@@ -1,2 +1,2 | |||
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1 | 1 | 3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters |
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2 | ce0c2f17257170a8529605f68687c18f23973087 header/lfr_common_headers | |
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2 | 084fd0db5e4139a1096789935e32ef498192f395 header/lfr_common_headers |
@@ -1,51 +1,54 | |||
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1 | 1 | #ifndef FSW_INIT_H_INCLUDED |
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2 | 2 | #define FSW_INIT_H_INCLUDED |
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3 | 3 | |
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4 | 4 | #include <rtems.h> |
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5 | 5 | #include <leon.h> |
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6 | 6 | |
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7 | 7 | #include "fsw_params.h" |
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8 | 8 | #include "fsw_misc.h" |
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9 | 9 | #include "fsw_processing.h" |
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10 | 10 | |
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11 | 11 | #include "tc_handler.h" |
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12 | 12 | #include "wf_handler.h" |
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13 | 13 | #include "fsw_spacewire.h" |
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14 | 14 | |
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15 | 15 | #include "avf0_prc0.h" |
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16 | 16 | #include "avf1_prc1.h" |
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17 | 17 | #include "avf2_prc2.h" |
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18 | 18 | |
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19 | 19 | extern rtems_name Task_name[20]; /* array of task names */ |
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20 | 20 | extern rtems_id Task_id[20]; /* array of task ids */ |
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21 | extern rtems_name timecode_timer_name; | |
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22 | extern rtems_id timecode_timer_id; | |
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21 | 23 | extern unsigned char pa_bia_status_info; |
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22 | 24 | |
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23 | 25 | // RTEMS TASKS |
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24 | 26 | rtems_task Init( rtems_task_argument argument); |
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25 | 27 | |
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26 | 28 | // OTHER functions |
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27 | 29 | void create_names( void ); |
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28 | 30 | int create_all_tasks( void ); |
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29 | 31 | int start_all_tasks( void ); |
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30 | 32 | // |
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31 | 33 | rtems_status_code create_message_queues( void ); |
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34 | rtems_status_code create_timecode_timer( void ); | |
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32 | 35 | rtems_status_code get_message_queue_id_send( rtems_id *queue_id ); |
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33 | 36 | rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ); |
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34 | 37 | rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id ); |
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35 | 38 | rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id ); |
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36 | 39 | rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id ); |
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37 | 40 | void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max ); |
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38 | 41 | void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize ); |
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39 | 42 | // |
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40 | 43 | int start_recv_send_tasks( void ); |
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41 | 44 | // |
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42 | 45 | void init_local_mode_parameters( void ); |
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43 | 46 | void reset_local_time( void ); |
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44 | 47 | |
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45 | 48 | extern void rtems_cpu_usage_report( void ); |
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46 | 49 | extern void rtems_cpu_usage_reset( void ); |
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47 | 50 | extern void rtems_stack_checker_report_usage( void ); |
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48 | 51 | |
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49 | 52 | extern int sched_yield( void ); |
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50 | 53 | |
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51 | 54 | #endif // FSW_INIT_H_INCLUDED |
@@ -1,50 +1,56 | |||
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1 | 1 | #ifndef FSW_SPACEWIRE_H_INCLUDED |
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2 | 2 | #define FSW_SPACEWIRE_H_INCLUDED |
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3 | 3 | |
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4 | 4 | #include <rtems.h> |
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5 | 5 | #include <grspw.h> |
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6 | 6 | |
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7 | 7 | #include <fcntl.h> // for O_RDWR |
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8 | 8 | #include <unistd.h> // for the read call |
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9 | 9 | #include <sys/ioctl.h> // for the ioctl call |
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10 | 10 | #include <errno.h> |
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11 | 11 | |
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12 | 12 | #include "fsw_params.h" |
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13 | 13 | #include "tc_handler.h" |
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14 | 14 | #include "fsw_init.h" |
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15 | 15 | |
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16 | 16 | extern spw_stats spacewire_stats; |
