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1 #ifndef TIMEGEN_INIT_H_INCLUDED
2 #define TIMEGEN_INIT_H_INCLUDED
3
4 #include <rtems.h>
5 #include <leon.h>
6
7 #include "fsw_params.h"
8 #include "fsw_misc.h"
9 #include "fsw_processing.h"
10 #include "wf_handler.h"
11
12 #include "timegen_spacewire.h"
13 #include "timegen_misc.h"
14
15 extern rtems_name Task_name[20]; /* array of task names */
16 extern rtems_id Task_id[20]; /* array of task ids */
17
18 // RTEMS TASKS
19 rtems_task Init( rtems_task_argument argument);
20
21 // OTHER functions
22 void create_names( void );
23 int create_all_tasks( void );
24 int start_all_tasks( void );
25 //
26 rtems_status_code create_message_queues( void );
27 rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
28 rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
29 //
30 int start_recv_send_tasks( void );
31 //
32 void init_local_mode_parameters( void );
33 void reset_local_time( void );
34
35 extern int rtems_cpu_usage_report( void );
36 extern int rtems_cpu_usage_reset( void );
37 extern void rtems_stack_checker_report_usage( void );
38
39 extern int sched_yield( void );
40
41 #endif // TIMEGEN_INIT_H_INCLUDED
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1 #ifndef TIMEGEN_MISC_H_INCLUDED
2 #define TIMEGEN_MISC_H_INCLUDED
3
4 #include <rtems.h>
5 #include <leon.h>
6
7 #include "fsw_params.h"
8 #include "TC_types.h"
9 #include "tc_acceptance.h"
10 #include "timegen_init.h"
11
12 #define TASK_PRIORITY_UPDT 40
13
14 typedef struct {
15 unsigned char targetLogicalAddress;
16 unsigned char protocolIdentifier;
17 unsigned char reserved;
18 unsigned char userApplication;
19 // PACKET HEADER
20 Packet_TC_LFR_UPDATE_TIME_t update_time;
21 } Packet_TC_LFR_UPDATE_TIME_WITH_OVERHEAD_t;
22
23 unsigned int coarseTime;
24
25 rtems_name rtems_name_updt;
26 rtems_id rtems_id_updt;
27
28 void timegen_timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
29
30 void initCoarseTime( void );
31
32 rtems_task updt_task( rtems_task_argument unused );
33
34 int send_tc_lfr_update_time( rtems_id queue_id );
35
36 #endif // TIMEGEN_MISC_H_INCLUDED
37
38
39
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1 #ifndef TIMEGEN_SPACEWIRE_H_INCLUDED
2 #define TIMEGEN_SPACEWIRE_H_INCLUDED
3
4 #include <rtems.h>
5 #include <grspw.h>
6
7 #include <fcntl.h> // for O_RDWR
8 #include <unistd.h> // for the read call
9 #include <sys/ioctl.h> // for the ioctl call
10 #include <errno.h>
11
12 #include "fsw_params.h"
13 #include "tc_acceptance.h"
14 #include "timegen_tc_handler.h"
15
16 #define DESTINATION_ID_LFR 0xfe
17 #define DESTINATION_ID_DPU 0x01
18 #define SPACEWIRE_LINK_LFR 0x01
19 #define NODEADDR_TIMEGEN 0xfd
20
21 extern rtems_id Task_id[20]; /* array of task ids */
22 extern int fdSPW;
23
24 extern spw_stats spacewire_stats;
25 extern spw_stats spacewire_stats_backup;
26
27 // RTEMS TASK
28 rtems_task spiq_task( rtems_task_argument argument );
29 rtems_task recv_task( rtems_task_argument unused );
30 rtems_task send_task( rtems_task_argument argument );
31 rtems_task wtdg_task( rtems_task_argument argument );
32
33 int spacewire_open_link( void );
34 int spacewire_start_link( int fd );
35 int spacewire_stop_start_link( int fd );
36 int spacewire_configure_link(int fd );
37 int spacewire_reset_link( void );
38 void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
39 void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
40 void spacewire_compute_stats_offsets( void );
41 void spacewire_update_statistics( void );
42
43 void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
44 rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data );
45
46 void (*grspw_timecode_callback) ( void *pDev, void *regs, int minor, unsigned int tc );
47
48 #endif // TIMEGEN_SPACEWIRE_H_INCLUDED
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1 #ifndef TIMEGEN_TC_HANDLER_H_INCLUDED
2 #define TIMEGEN_TC_HANDLER_H_INCLUDED
3
4 #include <rtems.h>
5 #include <leon.h>
6
7 #include "tc_load_dump_parameters.h"
8 #include "tc_acceptance.h"
9 #include "tm_lfr_tc_exe.h"
10
11 // MODE PARAMETERS
12 extern unsigned int maxCount;
13
14 //****
15 // ISR
16 rtems_isr commutation_isr1( rtems_vector_number vector );
17 rtems_isr commutation_isr2( rtems_vector_number vector );
18
19 //***********
20 // RTEMS TASK
21 rtems_task actn_task( rtems_task_argument unused );
22
23 //***********
24 // TC ACTIONS
25 int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
26 int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
27 int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
28 int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
29 int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
30 int action_update_time(ccsdsTelecommandPacket_t *TC);
31
32 // mode transition
33 int transition_validation(unsigned char requestedMode);
34 int stop_current_mode( void );
35 int enter_mode(unsigned char mode);
36 int restart_science_tasks();
37 int suspend_science_tasks();
38 void launch_waveform_picker( unsigned char mode );
39 void launch_spectral_matrix( unsigned char mode );
40 void set_irq_on_new_ready_matrix(unsigned char value );
41 void set_run_matrix_spectral( unsigned char value );
42 void launch_spectral_matrix_simu( unsigned char mode );
43
44 // other functions
45 void updateLFRCurrentMode();
46 void update_last_TC_exe(ccsdsTelecommandPacket_t *TC );
47 void update_last_TC_rej(ccsdsTelecommandPacket_t *TC );
48 void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
49
50 extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
51 extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
52
53 #endif // TIMEGEN_TC_HANDLER_H_INCLUDED
54
55
56
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1 /** This is the RTEMS initialization module.
