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1 | #ifndef TIMEGEN_INIT_H_INCLUDED | |||
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2 | #define TIMEGEN_INIT_H_INCLUDED | |||
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3 | ||||
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4 | #include <rtems.h> | |||
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5 | #include <leon.h> | |||
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6 | ||||
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7 | #include "fsw_params.h" | |||
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8 | #include "fsw_misc.h" | |||
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9 | #include "fsw_processing.h" | |||
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10 | #include "wf_handler.h" | |||
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11 | ||||
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12 | #include "timegen_spacewire.h" | |||
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13 | #include "timegen_misc.h" | |||
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14 | ||||
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15 | extern rtems_name Task_name[20]; /* array of task names */ | |||
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16 | extern rtems_id Task_id[20]; /* array of task ids */ | |||
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17 | ||||
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18 | // RTEMS TASKS | |||
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19 | rtems_task Init( rtems_task_argument argument); | |||
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20 | ||||
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21 | // OTHER functions | |||
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22 | void create_names( void ); | |||
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23 | int create_all_tasks( void ); | |||
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24 | int start_all_tasks( void ); | |||
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25 | // | |||
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26 | rtems_status_code create_message_queues( void ); | |||
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27 | rtems_status_code get_message_queue_id_send( rtems_id *queue_id ); | |||
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28 | rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ); | |||
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29 | // | |||
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30 | int start_recv_send_tasks( void ); | |||
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31 | // | |||
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32 | void init_local_mode_parameters( void ); | |||
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33 | void reset_local_time( void ); | |||
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34 | ||||
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35 | extern int rtems_cpu_usage_report( void ); | |||
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36 | extern int rtems_cpu_usage_reset( void ); | |||
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37 | extern void rtems_stack_checker_report_usage( void ); | |||
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38 | ||||
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39 | extern int sched_yield( void ); | |||
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40 | ||||
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41 | #endif // TIMEGEN_INIT_H_INCLUDED |
@@ -0,0 +1,39 | |||||
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1 | #ifndef TIMEGEN_MISC_H_INCLUDED | |||
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2 | #define TIMEGEN_MISC_H_INCLUDED | |||
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3 | ||||
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4 | #include <rtems.h> | |||
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5 | #include <leon.h> | |||
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6 | ||||
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7 | #include "fsw_params.h" | |||
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8 | #include "TC_types.h" | |||
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9 | #include "tc_acceptance.h" | |||
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10 | #include "timegen_init.h" | |||
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11 | ||||
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12 | #define TASK_PRIORITY_UPDT 40 | |||
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13 | ||||
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14 | typedef struct { | |||
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15 | unsigned char targetLogicalAddress; | |||
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16 | unsigned char protocolIdentifier; | |||
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17 | unsigned char reserved; | |||
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18 | unsigned char userApplication; | |||
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19 | // PACKET HEADER | |||
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20 | Packet_TC_LFR_UPDATE_TIME_t update_time; | |||
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21 | } Packet_TC_LFR_UPDATE_TIME_WITH_OVERHEAD_t; | |||
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22 | ||||
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23 | unsigned int coarseTime; | |||
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24 | ||||
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25 | rtems_name rtems_name_updt; | |||
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26 | rtems_id rtems_id_updt; | |||
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27 | ||||
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28 | void timegen_timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ); | |||
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29 | ||||
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30 | void initCoarseTime( void ); | |||
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31 | ||||
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32 | rtems_task updt_task( rtems_task_argument unused ); | |||
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33 | ||||
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34 | int send_tc_lfr_update_time( rtems_id queue_id ); | |||
