[1]; |
|
680 | 705 | |
|
681 | 706 | // filling the structure for the spacewire transmission |
|
682 | 707 | spw_ioctl_send.hlen = TM_HEADER_LEN + 3; // + 4 is for the protocole extra header |
|
683 | 708 | spw_ioctl_send.hdr = (char*) &TM_header; |
|
684 | 709 | spw_ioctl_send.dlen = 3; |
|
685 | 710 | spw_ioctl_send.data = data; |
|
686 | 711 | |
|
687 | 712 | // SEND DATA |
|
688 | 713 | write_spw(&spw_ioctl_send); |
|
689 | 714 | |
|
690 | 715 | return 0; |
|
691 | 716 | } |
|
692 | 717 | |
|
693 | 718 | //*************************** |
|
694 | 719 | // Interrupt Service Routines |
|
695 | 720 | rtems_isr commutation_isr1( rtems_vector_number vector ) |
|
696 | 721 | { |
|
697 | 722 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { |
|
698 | 723 | printf("In commutation_isr1 *** Error sending event to DUMB\n"); |
|
699 | 724 | } |
|
700 | 725 | } |
|
701 | 726 | |
|
702 | 727 | rtems_isr commutation_isr2( rtems_vector_number vector ) |
|
703 | 728 | { |
|
704 | 729 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { |
|
705 | 730 | printf("In commutation_isr2 *** Error sending event to DUMB\n"); |
|
706 | 731 | } |
|
707 | 732 | } |
|
708 | 733 | |
|
709 | 734 | |
|
710 | 735 | |
|
711 | 736 |
@@ -1,309 +1,312 | |||
|
1 | 1 | #include <wf_handler.h> |
|
2 | 2 | |
|
3 | 3 | rtems_isr waveforms_isr( rtems_vector_number vector ) |
|
4 | 4 | { |
|
5 | if ( (waveform_picker_regs->burst_enable & 0x7) == 0x0 ){// if no channel is enable | |
|
5 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 ) != RTEMS_SUCCESSFUL) { | |
|
6 | printf("In waveforms_isr *** Error sending event to WFRM\n"); | |
|
7 | } | |
|
8 | if (waveform_picker_regs->burst_enable == 0x22) { | |
|
9 | if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) { | |
|
10 | waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_bis); | |
|
11 | } | |
|
12 | else { | |
|
13 | waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1); | |
|
14 | } | |
|
15 | if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { | |
|
16 | printf("In waveforms_isr *** Error sending event to WFRM\n"); | |
|
17 | } | |
|
18 | } | |
|
19 | waveform_picker_regs->status = 0x00; | |
|
20 | /*else if ( (waveform_picker_regs->burst_enable & 0x7) == 0x0 ){// if no channel is enable | |
|
6 | 21 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 ) != RTEMS_SUCCESSFUL) { |
|
7 | 22 | printf("In timecode_irq_handler *** Error sending event to DUMB\n"); |
|
8 | 23 | } |
|
9 | 24 | } |
|
10 | 25 | else { |
|
11 | 26 | if ( (waveform_picker_regs->status & 0x7) == 0x7 ){ // f2 f1 and f0 are full |
|
12 | 27 | waveform_picker_regs->burst_enable = 0x00; |
|
13 | 28 | if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { |
|
14 | 29 | printf("In waveforms_isr *** Error sending event to WFRM\n"); |
|
15 | 30 | } |
|
16 | 31 | } |
|
17 |
|
|
|
32 | }*/ | |
|
18 | 33 | } |
|
19 | 34 | |
|
20 | 35 | rtems_isr waveforms_simulator_isr( rtems_vector_number vector ) |
|
21 | 36 | { |
|
22 | 37 | if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { |
|
23 | 38 | printf("In waveforms_isr *** Error sending event to WFRM\n"); |
|
24 | 39 | } |
|
25 | 40 | } |
|
26 | 41 | |
|
27 | 42 | rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP |
|
28 | 43 | { |
|
29 | 44 | spw_ioctl_pkt_send spw_ioctl_send; |
|
30 | 45 | rtems_event_set event_out; |
|
31 | 46 | ExtendedTMHeader_t header; |
|
32 | 47 | |
|
33 | 48 | header.targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
34 | 49 | header.protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
35 | 50 | header.reserved = 0x00; |
|
36 | 51 | header.userApplication = CCSDS_USER_APP; |
|
37 | 52 | header.packetID[0] = 0x0c; |
|
38 | 53 | header.packetID[1] = 0xcc; |
|
39 | 54 | header.packetSequenceControl[0] = 0x00; |
|
40 | 55 | header.packetSequenceControl[1] = 0x00; |
|
41 | 56 | header.packetLength[0] = 0x00; |
|
42 | 57 | header.packetLength[1] = 0x00; |
|
43 | 58 | header.dataFieldHeader[0] = 0x10; |
|
44 | 59 | header.dataFieldHeader[1] = TM_TYPE_LFR_SCIENCE; // service type |
|
45 | 60 | header.dataFieldHeader[2] = TM_SUBTYPE_LFR_SCIENCE; // service subtype |