2 *
3 * @file
4 * @author P. LEROY
5 *
6 * This module contains two very different information:
7 * - specific instructions to configure the compilation of the RTEMS executive
8 * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
9 *
10 */
11
12 //*************************
13 // GPL reminder to be added
14 //*************************
15
16 #include <rtems.h>
17
18 /* configuration information */
19
20 #define CONFIGURE_INIT
21
22 #include <bsp.h> /* for device driver prototypes */
23
24 /* configuration information */
25
26 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
27 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
28
29 #define CONFIGURE_MAXIMUM_TASKS 20
30 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
31 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
32 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
33 #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
34 #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
35 #define CONFIGURE_MAXIMUM_DRIVERS 16
36 #define CONFIGURE_MAXIMUM_PERIODS 5
37 #define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
38 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
39 #ifdef PRINT_STACK_REPORT
40 #define CONFIGURE_STACK_CHECKER_ENABLED
41 #endif
42
43 #include <rtems/confdefs.h>
44
45 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
46 #ifdef RTEMS_DRVMGR_STARTUP
47 #ifdef LEON3
48 /* Add Timer and UART Driver */
49 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
50 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
51 #endif
52 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
53 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
54 #endif
55 #endif
56 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
57 #include <drvmgr/drvmgr_confdefs.h>
58 #endif
59
60 #include "timegen_init.h"
61 #include "fsw_config.c"
62
63 rtems_task Init( rtems_task_argument ignored )
64 {
65 /** This is the RTEMS INIT taks, it the first task launched by the system.
66 *
67 * @param unused is the starting argument of the RTEMS task
68 *
69 * The INIT task create and run all other RTEMS tasks.
70 *
71 */
72
73 rtems_status_code status;
74 rtems_status_code status_spw;
75
76 // initCoarseTime();
77
78 // UART settings
79 send_console_outputs_on_apbuart_port();
80 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
81 enable_apbuart_transmitter();
82 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
83
84 PRINTF("\n\n\n\n\n")
85 PRINTF("*************************\n")
86 PRINTF("** Time Generator **\n")
87 PRINTF1("** %d.", SW_VERSION_N1)
88 PRINTF1("%d.", SW_VERSION_N2)
89 PRINTF1("%d.", SW_VERSION_N3)
90 PRINTF1("%d **\n", SW_VERSION_N4)
91 PRINTF("*************************\n")
92 PRINTF("\n\n")
93
94 // init_local_mode_parameters();
95 // init_housekeeping_parameters();
96
97 // updateLFRCurrentMode();
98
99 // BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
100
101 create_names(); // create all names
102
103 status = create_message_queues(); // create message queues
104 if (status != RTEMS_SUCCESSFUL)
105 {
106 PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
107 }
108
109 status = create_all_tasks(); // create all tasks
110 if (status != RTEMS_SUCCESSFUL)
111 {
112 PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
113 }
114
115 // **************************
116 // <SPACEWIRE INITIALIZATION>
117 grspw_timecode_callback = &timegen_timecode_irq_handler;
118
119 status_spw = spacewire_open_link(); // (1) open the link
120 if ( status_spw != RTEMS_SUCCESSFUL )
121 {
122 PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
123 }
124
125 if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
126 {
127 status_spw = spacewire_configure_link( fdSPW );
128 if ( status_spw != RTEMS_SUCCESSFUL )
129 {
130 PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
131 }
132 }
133
134 if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
135 {
136 status_spw = spacewire_start_link( fdSPW );
137 if ( status_spw != RTEMS_SUCCESSFUL )
138 {
139 PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
140 }
141 }
142 // </SPACEWIRE INITIALIZATION>
143 // ***************************
144
145 status = start_all_tasks(); // start all tasks
146 if (status != RTEMS_SUCCESSFUL)
147 {
148 PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
149 }
150
151 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
152 status = start_recv_send_tasks();
153 if ( status != RTEMS_SUCCESSFUL )
154 {
155 PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
156 }
157
158 // suspend science tasks. they will be restarted later depending on the mode
159 status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
160 if (status != RTEMS_SUCCESSFUL)
161 {
162 PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
163 }
164
165 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
166 if ( status_spw != RTEMS_SUCCESSFUL )
167 {
168 status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
169 if ( status != RTEMS_SUCCESSFUL ) {
170 PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
171 }
172 }
173
174 BOOT_PRINTF("delete INIT\n")
175
176 status = rtems_task_delete(RTEMS_SELF);
177
178 }
179
180 void init_local_mode_parameters( void )
181 {
182 /** This function initialize the param_local global variable with default values.