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35 | ||||
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36 | #endif // TIMEGEN_MISC_H_INCLUDED | |||
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37 | ||||
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38 | ||||
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39 |
@@ -0,0 +1,48 | |||||
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1 | #ifndef TIMEGEN_SPACEWIRE_H_INCLUDED | |||
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2 | #define TIMEGEN_SPACEWIRE_H_INCLUDED | |||
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3 | ||||
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4 | #include <rtems.h> | |||
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5 | #include <grspw.h> | |||
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6 | ||||
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7 | #include <fcntl.h> // for O_RDWR | |||
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8 | #include <unistd.h> // for the read call | |||
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9 | #include <sys/ioctl.h> // for the ioctl call | |||
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10 | #include <errno.h> | |||
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11 | ||||
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12 | #include "fsw_params.h" | |||
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13 | #include "tc_acceptance.h" | |||
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14 | #include "timegen_tc_handler.h" | |||
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15 | ||||
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16 | #define DESTINATION_ID_LFR 0xfe | |||
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17 | #define DESTINATION_ID_DPU 0x01 | |||
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18 | #define SPACEWIRE_LINK_LFR 0x01 | |||
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19 | #define NODEADDR_TIMEGEN 0xfd | |||
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20 | ||||
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21 | extern rtems_id Task_id[20]; /* array of task ids */ | |||
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22 | extern int fdSPW; | |||
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23 | ||||
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24 | extern spw_stats spacewire_stats; | |||
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25 | extern spw_stats spacewire_stats_backup; | |||
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26 | ||||
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27 | // RTEMS TASK | |||
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28 | rtems_task spiq_task( rtems_task_argument argument ); | |||
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29 | rtems_task recv_task( rtems_task_argument unused ); | |||
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30 | rtems_task send_task( rtems_task_argument argument ); | |||
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31 | rtems_task wtdg_task( rtems_task_argument argument ); | |||
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32 | ||||
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33 | int spacewire_open_link( void ); | |||
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34 | int spacewire_start_link( int fd ); | |||
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35 | int spacewire_stop_start_link( int fd ); | |||
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36 | int spacewire_configure_link(int fd ); | |||
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37 | int spacewire_reset_link( void ); | |||
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38 | void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force | |||
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39 | void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable | |||
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40 | void spacewire_compute_stats_offsets( void ); | |||
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41 | void spacewire_update_statistics( void ); | |||
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42 | ||||
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43 | void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ); | |||
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44 | rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data ); | |||
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45 | ||||
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46 | void (*grspw_timecode_callback) ( void *pDev, void *regs, int minor, unsigned int tc ); | |||
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47 | ||||
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48 | #endif // TIMEGEN_SPACEWIRE_H_INCLUDED |
@@ -0,0 +1,56 | |||||
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1 | #ifndef TIMEGEN_TC_HANDLER_H_INCLUDED | |||
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2 | #define TIMEGEN_TC_HANDLER_H_INCLUDED | |||
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3 | ||||
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4 | #include <rtems.h> | |||
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5 | #include <leon.h> | |||
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6 | ||||
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7 | #include "tc_load_dump_parameters.h" | |||
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8 | #include "tc_acceptance.h" | |||
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9 | #include "tm_lfr_tc_exe.h" | |||
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10 | ||||
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11 | // MODE PARAMETERS | |||
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12 | extern unsigned int maxCount; | |||
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13 | ||||
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14 | //**** | |||
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15 | // ISR | |||
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16 | rtems_isr commutation_isr1( rtems_vector_number vector ); | |||
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17 | rtems_isr commutation_isr2( rtems_vector_number vector ); | |||
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18 | ||||
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19 | //*********** | |||