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17 | 17 | extern spw_stats spacewire_stats_backup; |
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18 | extern rtems_name timecode_timer_name; | |
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19 | extern rtems_id timecode_timer_id; | |
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18 | 20 | |
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19 | 21 | // RTEMS TASK |
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20 | 22 | rtems_task spiq_task( rtems_task_argument argument ); |
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21 | 23 | rtems_task recv_task( rtems_task_argument unused ); |
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22 | 24 | rtems_task send_task( rtems_task_argument argument ); |
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23 | 25 | rtems_task wtdg_task( rtems_task_argument argument ); |
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24 | 26 | |
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25 | 27 | int spacewire_open_link( void ); |
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26 | 28 | int spacewire_start_link( int fd ); |
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27 | 29 | int spacewire_stop_and_start_link( int fd ); |
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28 | 30 | int spacewire_configure_link(int fd ); |
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29 | 31 | int spacewire_reset_link( void ); |
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30 | 32 | void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force |
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31 | 33 | void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable |
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32 | 34 | void spacewire_compute_stats_offsets( void ); |
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33 | 35 | void spacewire_update_statistics( void ); |
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36 | void increase_an_unsigned_char_counter( unsigned char *counter ); | |
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34 | 37 | |
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35 | 38 | void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header ); |
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36 | 39 | void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header ); |
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37 | 40 | void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header ); |
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38 | 41 | int spw_send_waveform_CWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header ); |
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39 | 42 | int spw_send_waveform_SWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_SWF_t *header ); |
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40 | 43 | int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header ); |
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41 | 44 | void spw_send_asm_f0( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header ); |
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42 | 45 | void spw_send_asm_f1( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header ); |
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43 | 46 | void spw_send_asm_f2( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header ); |
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44 | 47 | void spw_send_k_dump( ring_node *ring_node_to_send ); |
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45 | 48 | |
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49 | rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data ); | |
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50 | unsigned int check_timecode_and_previous_timecode_coherency(unsigned char currentTimecodeCtr); | |
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51 | unsigned int check_timecode_and_internal_time_coherency(unsigned char timecode, unsigned char internalTime); | |
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46 | 52 | void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ); |
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47 | 53 | |
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48 | 54 | void (*grspw_timecode_callback) ( void *pDev, void *regs, int minor, unsigned int tc ); |
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49 | 55 | |
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50 | 56 | #endif // FSW_SPACEWIRE_H_INCLUDED |
@@ -1,80 +1,82 | |||
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1 | 1 | /** Global variables of the LFR flight software. |
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2 | 2 | * |
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3 | 3 | * @file |
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4 | 4 | * @author P. LEROY |
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5 | 5 | * |
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6 | 6 | * Among global variables, there are: |
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7 | 7 | * - RTEMS names and id. |
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8 | 8 | * - APB configuration registers. |
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9 | 9 | * - waveforms global buffers, used by the waveform picker hardware module to store data. |
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10 | 10 | * - spectral matrices buffesr, used by the hardware module to store data. |
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11 | 11 | * - variable related to LFR modes parameters. |
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12 | 12 | * - the global HK packet buffer. |
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13 | 13 | * - the global dump parameter buffer. |
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14 | 14 | * |
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15 | 15 | */ |
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16 | 16 | |
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17 | 17 | #include <rtems.h> |
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18 | 18 | #include <grspw.h> |
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19 | 19 | |
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20 | 20 | #include "ccsds_types.h" |
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21 | 21 | #include "grlib_regs.h" |
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22 | 22 | #include "fsw_params.h" |
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23 | 23 | #include "fsw_params_wf_handler.h" |
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24 | 24 | |