183 *
184 */
185
186 unsigned int i;
187
188 // LOCAL PARAMETERS
189 // set_local_nb_interrupt_f0_MAX();
190
191 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
192 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
193 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
194
195 // init sequence counters
196
197 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
198 {
199 sequenceCounters_TC_EXE[i] = 0x00;
200 }
201 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
202 sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
203 }
204
205 void create_names( void ) // create all names for tasks and queues
206 {
207 /** This function creates all RTEMS names used in the software for tasks and queues.
208 *
209 * @return RTEMS directive status codes:
210 * - RTEMS_SUCCESSFUL - successful completion
211 *
212 */
213
214 // task names
215 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
216 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
217 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
218 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
219 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
220 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
221 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
222 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
223 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
224 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
225 Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
226 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
227 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
228 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
229 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
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 }
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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")
107 }
108
109 return status;
110 }
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1 /** Functions related to the SpaceWire interface.
2 *
3 * @file
4 * @author P. LEROY
5 *
6 * A group of functions to handle SpaceWire transmissions:
7 * - configuration of the SpaceWire link
8 * - SpaceWire related interruption requests processing
9 * - transmission of TeleMetry packets by a dedicated RTEMS task
10 * - reception of TeleCommands by a dedicated RTEMS task
11 *
12 */
13
14 #include "timegen_spacewire.h"
15
16 rtems_name semq_name;
17 rtems_id semq_id;
18
19 //***********
20 // RTEMS TASK
21 rtems_task spiq_task(rtems_task_argument unused)
22 {
23 /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
24 *
25 * @param unused is the starting argument of the RTEMS task
26 *
27 */
28
29 rtems_event_set event_out;
30 rtems_status_code status;
31 int linkStatus;
32
33 BOOT_PRINTF("in SPIQ *** \n")
34
35 while(true){
36 rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
37 PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
38
39 // [0] SUSPEND RECV AND SEND TASKS
40 status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
41 if ( status != RTEMS_SUCCESSFUL ) {
42 PRINTF("in SPIQ *** ERR suspending RECV Task\n")
43 }
44 status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
45 if ( status != RTEMS_SUCCESSFUL ) {
46 PRINTF("in SPIQ *** ERR suspending SEND Task\n")
47 }
48
49 // [1] CHECK THE LINK
50 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
51 if ( linkStatus != 5) {
52 PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
53 status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
54 }
55
56 // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
57 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
58 if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
59 {
60 spacewire_compute_stats_offsets();
61 status = spacewire_reset_link( );
62 }
63 else // [2.b] in run state, start the link
64 {
65 status = spacewire_stop_start_link( fdSPW ); // start the link
66 if ( status != RTEMS_SUCCESSFUL)
67 {
68 PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
69 }
70 }
71
72 // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
73 if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
74 {
75 status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
76 if ( status != RTEMS_SUCCESSFUL ) {
77 PRINTF("in SPIQ *** ERR resuming SEND Task\n")
78 }
79 status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
80 if ( status != RTEMS_SUCCESSFUL ) {
81 PRINTF("in SPIQ *** ERR resuming RECV Task\n")
82 }
83 }
84 else // [3.b] the link is not in run state, go in STANDBY mode
85 {
86 status = stop_current_mode();
87 if ( status != RTEMS_SUCCESSFUL ) {
88 PRINTF1("in SPIQ *** ERR stop_current_mode *** code %d\n", status)
89 }
90 status = enter_mode( LFR_MODE_STANDBY );
91 if ( status != RTEMS_SUCCESSFUL ) {
92 PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
93 }
94 // wake the WTDG task up to wait for the link recovery
95 status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
96 status = rtems_task_suspend( RTEMS_SELF );
97 }
98 }
99 }
100
101 rtems_task recv_task( rtems_task_argument unused )
102 {
103 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
104 *
105 * @param unused is the starting argument of the RTEMS task
106 *
107 * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
108 * 1. It reads the incoming data.