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20 | // RTEMS TASK | |||
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21 | rtems_task actn_task( rtems_task_argument unused ); | |||
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22 | ||||
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23 | //*********** | |||
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24 | // TC ACTIONS | |||
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25 | int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time); | |||
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26 | int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time); | |||
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27 | int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id); | |||
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28 | int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time); | |||
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29 | int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time); | |||
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30 | int action_update_time(ccsdsTelecommandPacket_t *TC); | |||
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31 | ||||
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32 | // mode transition | |||
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33 | int transition_validation(unsigned char requestedMode); | |||
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34 | int stop_current_mode( void ); | |||
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35 | int enter_mode(unsigned char mode); | |||
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36 | int restart_science_tasks(); | |||
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37 | int suspend_science_tasks(); | |||
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38 | void launch_waveform_picker( unsigned char mode ); | |||
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39 | void launch_spectral_matrix( unsigned char mode ); | |||
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40 | void set_irq_on_new_ready_matrix(unsigned char value ); | |||
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41 | void set_run_matrix_spectral( unsigned char value ); | |||
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42 | void launch_spectral_matrix_simu( unsigned char mode ); | |||
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43 | ||||
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44 | // other functions | |||
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45 | void updateLFRCurrentMode(); | |||
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46 | void update_last_TC_exe(ccsdsTelecommandPacket_t *TC ); | |||
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47 | void update_last_TC_rej(ccsdsTelecommandPacket_t *TC ); | |||
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48 | void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id ); | |||
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49 | ||||
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50 | extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id ); | |||
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51 | extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ); | |||
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52 | ||||
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53 | #endif // TIMEGEN_TC_HANDLER_H_INCLUDED | |||
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54 | ||||
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55 | ||||
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56 |
@@ -0,0 +1,476 | |||||
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1 | /** This is the RTEMS initialization module. | |||
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2 | * | |||
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3 | * @file | |||
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4 | * @author P. LEROY | |||
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5 | * | |||
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6 | * This module contains two very different information: | |||
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7 | * - specific instructions to configure the compilation of the RTEMS executive | |||
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8 | * - functions related to the fligth softwre initialization, especially the INIT RTEMS task | |||
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9 | * | |||
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10 | */ | |||
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11 | ||||
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12 | //************************* | |||
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13 | // GPL reminder to be added | |||
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14 | //************************* | |||
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15 | ||||
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16 | #include <rtems.h> | |||
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17 | ||||
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18 | /* configuration information */ | |||
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19 | ||||
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20 | #define CONFIGURE_INIT | |||
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21 | ||||
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22 | #include <bsp.h> /* for device driver prototypes */ | |||
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23 | ||||
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24 | /* configuration information */ | |||
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25 | ||||
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26 | #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | |||
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27 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | |||
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28 | ||||
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29 | #define CONFIGURE_MAXIMUM_TASKS 20 | |||
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30 | #define CONFIGURE_RTEMS_INIT_TASKS_TABLE | |||
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31 | #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) | |||
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32 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 | |||