|
46 | 61 | header.dataFieldHeader[3] = CCSDS_DESTINATION_ID_GROUND; |
|
47 | 62 | |
|
48 | 63 | header.auxiliaryHeader[0] = 0x00; |
|
49 | 64 | header.auxiliaryHeader[1] = 0x1f; |
|
50 | 65 | header.auxiliaryHeader[2] = 0x07; // PKT_CNT |
|
51 | 66 | header.auxiliaryHeader[3] = 0x00; // PKT_NR |
|
52 | 67 | header.auxiliaryHeader[4] = 0x00; // BLK_NR MSB |
|
53 | 68 | header.auxiliaryHeader[5] = 0x00; // BLK_NR LSB |
|
54 | 69 | |
|
55 | 70 | // BUILD THE PACKET HEADER |
|
56 | 71 | spw_ioctl_send.hlen = TM_HEADER_LEN + 4 + 6; // + 4 is for the protocole extra header, + 6 is for the auxiliary header |
|
57 | 72 | spw_ioctl_send.hdr = (char*) &header; |
|
58 | 73 | |
|
59 | 74 | init_waveforms(); |
|
60 | 75 | |
|
61 | 76 | PRINTF("in WFRM ***\n") |
|
62 | 77 | |
|
63 | 78 | while(1){ |
|
64 | 79 | |
|
65 | 80 | rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0 |
|
66 | 81 | PRINTF("in WFRM *** send wfrm\n") |
|
67 | 82 | header.dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
68 | 83 | header.dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
69 | 84 | header.dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
70 | 85 | header.dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time); |
|
71 | 86 | header.dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8); |
|
72 | 87 | header.dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time); |
|
73 | 88 | |
|
74 | 89 | //*************** |
|
75 | 90 | // send snapshots |
|
76 | 91 | // F0 |
|
77 | send_waveform( &header, wf_snap_f0, SID_NORM_SWF_F0, &spw_ioctl_send); | |
|
92 | //send_waveform( &header, wf_snap_f0, SID_NORM_SWF_F0, &spw_ioctl_send); | |
|
78 | 93 | // F1 |
|
79 | send_waveform( &header, wf_snap_f1, SID_NORM_SWF_F1, &spw_ioctl_send); | |
|
94 | if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) { | |
|
95 | send_waveform( &header, wf_snap_f1_bis, SID_NORM_SWF_F1, &spw_ioctl_send); | |
|
96 | } | |
|
97 | else { | |
|
98 | send_waveform( &header, wf_snap_f1, SID_NORM_SWF_F1, &spw_ioctl_send); | |
|
99 | } | |
|
80 | 100 | // F2 |
|
81 | send_waveform( &header, wf_snap_f2, SID_NORM_SWF_F2, &spw_ioctl_send); | |
|
101 | //send_waveform( &header, wf_snap_f2, SID_NORM_SWF_F2, &spw_ioctl_send); | |
|
82 | 102 | |
|
83 | 103 | #ifdef GSA |
|
84 | 104 | // irq processed, reset the related register of the timer unit |
|
85 | 105 | gptimer_regs->timer[2].ctrl = gptimer_regs->timer[2].ctrl | 0x00000010; |
|
86 | 106 | #else |
|
87 | 107 | // irq processed, reset the related register of the waveform picker |
|
88 | waveform_picker_regs->status = 0x00; | |
|
89 | waveform_picker_regs->burst_enable = 0x07; | |
|
108 | //waveform_picker_regs->status = 0x00; | |
|
109 | //waveform_picker_regs->burst_enable = 0x07; | |
|
90 | 110 | #endif |
|
91 | 111 | |
|
92 | 112 | } |
|
93 | 113 | } |
|
94 | 114 | |
|
95 | 115 | //****************** |
|
96 | 116 | // general functions |
|
97 | 117 | void init_waveforms( void ) |
|
98 | 118 | { |
|
99 | 119 | int i = 0; |
|
100 | int aux1 = 0; | |
|
101 | int aux2 = 0; | |
|
102 | int val1 = 0; | |
|
103 | int val2 = 0; | |
|
104 | int val3 = 0; | |
|
105 | int val4 = 0; | |
|
106 | int amplitude1 = pow(2, 10); | |
|
107 | static int delta_phi = 0; | |
|
108 | 120 | |
|
109 | 121 | for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++) |
|
110 | 122 | { |
|
111 | aux1 = (int) (amplitude1 * cos((2*pi*i)/2048 + (delta_phi*pi)/180)); | |
|
112 | aux2 = (int) (amplitude1 * sin((2*pi*i)/2048 + (delta_phi*pi)/180)); | |
|
113 | val1 = build_value(aux1, aux2); | |
|
114 | val2 = build_value(i, 2*i); | |
|
115 | val3 = build_value(-aux1, -aux2); | |
|
116 | val4 = build_value(-i, -2*i); | |
|
117 | 123 | //*** |
|
118 | 124 | // F0 |
|
119 | 125 | wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777; // |
|
120 | 126 | wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x22221111; // |
|
121 | 127 | wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0x44443333; // |
|
122 | 128 | |
|
123 | 129 | //*** |
|
124 | 130 | // F1 |
|
125 |
wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = |
|
|
126 |
wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = |
|
|
131 | wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x22221111; | |
|
132 | wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x44443333; | |
|
127 | 133 | wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0xaaaa0000; |
|
128 | 134 | |
|
129 | 135 | //*** |
|
130 | 136 | // F2 |
|
131 |
wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = |
|
|
132 |
wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = |
|
|
137 | wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x44443333; | |
|
138 | wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x22221111; | |
|
133 | 139 | wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0xaaaa0000; |
|
134 | 140 | |
|
135 | 141 | //*** |
|
136 | 142 | // F3 |
|
137 | 143 | //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1; |
|
138 | 144 | //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2; |
|
139 | 145 | //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000; |
|
140 | 146 | } |
|
141 | ||
|
142 | delta_phi = delta_phi + 10; | |
|
143 | ||
|
144 | 147 | } |
|
145 | 148 | |
|
146 | 149 | void init_waveform_header( ExtendedTMHeader_t * header, unsigned int sid ) |
|
147 | 150 | { |
|
148 | 151 | |
|
149 | 152 | header->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
150 | 153 | header->protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
151 | 154 | header->reserved = 0x00; |
|
152 | 155 | header->userApplication = CCSDS_USER_APP; |
|
153 | 156 | header->packetID[0] = 0x0c; |
|
154 | 157 | header->packetID[1] = 0xcc; |
|
155 | 158 | header->packetSequenceControl[0] = 0x00; |
|
156 | 159 | header->packetSequenceControl[1] = 0x00; |
|
157 | 160 | header->packetLength[0] = 0x00; |
|
158 | 161 | header->packetLength[1] = 0x00; |
|
159 | 162 | header->dataFieldHeader[0] = 0x10; |
|
160 | 163 | header->dataFieldHeader[1] = TM_TYPE_LFR_SCIENCE; // service type |
|
161 | 164 | header->dataFieldHeader[2] = TM_SUBTYPE_LFR_SCIENCE; // service subtype |
|
162 | 165 | header->dataFieldHeader[3] = CCSDS_DESTINATION_ID_GROUND; |
|
163 | 166 | |
|
164 | 167 | header->auxiliaryHeader[0] = sid; |
|
165 | 168 | header->auxiliaryHeader[1] = 0x1f; |
|
166 | 169 | header->auxiliaryHeader[2] = 0x07; // PKT_CNT |
|
167 | 170 | header->auxiliaryHeader[3] = 0x00; // PKT_NR |
|
168 | 171 | header->auxiliaryHeader[4] = 0x00; // BLK_NR MSB |
|
169 | 172 | header->auxiliaryHeader[5] = 0x00; // BLK_NR LSB |
|
170 | 173 | } |
|
171 | 174 | |
|
172 | 175 | void reset_waveforms( void ) |
|
173 | 176 | { |
|
174 | 177 | int i = 0; |
|
175 | 178 | |
|
176 | 179 | for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++) |
|
177 | 180 | { |
|
178 | 181 | wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x10002000; |
|
179 | 182 | wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000; |
|
180 | 183 | wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000; |
|
181 | 184 | |
|
182 | 185 | //*** |
|
183 | 186 | // F1 |
|
184 | 187 | wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x1000f000; |
|
185 | 188 | wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0xf0001000; |
|
186 | 189 | wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000; |
|
187 | 190 | |
|
188 | 191 | //*** |
|
189 | 192 | // F2 |
|
190 | 193 | wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x40008000; |
|
191 | 194 | wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000; |
|
192 | 195 | wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x10002000; |
|
193 | 196 | |
|
194 | 197 | //*** |
|
195 | 198 | // F3 |
|
196 | 199 | /*wf_cont_f3[ i* NB_WORDS_SWF_BLK + 0 ] = build_value( i, i ); // v and 1 |
|
197 | 200 | wf_cont_f3[ i* NB_WORDS_SWF_BLK + 1 ] = build_value( i, i ); // e2 and b1 |
|
198 | 201 | wf_cont_f3[ i* NB_WORDS_SWF_BLK + 2 ] = build_value( i, i ); // b2 and b3*/ |
|
199 | 202 | } |
|
200 | 203 | } |
|
201 | 204 | |
|
202 | 205 | void send_waveform( ExtendedTMHeader_t *header, volatile int *waveform, |
|
203 | 206 | unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send) |
|
204 | 207 | { |
|
205 | 208 | unsigned int i = 0; |