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25 | 25 | // RTEMS GLOBAL VARIABLES |
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26 | 26 | rtems_name misc_name[5]; |
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27 | 27 | rtems_name Task_name[20]; /* array of task names */ |
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28 | 28 | rtems_id Task_id[20]; /* array of task ids */ |
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29 | rtems_name timecode_timer_name; | |
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30 | rtems_id timecode_timer_id; | |
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29 | 31 | int fdSPW = 0; |
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30 | 32 | int fdUART = 0; |
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31 | 33 | unsigned char lfrCurrentMode; |
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32 | 34 | unsigned char pa_bia_status_info; |
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33 | 35 | |
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34 | 36 | // WAVEFORMS GLOBAL VARIABLES // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes = 24584 |
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35 | 37 | // 97 * 256 = 24832 => delta = 248 bytes = 62 words |
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36 | 38 | // WAVEFORMS GLOBAL VARIABLES // 2688 * 3 * 4 + 2 * 4 = 32256 + 8 bytes = 32264 |
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37 | 39 | // 127 * 256 = 32512 => delta = 248 bytes = 62 words |
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38 | 40 | // F0 F1 F2 F3 |
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39 | 41 | volatile int wf_buffer_f0[ NB_RING_NODES_F0 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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40 | 42 | volatile int wf_buffer_f1[ NB_RING_NODES_F1 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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41 | 43 | volatile int wf_buffer_f2[ NB_RING_NODES_F2 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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42 | 44 | volatile int wf_buffer_f3[ NB_RING_NODES_F3 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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43 | 45 | |
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44 | 46 | //*********************************** |
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45 | 47 | // SPECTRAL MATRICES GLOBAL VARIABLES |
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46 | 48 | |
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47 | 49 | // alignment constraints for the spectral matrices buffers => the first data after the time (8 bytes) shall be aligned on 0x00 |
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48 | 50 | volatile int sm_f0[ NB_RING_NODES_SM_F0 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))); |
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49 | 51 | volatile int sm_f1[ NB_RING_NODES_SM_F1 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))); |
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50 | 52 | volatile int sm_f2[ NB_RING_NODES_SM_F2 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))); |
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51 | 53 | |
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52 | 54 | // APB CONFIGURATION REGISTERS |
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53 | 55 | time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT; |
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54 | 56 | gptimer_regs_t *gptimer_regs = (gptimer_regs_t *) REGS_ADDR_GPTIMER; |
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55 | 57 | waveform_picker_regs_0_1_18_t *waveform_picker_regs = (waveform_picker_regs_0_1_18_t*) REGS_ADDR_WAVEFORM_PICKER; |
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56 | 58 | spectral_matrix_regs_t *spectral_matrix_regs = (spectral_matrix_regs_t*) REGS_ADDR_SPECTRAL_MATRIX; |
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57 | 59 | |
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58 | 60 | // MODE PARAMETERS |
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59 | 61 | Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet; |
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60 | 62 | struct param_local_str param_local; |
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61 | 63 | unsigned int lastValidEnterModeTime; |
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62 | 64 | |
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63 | 65 | // HK PACKETS |
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64 | 66 | Packet_TM_LFR_HK_t housekeeping_packet; |
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65 | 67 | // message queues occupancy |
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66 | 68 | unsigned char hk_lfr_q_sd_fifo_size_max; |
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67 | 69 | unsigned char hk_lfr_q_rv_fifo_size_max; |
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68 | 70 | unsigned char hk_lfr_q_p0_fifo_size_max; |
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69 | 71 | unsigned char hk_lfr_q_p1_fifo_size_max; |
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70 | 72 | unsigned char hk_lfr_q_p2_fifo_size_max; |
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71 | 73 | // sequence counters are incremented by APID (PID + CAT) and destination ID |
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72 | 74 | unsigned short sequenceCounters_SCIENCE_NORMAL_BURST; |
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73 | 75 | unsigned short sequenceCounters_SCIENCE_SBM1_SBM2; |
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74 | 76 | unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID]; |
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75 | 77 | unsigned short sequenceCounters_TM_DUMP[SEQ_CNT_NB_DEST_ID]; |
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76 | 78 | unsigned short sequenceCounterHK; |
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77 | 79 | spw_stats spacewire_stats; |
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78 | 80 | spw_stats spacewire_stats_backup; |
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79 | 81 | |
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80 | 82 |
@@ -1,865 +1,891 | |||
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1 | 1 | /** This is the RTEMS initialization module. |
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2 | 2 | * |
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3 | 3 | * @file |
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4 | 4 | * @author P. LEROY |