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33 | #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100 | |||
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34 | #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT) | |||
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35 | #define CONFIGURE_MAXIMUM_DRIVERS 16 | |||
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36 | #define CONFIGURE_MAXIMUM_PERIODS 5 | |||
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37 | #define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s) | |||
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38 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2 | |||
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39 | #ifdef PRINT_STACK_REPORT | |||
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40 | #define CONFIGURE_STACK_CHECKER_ENABLED | |||
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41 | #endif | |||
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42 | ||||
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43 | #include <rtems/confdefs.h> | |||
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44 | ||||
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45 | /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ | |||
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46 | #ifdef RTEMS_DRVMGR_STARTUP | |||
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47 | #ifdef LEON3 | |||
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48 | /* Add Timer and UART Driver */ | |||
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49 | #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | |||
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50 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER | |||
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51 | #endif | |||
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52 | #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | |||
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53 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART | |||
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54 | #endif | |||
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55 | #endif | |||
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56 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ | |||
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57 | #include <drvmgr/drvmgr_confdefs.h> | |||
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58 | #endif | |||
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59 | ||||
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60 | #include "timegen_init.h" | |||
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61 | #include "fsw_config.c" | |||
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62 | ||||
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63 | rtems_task Init( rtems_task_argument ignored ) | |||
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64 | { | |||
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65 | /** This is the RTEMS INIT taks, it the first task launched by the system. | |||
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66 | * | |||
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67 | * @param unused is the starting argument of the RTEMS task | |||
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68 | * | |||
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69 | * The INIT task create and run all other RTEMS tasks. | |||
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70 | * | |||
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71 | */ | |||
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72 | ||||
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73 | rtems_status_code status; | |||
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74 | rtems_status_code status_spw; | |||
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75 | ||||
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76 | // initCoarseTime(); | |||
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77 | ||||
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78 | // UART settings | |||
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79 | send_console_outputs_on_apbuart_port(); | |||
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80 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); | |||
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81 | enable_apbuart_transmitter(); | |||
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82 | DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n") | |||
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83 | ||||
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84 | PRINTF("\n\n\n\n\n") | |||
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85 | PRINTF("*************************\n") | |||
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86 | PRINTF("** Time Generator **\n") | |||
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87 | PRINTF1("** %d.", SW_VERSION_N1) | |||
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88 | PRINTF1("%d.", SW_VERSION_N2) | |||
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89 | PRINTF1("%d.", SW_VERSION_N3) | |||
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90 | PRINTF1("%d **\n", SW_VERSION_N4) | |||
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91 | PRINTF("*************************\n") | |||
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92 | PRINTF("\n\n") | |||
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93 | ||||
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94 | // init_local_mode_parameters(); | |||
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95 | // init_housekeeping_parameters(); | |||
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96 | ||||
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97 | // updateLFRCurrentMode(); | |||
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98 | ||||
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99 | // BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode) | |||
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100 | ||||
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101 | create_names(); // create all names | |||
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102 | ||||
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103 | status = create_message_queues(); // create message queues | |||