|
206 | 209 | unsigned int length = 0; |
|
207 | 210 | rtems_status_code status; |
|
208 | 211 | |
|
209 | 212 | for (i=0; i<7; i++) // send waveform |
|
210 | 213 | { |
|
211 | 214 | header->auxiliaryHeader[3] = (unsigned char) i+1; // PKT_NR |
|
212 | 215 | // BUILD THE DATA |
|
213 | 216 | if (i==6) { |
|
214 | 217 | spw_ioctl_send->dlen = 8 * NB_BYTES_SWF_BLK; |
|
215 | 218 | length = TM_LEN_SCI_NORM_SWF_8; |
|
216 | 219 | header->auxiliaryHeader[4] = 0x00; // BLK_NR MSB |
|
217 | 220 | header->auxiliaryHeader[5] = 0x08; // BLK_NR LSB |
|
218 | 221 | } |
|
219 | 222 | else { |
|
220 | 223 | spw_ioctl_send->dlen = 340 * NB_BYTES_SWF_BLK; |
|
221 | 224 | length = TM_LEN_SCI_NORM_SWF_340; |
|
222 | 225 | header->auxiliaryHeader[4] = 0x01; // BLK_NR MSB |
|
223 | 226 | header->auxiliaryHeader[5] = 0x54; // BLK_NR LSB |
|
224 | 227 | } |
|
225 | 228 | if (sid == SID_NORM_SWF_F0) { |
|
226 | 229 | spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) + (1 * TIME_OFFSET) ]; |
|
227 | 230 | } |
|
228 | 231 | else if (sid == SID_NORM_SWF_F1) { |
|
229 | 232 | spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) + (1 * TIME_OFFSET) ]; |
|
230 | 233 | } |
|
231 | 234 | else if (sid == SID_NORM_SWF_F2) { |
|
232 |
spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) + ( |
|
|
235 | spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) + (1 * TIME_OFFSET) ]; | |
|
233 | 236 | } |
|
234 | 237 | else { |
|
235 | 238 | spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ]; |
|
236 | 239 | } |
|
237 | 240 | // BUILD THE HEADER |
|
238 | 241 | header->packetLength[0] = (unsigned char) (length>>8); |
|
239 | 242 | header->packetLength[1] = (unsigned char) (length); |
|
240 | 243 | header->auxiliaryHeader[0] = sid; // SID |
|
241 | 244 | // SEND PACKET |
|
242 | 245 | status = write_spw(spw_ioctl_send); |
|
243 | 246 | if (status != RTEMS_SUCCESSFUL) { |
|
244 | 247 | while (true) { |
|
245 | 248 | if (status != RTEMS_SUCCESSFUL) { |
|
246 | 249 | status = write_spw(spw_ioctl_send); |
|
247 | 250 | //PRINTF1("%d", i) |
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248 | 251 | sched_yield(); |
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249 | 252 | } |
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250 | 253 | else { |
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251 | 254 | //PRINTF("\n") |
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252 | 255 | break; |
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253 | 256 | } |
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254 | 257 | } |
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255 | 258 | } |
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256 | 259 | } |
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257 | 260 | } |
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258 | 261 | |
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259 | 262 | int build_value(int value1, int value0) |
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260 | 263 | { |
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261 | 264 | int aux = 0; |
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262 | 265 | int aux1 = 0; |
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263 | 266 | int aux0 = 0; |
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264 | 267 | int value1_aux = 0; |
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265 | 268 | int value0_aux = 0; |
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266 | 269 | |
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267 | 270 | value1_aux = value1; |
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268 | 271 | value0_aux = value0; |
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269 | 272 | |
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270 | 273 | //****** |
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271 | 274 | // B3 B2 |
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272 | 275 | if (value1_aux > 8191) value1_aux = 8191; |
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273 | 276 | if (value1_aux < -8192) value1_aux = -8192; |