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5 | 5 | * |
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6 | 6 | * This module contains two very different information: |
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7 | 7 | * - specific instructions to configure the compilation of the RTEMS executive |
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8 | 8 | * - functions related to the fligth softwre initialization, especially the INIT RTEMS task |
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9 | 9 | * |
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10 | 10 | */ |
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11 | 11 | |
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12 | 12 | //************************* |
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13 | 13 | // GPL reminder to be added |
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14 | 14 | //************************* |
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15 | 15 | |
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16 | 16 | #include <rtems.h> |
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17 | 17 | |
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18 | 18 | /* configuration information */ |
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19 | 19 | |
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20 | 20 | #define CONFIGURE_INIT |
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21 | 21 | |
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22 | 22 | #include <bsp.h> /* for device driver prototypes */ |
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23 | 23 | |
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24 | 24 | /* configuration information */ |
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25 | 25 | |
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26 | 26 | #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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27 | 27 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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28 | 28 | |
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29 | 29 | #define CONFIGURE_MAXIMUM_TASKS 20 |
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30 | 30 | #define CONFIGURE_RTEMS_INIT_TASKS_TABLE |
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31 | 31 | #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) |
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32 | 32 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 |
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33 | 33 | #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100 |
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34 | 34 | #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT) |
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35 | 35 | #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT) |
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36 | 36 | #define CONFIGURE_MAXIMUM_DRIVERS 16 |
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37 | 37 | #define CONFIGURE_MAXIMUM_PERIODS 5 |
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38 | #define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s) | |
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38 | #define CONFIGURE_MAXIMUM_TIMERS 5 // [spiq] [wtdg] [spacewire_reset_link] | |
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39 | 39 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5 |
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40 | 40 | #ifdef PRINT_STACK_REPORT |
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41 | 41 | #define CONFIGURE_STACK_CHECKER_ENABLED |
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42 | 42 | #endif |
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43 | 43 | |
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44 | 44 | #include <rtems/confdefs.h> |
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45 | 45 | |
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46 | 46 | /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ |
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47 | 47 | #ifdef RTEMS_DRVMGR_STARTUP |
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48 | 48 | #ifdef LEON3 |
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49 | 49 | /* Add Timer and UART Driver */ |
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50 | 50 | #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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51 | 51 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER |
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52 | 52 | #endif |
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53 | 53 | #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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54 | 54 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART |
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55 | 55 | #endif |
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56 | 56 | #endif |
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57 | 57 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ |
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58 | 58 | #include <drvmgr/drvmgr_confdefs.h> |
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59 | 59 | #endif |
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60 | 60 | |
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61 | 61 | #include "fsw_init.h" |
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62 | 62 | #include "fsw_config.c" |
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63 | 63 | #include "GscMemoryLPP.hpp" |
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64 | 64 | |
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65 | 65 | void initCache() |
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66 | 66 | { |
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67 | 67 | unsigned int cacheControlRegister; |
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68 | 68 | |
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69 | 69 | cacheControlRegister = getCacheControlRegister(); |
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70 | 70 | PRINTF1("(0) cacheControlRegister = %x\n", cacheControlRegister) |
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71 | 71 | |
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72 | 72 | resetCacheControlRegister(); |
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73 | 73 | |
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74 | 74 | enableInstructionCache(); |
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75 | 75 | enableDataCache(); |
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76 | 76 | enableInstructionBurstFetch(); |