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104 | if (status != RTEMS_SUCCESSFUL) | |||
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105 | { | |||
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106 | PRINTF1("in INIT *** ERR in create_message_queues, code %d", status) | |||
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107 | } | |||
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108 | ||||
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109 | status = create_all_tasks(); // create all tasks | |||
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110 | if (status != RTEMS_SUCCESSFUL) | |||
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111 | { | |||
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112 | PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status) | |||
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113 | } | |||
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114 | ||||
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115 | // ************************** | |||
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116 | // <SPACEWIRE INITIALIZATION> | |||
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117 | grspw_timecode_callback = &timegen_timecode_irq_handler; | |||
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118 | ||||
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119 | status_spw = spacewire_open_link(); // (1) open the link | |||
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120 | if ( status_spw != RTEMS_SUCCESSFUL ) | |||
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121 | { | |||
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122 | PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw ) | |||
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123 | } | |||
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124 | ||||
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125 | if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link | |||
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126 | { | |||
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127 | status_spw = spacewire_configure_link( fdSPW ); | |||
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128 | if ( status_spw != RTEMS_SUCCESSFUL ) | |||
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129 | { | |||
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130 | PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw ) | |||
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131 | } | |||
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132 | } | |||
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133 | ||||
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134 | if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link | |||
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135 | { | |||
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136 | status_spw = spacewire_start_link( fdSPW ); | |||
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137 | if ( status_spw != RTEMS_SUCCESSFUL ) | |||
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138 | { | |||
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139 | PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw ) | |||
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140 | } | |||
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141 | } | |||
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142 | // </SPACEWIRE INITIALIZATION> | |||
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143 | // *************************** | |||
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144 | ||||
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145 | status = start_all_tasks(); // start all tasks | |||
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146 | if (status != RTEMS_SUCCESSFUL) | |||
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147 | { | |||
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148 | PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status) | |||
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149 | } | |||
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150 | ||||
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151 | // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization | |||
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152 | status = start_recv_send_tasks(); | |||
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153 | if ( status != RTEMS_SUCCESSFUL ) | |||
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154 | { | |||
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155 | PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status ) | |||
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156 | } | |||
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157 | ||||
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158 | // suspend science tasks. they will be restarted later depending on the mode | |||
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159 | status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY) | |||
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160 | if (status != RTEMS_SUCCESSFUL) | |||
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161 | { | |||
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162 | PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status) | |||
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163 | } | |||
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164 | ||||
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165 | // if the spacewire link is not up then send an event to the SPIQ task for link recovery | |||
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166 | if ( status_spw != RTEMS_SUCCESSFUL ) | |||
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167 | { | |||
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168 | status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ); | |||
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169 | if ( status != RTEMS_SUCCESSFUL ) { | |||
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170 | PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status ) | |||
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171 | } | |||
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172 | } | |||
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173 | ||||
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174 | BOOT_PRINTF("delete INIT\n") | |||