109 * 2. Launches the acceptance procedure.
110 * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
111 *
112 */
113
114 int len;
115 ccsdsTelecommandPacket_t currentTC;
116 unsigned char computed_CRC[ 2 ];
117 unsigned char currentTC_LEN_RCV[ 2 ];
118 unsigned char destinationID;
119 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
120 unsigned int parserCode;
121 unsigned char time[6];
122 rtems_status_code status;
123 rtems_id queue_recv_id;
124 rtems_id queue_send_id;
125
126 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
127
128 status = get_message_queue_id_recv( &queue_recv_id );
129 if (status != RTEMS_SUCCESSFUL)
130 {
131 PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
132 }
133
134 status = get_message_queue_id_send( &queue_send_id );
135 if (status != RTEMS_SUCCESSFUL)
136 {
137 PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
138 }
139
140 BOOT_PRINTF("in RECV *** \n")
141
142 while(1)
143 {
144 len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
145 if (len == -1){ // error during the read call
146 PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
147 }
148 else {
149 if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
150 PRINTF("in RECV *** packet lenght too short\n")
151 }
152 else {
153 currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
154 currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
155 currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt );
156 // CHECK THE TC
157 parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
158 if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT)
159 || (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE)
160 || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA)
161 || (parserCode == WRONG_SRC_ID) )
162 { // send TM_LFR_TC_EXE_CORRUPTED
163 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
164 &&
165 !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
166 )
167 {
168 if ( parserCode == WRONG_SRC_ID )
169 {
170 destinationID = SID_TC_GROUND;
171 }
172 else
173 {
174 destinationID = currentTC.sourceID;
175 }
176 getTime( time );
177 close_action( &currentTC, LFR_DEFAULT, queue_send_id );
178 send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
179 computed_CRC, currentTC_LEN_RCV,
180 destinationID );
181 }
182 }
183 else
184 { // send valid TC to the action launcher
185 status = rtems_message_queue_send( queue_recv_id, &currentTC,
186 currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
187 }
188 }
189 }
190 }
191 }
192
193 rtems_task send_task( rtems_task_argument argument)
194 {
195 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
196 *
197 * @param unused is the starting argument of the RTEMS task
198 *
199 * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
200 * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
201 * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
202 * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
203 * data it contains.
204 *
205 */
206
207 rtems_status_code status; // RTEMS status code
208 char incomingData[ACTION_MSG_PKTS_MAX_SIZE]; // incoming data buffer
209 size_t size; // size of the incoming TC packet
210 u_int32_t count;
211 rtems_id queue_id;
212
213 status = get_message_queue_id_send( &queue_id );
214 if (status != RTEMS_SUCCESSFUL)
215 {
216 PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
217 }
218
219 BOOT_PRINTF("in SEND *** \n")
220
221 while(1)
222 {
223 status = rtems_message_queue_receive( queue_id, incomingData, &size,
224 RTEMS_WAIT, RTEMS_NO_TIMEOUT );
225
226 if (status!=RTEMS_SUCCESSFUL)
227 {
228 PRINTF1("in SEND *** (1) ERR = %d\n", status)
229 }
230 else
231 {
232 status = write( fdSPW, incomingData, size );
233 if (status == -1){
234 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
235 }
236 }
237
238 status = rtems_message_queue_get_number_pending( queue_id, &count );
239 if (status != RTEMS_SUCCESSFUL)
240 {
241 PRINTF1("in SEND *** (3) ERR = %d\n", status)
242 }
243 else
244 {
245 if (count > maxCount)
246 {
247 maxCount = count;
248 }
249 }
250 }
251 }
252
253 rtems_task wtdg_task( rtems_task_argument argument )
254 {
255 rtems_event_set event_out;
256 rtems_status_code status;
257 int linkStatus;
258
259 BOOT_PRINTF("in WTDG ***\n")
260
261 while(1)
262 {
263 // wait for an RTEMS_EVENT
264 rtems_event_receive( RTEMS_EVENT_0,
265 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
266 PRINTF("in WTDG *** wait for the link\n")
267 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
268 while( linkStatus != 5) // wait for the link
269 {
270 rtems_task_wake_after( 10 );
271 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
272 }
273
274 status = spacewire_stop_start_link( fdSPW );
275
276 if (status != RTEMS_SUCCESSFUL)
277 {
278 PRINTF1("in WTDG *** ERR link not started %d\n", status)
279 }
280 else
281 {
282 PRINTF("in WTDG *** OK link started\n")
283 }