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77 | 77 | |
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78 | 78 | cacheControlRegister = getCacheControlRegister(); |
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79 | 79 | PRINTF1("(1) cacheControlRegister = %x\n", cacheControlRegister) |
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80 | 80 | } |
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81 | 81 | |
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82 | 82 | rtems_task Init( rtems_task_argument ignored ) |
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83 | 83 | { |
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84 | 84 | /** This is the RTEMS INIT taks, it is the first task launched by the system. |
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85 | 85 | * |
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86 | 86 | * @param unused is the starting argument of the RTEMS task |
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87 | 87 | * |
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88 | 88 | * The INIT task create and run all other RTEMS tasks. |
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89 | 89 | * |
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90 | 90 | */ |
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91 | 91 | |
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92 | 92 | //*********** |
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93 | 93 | // INIT CACHE |
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94 | 94 | |
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95 | 95 | unsigned char *vhdlVersion; |
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96 | 96 | |
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97 | 97 | reset_lfr(); |
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98 | 98 | |
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99 | 99 | reset_local_time(); |
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100 | 100 | |
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101 | 101 | rtems_cpu_usage_reset(); |
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102 | 102 | |
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103 | 103 | rtems_status_code status; |
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104 | 104 | rtems_status_code status_spw; |
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105 | 105 | rtems_isr_entry old_isr_handler; |
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106 | 106 | |
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107 | 107 | // UART settings |
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108 | 108 | send_console_outputs_on_apbuart_port(); |
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109 | 109 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); |
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110 | 110 | enable_apbuart_transmitter(); |
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111 | 111 | |
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112 | 112 | DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n") |
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113 | 113 | |
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114 | 114 | |
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115 | 115 | PRINTF("\n\n\n\n\n") |
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116 | 116 | |
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117 | 117 | initCache(); |
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118 | 118 | |
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119 | 119 | PRINTF("*************************\n") |
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120 | 120 | PRINTF("** LFR Flight Software **\n") |
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121 | 121 | PRINTF1("** %d.", SW_VERSION_N1) |
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122 | 122 | PRINTF1("%d." , SW_VERSION_N2) |
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123 | 123 | PRINTF1("%d." , SW_VERSION_N3) |
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124 | 124 | PRINTF1("%d **\n", SW_VERSION_N4) |
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125 | 125 | |
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126 | 126 | vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION); |
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127 | 127 | PRINTF("** VHDL **\n") |
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128 | 128 | PRINTF1("** %d.", vhdlVersion[1]) |
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129 | 129 | PRINTF1("%d." , vhdlVersion[2]) |
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130 | 130 | PRINTF1("%d **\n", vhdlVersion[3]) |
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131 | 131 | PRINTF("*************************\n") |
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132 | 132 | PRINTF("\n\n") |
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133 | 133 | |
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134 | 134 | init_parameter_dump(); |
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135 | 135 | init_kcoefficients_dump(); |
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136 | 136 | init_local_mode_parameters(); |
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137 | 137 | init_housekeeping_parameters(); |
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138 | 138 | init_k_coefficients_prc0(); |
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139 | 139 | init_k_coefficients_prc1(); |
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140 | 140 | init_k_coefficients_prc2(); |
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141 | 141 | pa_bia_status_info = 0x00; |
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142 | 142 | update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE ); |
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143 | 143 | |
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144 | 144 | // waveform picker initialization |
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145 | 145 | WFP_init_rings(); LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG ); // initialize the waveform rings |
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146 | 146 | WFP_reset_current_ring_nodes(); |
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147 | 147 | reset_waveform_picker_regs(); |
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148 | 148 | |
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149 | 149 | // spectral matrices initialization |
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150 | 150 | SM_init_rings(); // initialize spectral matrices rings |