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175 | ||||
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176 | status = rtems_task_delete(RTEMS_SELF); | |||
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177 | ||||
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178 | } | |||
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179 | ||||
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180 | void init_local_mode_parameters( void ) | |||
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181 | { | |||
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182 | /** This function initialize the param_local global variable with default values. | |||
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183 | * | |||
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184 | */ | |||
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185 | ||||
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186 | unsigned int i; | |||
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187 | ||||
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188 | // LOCAL PARAMETERS | |||
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189 | // set_local_nb_interrupt_f0_MAX(); | |||
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190 | ||||
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191 | BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max) | |||
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192 | BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max) | |||
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193 | BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX) | |||
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194 | ||||
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195 | // init sequence counters | |||
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196 | ||||
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197 | for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++) | |||
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198 | { | |||
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199 | sequenceCounters_TC_EXE[i] = 0x00; | |||
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200 | } | |||
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201 | sequenceCounters_SCIENCE_NORMAL_BURST = 0x00; | |||
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202 | sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00; | |||
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203 | } | |||
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204 | ||||
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205 | void create_names( void ) // create all names for tasks and queues | |||
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206 | { | |||
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207 | /** This function creates all RTEMS names used in the software for tasks and queues. | |||
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208 | * | |||
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209 | * @return RTEMS directive status codes: | |||
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210 | * - RTEMS_SUCCESSFUL - successful completion | |||
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211 | * | |||
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212 | */ | |||
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213 | ||||
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214 | // task names | |||
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215 | Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); | |||
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216 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); | |||
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217 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | |||
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218 | Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' ); | |||
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219 | Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' ); | |||
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220 | Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' ); | |||
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221 | Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' ); | |||
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222 | Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' ); | |||
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223 | Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' ); | |||
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224 | Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' ); | |||
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225 | Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' ); | |||
|
226 | Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' ); | |||
|
227 | Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' ); | |||
|
228 | Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' ); | |||
|
229 | Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' ); | |||
|
230 | Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' ); | |||
|
231 | ||||
|
232 | // TIMEGEN | |||
|
233 | rtems_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' ); | |||
|
234 | ||||
|
235 | // rate monotonic period names | |||
|
236 | name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' ); | |||
|
237 | ||||
|
238 | misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' ); | |||
|
239 | misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' ); | |||
|
240 | } | |||
|
241 | ||||
|
242 | int create_all_tasks( void ) // create all tasks which run in the software | |||
|
243 | { | |||
|
244 | /** This function creates all RTEMS tasks used in the software. | |||
|
245 | * | |||
|
246 | * @return RTEMS directive status codes: | |||
|
247 | * - RTEMS_SUCCESSFUL - task created successfully | |||
|
248 | * - RTEMS_INVALID_ADDRESS - id is NULL | |||
|
249 | * - RTEMS_INVALID_NAME - invalid task name | |||
|
250 | * - RTEMS_INVALID_PRIORITY - invalid task priority | |||
|
251 | * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured | |||
|
252 | * - RTEMS_TOO_MANY - too many tasks created | |||
|
253 | * - RTEMS_UNSATISFIED - not enough memory for stack/FP context | |||
|
254 | * - RTEMS_TOO_MANY - too many global objects | |||
|
255 | * | |||
|
256 | */ | |||
|
257 | ||||
|
258 | rtems_status_code status; | |||
|
259 | ||||
|
260 | //********** | |||
|