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274 | 277 | aux1 = ( (int) ( ( (unsigned char) (value1_aux / 256 ) ) << 8 ) ) |
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275 | 278 | + ( (int) ( (unsigned char) (value1_aux ) ) ); |
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276 | 279 | |
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277 | 280 | //****** |
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278 | 281 | // B1 B0 |
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279 | 282 | if (value0_aux > 8191) value0_aux = 8191; |
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280 | 283 | if (value0_aux < -8192) value0_aux = -8192; |
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281 | 284 | aux0 = ( (int) ( ( (unsigned char) (value0_aux / 256) ) << 8 ) ) |
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282 | 285 | + ( (int) ( (unsigned char) (value0_aux ) ) ); |
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283 | 286 | |
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284 | 287 | aux = (aux1 << 16) + aux0; |
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285 | 288 | |
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286 | 289 | return aux; |
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287 | 290 | } |
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288 | 291 | |
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289 | 292 | void init_waveform_picker_regs() |
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290 | 293 | { // 1 1 0 0 0 BW = 0 => BIAS_WORKS |
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291 | 294 | waveform_picker_regs->data_shaping = 0x18; // R1 R0 SP1 SP0 BW |
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292 | 295 | waveform_picker_regs->burst_enable = 0x00; // burst f2, f1, f0 enable f3, f2, f1, f0 |
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293 | 296 | waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0); // |
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294 | 297 | waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1); // |
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295 | 298 | waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2); // |
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296 | 299 | waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3); // |
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297 | 300 | waveform_picker_regs->status = 0x00; // |
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298 | 301 | waveform_picker_regs->delta_snapshot = 0x5; // max 2 bytes |
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299 | 302 | waveform_picker_regs->delta_f2_f1 = 0xffff; // max 4 bytes |
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300 | 303 | waveform_picker_regs->delta_f2_f0 = 0x17c00; // max 5 bytes |
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301 | 304 | waveform_picker_regs->nb_burst_available = 0x180; // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets) |
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302 | 305 | waveform_picker_regs->nb_snapshot_param = 0x7ff; // max 3 octets, 2048 - 1 |
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303 | 306 | //waveform_picker_regs->delta_snapshot = 0x2; // max 2 bytes, = period / 2 |
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304 | 307 | //waveform_picker_regs->delta_f2_f1 = 0x2d00; // max 4 bytes |
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305 | 308 | //waveform_picker_regs->delta_f2_f0 = 0x2f80; // max 5 bytes |
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306 | 309 | //waveform_picker_regs->nb_burst_available = 0x30; // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets) |
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307 | 310 | //waveform_picker_regs->nb_snapshot_param = 0xff; // max 3 octets, 256 - 1 |
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308 | 311 | } |
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309 | 312 |
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