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151 | 151 | SM_reset_current_ring_nodes(); |
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152 | 152 | reset_spectral_matrix_regs(); |
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153 | 153 | |
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154 | 154 | // configure calibration |
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155 | 155 | configureCalibration( false ); // true means interleaved mode, false is for normal mode |
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156 | 156 | |
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157 | 157 | updateLFRCurrentMode(); |
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158 | 158 | |
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159 | 159 | BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode) |
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160 | 160 | |
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161 | 161 | create_names(); // create all names |
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162 | 162 | |
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163 | status = create_timecode_timer(); // create the timer used by timecode_irq_handler | |
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164 | if (status != RTEMS_SUCCESSFUL) | |
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165 | { | |
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166 | PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status) | |
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167 | } | |
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168 | ||
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163 | 169 | status = create_message_queues(); // create message queues |
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164 | 170 | if (status != RTEMS_SUCCESSFUL) |
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165 | 171 | { |
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166 | 172 | PRINTF1("in INIT *** ERR in create_message_queues, code %d", status) |
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167 | 173 | } |
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168 | 174 | |
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169 | 175 | status = create_all_tasks(); // create all tasks |
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170 | 176 | if (status != RTEMS_SUCCESSFUL) |
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171 | 177 | { |
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172 | 178 | PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status) |
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173 | 179 | } |
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174 | 180 | |
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175 | 181 | // ************************** |
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176 | 182 | // <SPACEWIRE INITIALIZATION> |
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177 | 183 | grspw_timecode_callback = &timecode_irq_handler; |
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178 | 184 | |
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179 | 185 | status_spw = spacewire_open_link(); // (1) open the link |
|
180 | 186 | if ( status_spw != RTEMS_SUCCESSFUL ) |
|
181 | 187 | { |
|
182 | 188 | PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw ) |
|
183 | 189 | } |
|
184 | 190 | |
|
185 | 191 | if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link |
|
186 | 192 | { |
|
187 | 193 | status_spw = spacewire_configure_link( fdSPW ); |
|
188 | 194 | if ( status_spw != RTEMS_SUCCESSFUL ) |
|
189 | 195 | { |
|
190 | 196 | PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw ) |
|
191 | 197 | } |
|
192 | 198 | } |
|
193 | 199 | |
|
194 | 200 | if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link |
|
195 | 201 | { |
|
196 | 202 | status_spw = spacewire_start_link( fdSPW ); |
|
197 | 203 | if ( status_spw != RTEMS_SUCCESSFUL ) |
|
198 | 204 | { |
|
199 | 205 | PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw ) |
|
200 | 206 | } |
|
201 | 207 | } |
|
202 | 208 | // </SPACEWIRE INITIALIZATION> |
|
203 | 209 | // *************************** |
|
204 | 210 | |
|
205 | 211 | status = start_all_tasks(); // start all tasks |
|
206 | 212 | if (status != RTEMS_SUCCESSFUL) |
|
207 | 213 | { |
|
208 | 214 | PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status) |
|
209 | 215 | } |
|
210 | 216 | |
|
211 | 217 | // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization |
|
212 | 218 | status = start_recv_send_tasks(); |
|
213 | 219 | if ( status != RTEMS_SUCCESSFUL ) |
|
214 | 220 | { |
|
215 | 221 | PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status ) |
|
216 | 222 | } |
|
217 | 223 | |
|
218 | 224 | // suspend science tasks, they will be restarted later depending on the mode |
|
219 | 225 | status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY) |
|
220 | 226 | if (status != RTEMS_SUCCESSFUL) |
|
221 | 227 | { |
|
222 | 228 | PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status) |
|
223 | 229 | } |
|
224 | 230 | |
|
225 | 231 | // configure IRQ handling for the waveform picker unit |
|
226 | 232 | status = rtems_interrupt_catch( waveforms_isr, |
|
227 | 233 | IRQ_SPARC_WAVEFORM_PICKER, |
|
228 | 234 | &old_isr_handler) ; |
|
229 | 235 | // configure IRQ handling for the spectral matrices unit |
|
230 | 236 | status = rtems_interrupt_catch( spectral_matrices_isr, |
|
231 | 237 | IRQ_SPARC_SPECTRAL_MATRIX, |
|
232 | 238 | &old_isr_handler) ; |
|
233 | 239 | |
|
234 | 240 | // if the spacewire link is not up then send an event to the SPIQ task for link recovery |
|
235 | 241 | if ( status_spw != RTEMS_SUCCESSFUL ) |
|
236 | 242 | { |
|
237 | 243 | status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ); |
|
238 | 244 | if ( status != RTEMS_SUCCESSFUL ) { |
|
239 | 245 | PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status ) |
|
240 | 246 | } |
|
241 | 247 | } |
|
242 | 248 | |
|
243 | 249 | BOOT_PRINTF("delete INIT\n") |
|
244 | 250 | |
|
245 | 251 | set_hk_lfr_sc_potential_flag( true ); |
|
246 | 252 | |
|
247 | 253 | status = rtems_task_delete(RTEMS_SELF); |
|
248 | 254 | |
|
249 | 255 | } |
|
250 | 256 | |
|
251 | 257 | void init_local_mode_parameters( void ) |
|
252 | 258 | { |
|
253 | 259 | /** This function initialize the param_local global variable with default values. |
|
254 | 260 | * |
|
255 | 261 | */ |
|
256 | 262 | |
|
257 | 263 | unsigned int i; |
|
258 | 264 | |
|
259 | 265 | // LOCAL PARAMETERS |
|
260 | 266 | |
|
261 | 267 | BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max) |
|
262 | 268 | BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max) |
|
263 | 269 | BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX) |