261 | // SPACEWIRE | |||
|
262 | // RECV | |||
|
263 | status = rtems_task_create( | |||
|
264 | Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE, | |||
|
265 | RTEMS_DEFAULT_MODES, | |||
|
266 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] | |||
|
267 | ); | |||
|
268 | if (status == RTEMS_SUCCESSFUL) // SEND | |||
|
269 | { | |||
|
270 | status = rtems_task_create( | |||
|
271 | Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE, | |||
|
272 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |||
|
273 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND] | |||
|
274 | ); | |||
|
275 | } | |||
|
276 | if (status == RTEMS_SUCCESSFUL) // WTDG | |||
|
277 | { | |||
|
278 | status = rtems_task_create( | |||
|
279 | Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE, | |||
|
280 | RTEMS_DEFAULT_MODES, | |||
|
281 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG] | |||
|
282 | ); | |||
|
283 | } | |||
|
284 | if (status == RTEMS_SUCCESSFUL) // ACTN | |||
|
285 | { | |||
|
286 | status = rtems_task_create( | |||
|
287 | Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE, | |||
|
288 | RTEMS_DEFAULT_MODES, | |||
|
289 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN] | |||
|
290 | ); | |||
|
291 | } | |||
|
292 | if (status == RTEMS_SUCCESSFUL) // SPIQ | |||
|
293 | { | |||
|
294 | status = rtems_task_create( | |||
|
295 | Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE, | |||
|
296 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |||
|
297 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] | |||
|
298 | ); | |||
|
299 | } | |||
|
300 | ||||
|
301 | //***** | |||
|
302 | // MISC | |||
|
303 | if (status == RTEMS_SUCCESSFUL) // STAT | |||
|
304 | { | |||
|
305 | status = rtems_task_create( | |||
|
306 | Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE, | |||
|
307 | RTEMS_DEFAULT_MODES, | |||
|
308 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] | |||
|
309 | ); | |||
|
310 | } | |||
|
311 | if (status == RTEMS_SUCCESSFUL) // DUMB | |||
|
312 | { | |||
|
313 | status = rtems_task_create( | |||
|
314 | Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE, | |||
|
315 | RTEMS_DEFAULT_MODES, | |||
|
316 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] | |||
|
317 | ); | |||
|
318 | } | |||
|
319 | if (status == RTEMS_SUCCESSFUL) // UPDT | |||
|
320 | { | |||
|
321 | status = rtems_task_create( | |||
|
322 | rtems_name_updt, TASK_PRIORITY_UPDT, RTEMS_MINIMUM_STACK_SIZE, | |||
|
323 | RTEMS_DEFAULT_MODES, | |||
|
324 | RTEMS_DEFAULT_ATTRIBUTES, &rtems_id_updt | |||
|
325 | ); | |||
|
326 | } | |||
|
327 | ||||
|
328 | return status; | |||
|
329 | } | |||
|
330 | ||||
|
331 | int start_recv_send_tasks( void ) | |||
|
332 | { | |||
|
333 | rtems_status_code status; | |||
|
334 | ||||
|
335 | status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 ); | |||
|
336 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
337 | BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n") | |||
|
338 | } | |||
|
339 | ||||
|
340 | if (status == RTEMS_SUCCESSFUL) // SEND | |||
|
341 | { | |||
|
342 | status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 ); | |||
|
343 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
344 | BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n") | |||
|
345 | } | |||
|
346 | } | |||
|
347 | ||||
|
348 | return status; | |||
|
349 | } | |||
|
350 | ||||
|
351 | int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS | |||
|
352 | { | |||
|
353 | /** This function starts all RTEMS tasks used in the software. | |||
|
354 | * | |||
|
355 | * @return RTEMS directive status codes: | |||
|
356 | * - RTEMS_SUCCESSFUL - ask started successfully | |||
|
357 | * - RTEMS_INVALID_ADDRESS - invalid task entry point | |||
|
358 | * - RTEMS_INVALID_ID - invalid task id | |||
|
359 | * - RTEMS_INCORRECT_STATE - task not in the dormant state | |||
|
360 | * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task | |||
|
361 | * | |||
|
362 | */ | |||
|
363 | // starts all the tasks fot eh flight software | |||
|
364 | ||||
|
365 | rtems_status_code status; | |||
|
366 | ||||
|
367 | //********** | |||
|
368 | // SPACEWIRE | |||
|
369 | status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); | |||
|
370 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
371 | BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n") | |||
|
372 | } | |||
|
373 | ||||
|
374 | if (status == RTEMS_SUCCESSFUL) // WTDG | |||
|
375 | { | |||
|
376 | status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 ); | |||
|
377 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
378 | BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n") | |||
|
379 | } | |||
|
380 | } | |||
|
381 | ||||
|
382 | if (status == RTEMS_SUCCESSFUL) // ACTN | |||
|
383 | { | |||
|
384 | status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 ); | |||
|
385 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
386 | BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n") | |||
|
387 | } | |||
|
388 | } | |||
|
389 | ||||
|
390 | //***** | |||
|
391 | // MISC | |||
|
392 | if (status == RTEMS_SUCCESSFUL) // DUMB | |||
|
393 | { | |||
|
394 | status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); | |||
|
395 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
396 | BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n") | |||
|
397 | } | |||
|
398 | } | |||
|
399 | ||||
|
400 | if (status == RTEMS_SUCCESSFUL) // STAT | |||
|
401 | { | |||
|
402 | status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 ); | |||
|
403 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
404 | BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n") | |||
|
405 | } | |||
|
406 | } | |||
|
407 | ||||
|
408 | if (status == RTEMS_SUCCESSFUL) // UPDT | |||
|
409 | { | |||
|
410 | status = rtems_task_start( rtems_id_updt, updt_task, 1 ); | |||
|
411 | if (status!=RTEMS_SUCCESSFUL) { | |||
|
412 | BOOT_PRINTF("in INIT *** Error starting TASK_UPDT\n") | |||
|
413 | } | |||
|
414 | } | |||
|
415 | ||||
|
416 | return status; | |||
|
417 | } | |||
|
418 | ||||
|
419 | rtems_status_code create_message_queues( void ) // create the two message queues used in the software | |||
|
420 | { | |||
|
421 | rtems_status_code status_recv; | |||
|
422 | rtems_status_code status_send; | |||
|
423 | rtems_status_code ret; | |||
|
424 | rtems_id queue_id; | |||
|
425 | ||||
|
426 | // create the queue for handling valid TCs | |||
|
427 | status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV], | |||