|
264 | 270 | |
|
265 | 271 | // init sequence counters |
|
266 | 272 | |
|
267 | 273 | for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++) |
|
268 | 274 | { |
|
269 | 275 | sequenceCounters_TC_EXE[i] = 0x00; |
|
270 | 276 | sequenceCounters_TM_DUMP[i] = 0x00; |
|
271 | 277 | } |
|
272 | 278 | sequenceCounters_SCIENCE_NORMAL_BURST = 0x00; |
|
273 | 279 | sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00; |
|
274 | 280 | sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8; |
|
275 | 281 | } |
|
276 | 282 | |
|
277 | 283 | void reset_local_time( void ) |
|
278 | 284 | { |
|
279 | 285 | time_management_regs->ctrl = time_management_regs->ctrl | 0x02; // [0010] software reset, coarse time = 0x80000000 |
|
280 | 286 | } |
|
281 | 287 | |
|
282 | 288 | void create_names( void ) // create all names for tasks and queues |
|
283 | 289 | { |
|
284 | 290 | /** This function creates all RTEMS names used in the software for tasks and queues. |
|
285 | 291 | * |
|
286 | 292 | * @return RTEMS directive status codes: |
|
287 | 293 | * - RTEMS_SUCCESSFUL - successful completion |
|
288 | 294 | * |
|
289 | 295 | */ |
|
290 | 296 | |
|
291 | 297 | // task names |
|
292 | 298 | Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); |
|
293 | 299 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); |
|
294 | 300 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); |
|
295 | 301 | Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' ); |
|
296 | 302 | Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' ); |
|
297 | 303 | Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' ); |
|
298 | 304 | Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' ); |
|
299 | 305 | Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' ); |
|
300 | 306 | Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' ); |
|
301 | 307 | Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' ); |
|
302 | 308 | Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' ); |
|
303 | 309 | Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' ); |
|
304 | 310 | Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' ); |
|
305 | 311 | Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' ); |
|
306 | 312 | Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' ); |
|
307 | 313 | Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' ); |
|
308 | 314 | Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' ); |
|
309 | 315 | Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' ); |
|
310 | 316 | Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' ); |
|
311 | 317 | |
|
312 | 318 | // rate monotonic period names |
|
313 | 319 | name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' ); |
|
314 | 320 | |
|
315 | 321 | misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' ); |
|
316 | 322 | misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' ); |
|
317 | 323 | misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' ); |
|
318 | 324 | misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' ); |
|
319 | 325 | misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' ); |
|
326 | ||
|
327 | timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' ); | |
|
320 | 328 | } |
|
321 | 329 | |
|
322 | 330 | int create_all_tasks( void ) // create all tasks which run in the software |
|
323 | 331 | { |
|
324 | 332 | /** This function creates all RTEMS tasks used in the software. |
|
325 | 333 | * |
|
326 | 334 | * @return RTEMS directive status codes: |
|
327 | 335 | * - RTEMS_SUCCESSFUL - task created successfully |
|
328 | 336 | * - RTEMS_INVALID_ADDRESS - id is NULL |
|
329 | 337 | * - RTEMS_INVALID_NAME - invalid task name |
|
330 | 338 | * - RTEMS_INVALID_PRIORITY - invalid task priority |
|
331 | 339 | * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured |
|
332 | 340 | * - RTEMS_TOO_MANY - too many tasks created |
|
333 | 341 | * - RTEMS_UNSATISFIED - not enough memory for stack/FP context |
|
334 | 342 | * - RTEMS_TOO_MANY - too many global objects |
|
335 | 343 | * |
|
336 | 344 | */ |
|
337 | 345 | |
|
338 | 346 | rtems_status_code status; |
|
339 | 347 | |
|
340 | 348 | //********** |
|
341 | 349 | // SPACEWIRE |
|
342 | 350 | // RECV |
|
343 | 351 | status = rtems_task_create( |
|
344 | 352 | Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE, |
|
345 | 353 | RTEMS_DEFAULT_MODES, |
|
346 | 354 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] |
|
347 | 355 | ); |
|
348 | 356 | if (status == RTEMS_SUCCESSFUL) // SEND |
|
349 | 357 | { |
|
350 | 358 | status = rtems_task_create( |
|
351 | 359 | Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
352 | 360 | RTEMS_DEFAULT_MODES, |
|
353 | 361 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND] |
|
354 | 362 | ); |
|
355 | 363 | } |
|
356 | 364 | if (status == RTEMS_SUCCESSFUL) // WTDG |
|
357 | 365 | { |
|
358 | 366 | status = rtems_task_create( |
|
359 | 367 | Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE, |
|
360 | 368 | RTEMS_DEFAULT_MODES, |
|
361 | 369 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG] |
|
362 | 370 | ); |
|
363 | 371 | } |
|
364 | 372 | if (status == RTEMS_SUCCESSFUL) // ACTN |
|
365 | 373 | { |
|
366 | 374 | status = rtems_task_create( |
|
367 | 375 | Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE, |
|
368 | 376 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
369 | 377 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN] |
|
370 | 378 | ); |
|
371 | 379 | } |
|
372 | 380 | if (status == RTEMS_SUCCESSFUL) // SPIQ |
|
373 | 381 | { |
|
374 | 382 | status = rtems_task_create( |
|
375 | 383 | Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE, |
|
376 | 384 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
377 | 385 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] |
|
378 | 386 | ); |
|
379 | 387 | } |
|
380 | 388 | |
|
381 | 389 | //****************** |
|
382 | 390 | // SPECTRAL MATRICES |
|
383 | 391 | if (status == RTEMS_SUCCESSFUL) // AVF0 |
|
384 | 392 | { |
|
385 | 393 | status = rtems_task_create( |
|
386 | 394 | Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE, |
|
387 | 395 | RTEMS_DEFAULT_MODES, |
|
388 | 396 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] |
|
389 | 397 | ); |
|
390 | 398 | } |
|
391 | 399 | if (status == RTEMS_SUCCESSFUL) // PRC0 |
|
392 | 400 | { |
|
393 | 401 | status = rtems_task_create( |
|
394 | 402 | Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
395 | 403 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
396 | 404 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0] |
|
397 | 405 | ); |
|
398 | 406 | } |
|
399 | 407 | if (status == RTEMS_SUCCESSFUL) // AVF1 |
|
400 | 408 | { |
|
401 | 409 | status = rtems_task_create( |
|
402 | 410 | Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE, |
|