|
428 | ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE, | |||
|
429 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); | |||
|
430 | if ( status_recv != RTEMS_SUCCESSFUL ) { | |||
|
431 | PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv) | |||
|
432 | } | |||
|
433 | ||||
|
434 | // create the queue for handling TM packet sending | |||
|
435 | status_send = rtems_message_queue_create( misc_name[QUEUE_SEND], | |||
|
436 | ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE, | |||
|
437 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); | |||
|
438 | if ( status_send != RTEMS_SUCCESSFUL ) { | |||
|
439 | PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send) | |||
|
440 | } | |||
|
441 | ||||
|
442 | if ( status_recv != RTEMS_SUCCESSFUL ) | |||
|
443 | { | |||
|
444 | ret = status_recv; | |||
|
445 | } | |||
|
446 | else | |||
|
447 | { | |||
|
448 | ret = status_send; | |||
|
449 | } | |||
|
450 | ||||
|
451 | return ret; | |||
|
452 | } | |||
|
453 | ||||
|
454 | rtems_status_code get_message_queue_id_send( rtems_id *queue_id ) | |||
|
455 | { | |||
|
456 | rtems_status_code status; | |||
|
457 | rtems_name queue_name; | |||
|
458 | ||||
|
459 | queue_name = rtems_build_name( 'Q', '_', 'S', 'D' ); | |||
|
460 | ||||
|
461 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); | |||
|
462 | ||||
|
463 | return status; | |||
|
464 | } | |||
|
465 | ||||
|
466 | rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ) | |||
|
467 | { | |||
|
468 | rtems_status_code status; | |||
|
469 | rtems_name queue_name; | |||
|
470 | ||||
|
471 | queue_name = rtems_build_name( 'Q', '_', 'R', 'V' ); | |||
|
472 | ||||
|
473 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); | |||
|
474 | ||||
|
475 | return status; | |||
|
476 | } |
@@ -0,0 +1,110 | |||||
|
1 | /** Functions and tasks related to TeleCommand handling. | |||
|
2 | * | |||
|
3 | * @file | |||
|
4 | * @author P. LEROY | |||
|
5 | * | |||
|
6 | * A group of functions to handle TeleCommands:\n | |||
|
7 | * action launching\n | |||
|
8 | * TC parsing\n | |||
|
9 | * ... | |||
|
10 | * | |||
|
11 | */ | |||
|
12 | ||||
|
13 | #include "timegen_misc.h" | |||
|
14 | #include <stdio.h> | |||
|
15 | ||||
|
16 | void timegen_timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ) | |||
|
17 | { | |||
|
18 | struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO; | |||
|
19 | ||||
|
20 | grgpio_regs->io_port_direction_register = | |||
|
21 | grgpio_regs->io_port_direction_register | 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled | |||
|
22 | ||||
|
23 | if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 ) | |||
|
24 | { | |||
|
25 | grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7; | |||
|
26 | } | |||
|
27 | else | |||
|
28 | { | |||
|
29 | grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x08; | |||
|
30 | } | |||
|
31 | ||||
|
32 | rtems_event_send( rtems_id_updt, RTEMS_EVENT_0 ); | |||
|
33 | } | |||
|
34 | ||||
|
35 | void initCoarseTime() | |||
|
36 | { | |||
|
37 | coarseTime = 0x00; | |||
|
38 | } | |||
|
39 | ||||
|
40 | rtems_task updt_task( rtems_task_argument unused ) | |||
|
41 | { | |||
|
42 | rtems_event_set event_out; | |||
|
43 | rtems_id send_queue_id; | |||
|
44 | ||||
|
45 | get_message_queue_id_send( &send_queue_id ); | |||
|
46 | ||||
|
47 | BOOT_PRINTF("in UPDT *** waiting for SpaceWire ticks\n") | |||
|
48 | ||||
|
49 | while(1) | |||
|
50 | { | |||
|
51 | // wait for an RTEMS_EVENT | |||
|
52 | rtems_event_receive( RTEMS_EVENT_0, | |||
|
53 | RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); | |||
|
54 | // increment the coarse time | |||
|
55 | coarseTime = coarseTime + 1; | |||
|
56 | PRINTF2("next valid coarseTime = 0x%x *** %d s\n", coarseTime, coarseTime) | |||
|
57 | rtems_task_wake_after(70); // 10 ms * 70 = 700 ms | |||
|
58 | send_tc_lfr_update_time( send_queue_id ); | |||
|
59 | } | |||
|
60 | } | |||
|
61 | ||||
|
62 | int send_tc_lfr_update_time(rtems_id queue_id ) | |||
|
63 | { | |||
|
64 | ||||
|
65 | rtems_status_code status; | |||
|
66 | unsigned char messageSize; | |||
|
67 | ||||
|
68 | Packet_TC_LFR_UPDATE_TIME_WITH_OVERHEAD_t packet; | |||
|
69 | unsigned char crcAsTwoBytes[2]; | |||
|
70 | ||||
|
71 | // OVERHEAD | |||
|
72 | packet.targetLogicalAddress = DESTINATION_ID_LFR; | |||
|
73 | packet.protocolIdentifier = CCSDS_PROTOCOLE_ID; | |||
|
74 | packet.reserved = DEFAULT_RESERVED; | |||
|
75 | packet.userApplication = CCSDS_USER_APP; | |||
|
76 | ||||
|
77 | // TIME PACKET | |||
|
78 | packet.update_time.packetID[0] = (unsigned char) (TC_LFR_PACKET_ID >> 8); | |||
|
79 | packet.update_time.packetID[1] = (unsigned char) (TC_LFR_PACKET_ID ); | |||
|
80 | packet.update_time.packetSequenceControl[0] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL >> 8); | |||
|
81 | packet.update_time.packetSequenceControl[1] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL ); | |||
|
82 | packet.update_time.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME >> 8); | |||
|
83 | packet.update_time.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME ); | |||
|
84 | ||||
|
85 | packet.update_time.ccsdsSecHeaderFlag_pusVersion_ack = 0x19; | |||
|
86 | packet.update_time.serviceType = TC_TYPE_LFR_UPDATE_TIME; | |||
|
87 | packet.update_time.serviceSubType = TC_SUBTYPE_UPDATE_TIME; | |||
|
88 | packet.update_time.sourceID = SID_TC_RPW_INTERNAL; | |||
|
89 | packet.update_time.cp_rpw_time[0] = (unsigned char) (coarseTime >> 24); | |||
|
90 | packet.update_time.cp_rpw_time[1] = (unsigned char) (coarseTime >> 16); | |||
|
91 | packet.update_time.cp_rpw_time[2] = (unsigned char) (coarseTime >> 8); | |||
|
92 | packet.update_time.cp_rpw_time[3] = (unsigned char) (coarseTime); | |||
|
93 | packet.update_time.cp_rpw_time[4] = 0; // fine time MSB | |||
|
94 | packet.update_time.cp_rpw_time[5] = 0; // fine time LSB | |||
|
95 | ||||
|
96 | GetCRCAsTwoBytes((unsigned char*) &packet.update_time, crcAsTwoBytes, | |||
|
97 | PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET - 2); | |||
|
98 | packet.update_time.crc[0] = crcAsTwoBytes[0]; | |||
|
99 | packet.update_time.crc[1] = crcAsTwoBytes[1]; | |||
|
100 | ||||
|
101 | messageSize = PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES; | |||
|
102 | ||||
|
103 | // SEND DATA | |||
|
104 | status = rtems_message_queue_send( queue_id, &packet, messageSize); | |||
|
105 | if (status != RTEMS_SUCCESSFUL) { | |||
|
106 | PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n") | |||