403 | 411 | RTEMS_DEFAULT_MODES, |
|
404 | 412 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1] |
|
405 | 413 | ); |
|
406 | 414 | } |
|
407 | 415 | if (status == RTEMS_SUCCESSFUL) // PRC1 |
|
408 | 416 | { |
|
409 | 417 | status = rtems_task_create( |
|
410 | 418 | Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
411 | 419 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
412 | 420 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1] |
|
413 | 421 | ); |
|
414 | 422 | } |
|
415 | 423 | if (status == RTEMS_SUCCESSFUL) // AVF2 |
|
416 | 424 | { |
|
417 | 425 | status = rtems_task_create( |
|
418 | 426 | Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE, |
|
419 | 427 | RTEMS_DEFAULT_MODES, |
|
420 | 428 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2] |
|
421 | 429 | ); |
|
422 | 430 | } |
|
423 | 431 | if (status == RTEMS_SUCCESSFUL) // PRC2 |
|
424 | 432 | { |
|
425 | 433 | status = rtems_task_create( |
|
426 | 434 | Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
427 | 435 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
428 | 436 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2] |
|
429 | 437 | ); |
|
430 | 438 | } |
|
431 | 439 | |
|
432 | 440 | //**************** |
|
433 | 441 | // WAVEFORM PICKER |
|
434 | 442 | if (status == RTEMS_SUCCESSFUL) // WFRM |
|
435 | 443 | { |
|
436 | 444 | status = rtems_task_create( |
|
437 | 445 | Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE, |
|
438 | 446 | RTEMS_DEFAULT_MODES, |
|
439 | 447 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM] |
|
440 | 448 | ); |
|
441 | 449 | } |
|
442 | 450 | if (status == RTEMS_SUCCESSFUL) // CWF3 |
|
443 | 451 | { |
|
444 | 452 | status = rtems_task_create( |
|
445 | 453 | Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE, |
|
446 | 454 | RTEMS_DEFAULT_MODES, |
|
447 | 455 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3] |
|
448 | 456 | ); |
|
449 | 457 | } |
|
450 | 458 | if (status == RTEMS_SUCCESSFUL) // CWF2 |
|
451 | 459 | { |
|
452 | 460 | status = rtems_task_create( |
|
453 | 461 | Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE, |
|
454 | 462 | RTEMS_DEFAULT_MODES, |
|
455 | 463 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2] |
|
456 | 464 | ); |
|
457 | 465 | } |
|
458 | 466 | if (status == RTEMS_SUCCESSFUL) // CWF1 |
|
459 | 467 | { |
|
460 | 468 | status = rtems_task_create( |
|
461 | 469 | Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE, |
|
462 | 470 | RTEMS_DEFAULT_MODES, |
|
463 | 471 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1] |
|
464 | 472 | ); |
|
465 | 473 | } |
|
466 | 474 | if (status == RTEMS_SUCCESSFUL) // SWBD |
|
467 | 475 | { |
|
468 | 476 | status = rtems_task_create( |
|
469 | 477 | Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE, |
|
470 | 478 | RTEMS_DEFAULT_MODES, |
|
471 | 479 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD] |
|
472 | 480 | ); |
|
473 | 481 | } |
|
474 | 482 | |
|
475 | 483 | //***** |
|
476 | 484 | // MISC |
|
477 | 485 | if (status == RTEMS_SUCCESSFUL) // LOAD |
|
478 | 486 | { |
|
479 | 487 | status = rtems_task_create( |
|
480 | 488 | Task_name[TASKID_LOAD], TASK_PRIORITY_LOAD, RTEMS_MINIMUM_STACK_SIZE, |
|
481 | 489 | RTEMS_DEFAULT_MODES, |
|
482 | 490 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LOAD] |
|
483 | 491 | ); |
|
484 | 492 | } |
|
485 | 493 | if (status == RTEMS_SUCCESSFUL) // DUMB |
|
486 | 494 | { |
|
487 | 495 | status = rtems_task_create( |
|
488 | 496 | Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE, |
|
489 | 497 | RTEMS_DEFAULT_MODES, |
|
490 | 498 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] |
|
491 | 499 | ); |
|
492 | 500 | } |
|
493 | 501 | if (status == RTEMS_SUCCESSFUL) // HOUS |
|
494 | 502 | { |
|
495 | 503 | status = rtems_task_create( |
|
496 | 504 | Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE, |
|
497 | 505 | RTEMS_DEFAULT_MODES, |
|
498 | 506 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS] |
|
499 | 507 | ); |
|
500 | 508 | } |
|
501 | 509 | |
|
502 | 510 | return status; |
|
503 | 511 | } |
|
504 | 512 | |
|
505 | 513 | int start_recv_send_tasks( void ) |
|
506 | 514 | { |
|
507 | 515 | rtems_status_code status; |
|
508 | 516 | |
|
509 | 517 | status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 ); |
|
510 | 518 | if (status!=RTEMS_SUCCESSFUL) { |
|
511 | 519 | BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n") |
|
512 | 520 | } |
|
513 | 521 | |
|
514 | 522 | if (status == RTEMS_SUCCESSFUL) // SEND |
|
515 | 523 | { |
|
516 | 524 | status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 ); |
|
517 | 525 | if (status!=RTEMS_SUCCESSFUL) { |
|
518 | 526 | BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n") |
|
519 | 527 | } |
|
520 | 528 | } |
|
521 | 529 | |
|
522 | 530 | return status; |
|
523 | 531 | } |
|
524 | 532 | |
|
525 | 533 | int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS |
|
526 | 534 | { |
|
527 | 535 | /** This function starts all RTEMS tasks used in the software. |
|
528 | 536 | * |
|
529 | 537 | * @return RTEMS directive status codes: |
|
530 | 538 | * - RTEMS_SUCCESSFUL - ask started successfully |
|
531 | 539 | * - RTEMS_INVALID_ADDRESS - invalid task entry point |
|
532 | 540 | * - RTEMS_INVALID_ID - invalid task id |
|
533 | 541 | * - RTEMS_INCORRECT_STATE - task not in the dormant state |
|
534 | 542 | * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task |
|
535 | 543 | * |
|
536 | 544 | */ |
|
537 | 545 | // starts all the tasks fot eh flight software |
|
538 | 546 | |
|
539 | 547 | rtems_status_code status; |
|
540 | 548 | |
|
541 | 549 | //********** |
|
542 | 550 | // SPACEWIRE |
|
543 | 551 | status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); |
|
544 | 552 | if (status!=RTEMS_SUCCESSFUL) { |
|
545 | 553 | BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n") |
|
546 | 554 | } |
|
547 | 555 | |
|
548 | 556 | if (status == RTEMS_SUCCESSFUL) // WTDG |
|
549 | 557 | { |
|
550 | 558 | status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 ); |
|
551 | 559 | if (status!=RTEMS_SUCCESSFUL) { |
|
552 | 560 | BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n") |
|
553 | 561 | } |
|
554 | 562 | } |
|
555 | 563 | |
|
556 | 564 | if (status == RTEMS_SUCCESSFUL) // ACTN |
|
557 | 565 | { |
|
558 | 566 | status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 ); |
|
559 | 567 | if (status!=RTEMS_SUCCESSFUL) { |
|
560 | 568 | BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n") |
|
561 | 569 | } |
|
562 | 570 | } |
|
563 | 571 | |
|
564 | 572 | //****************** |
|
565 | 573 | // SPECTRAL MATRICES |
|
566 | 574 | if (status == RTEMS_SUCCESSFUL) // AVF0 |
|
567 | 575 | { |
|
568 | 576 | status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY ); |
|
569 | 577 | if (status!=RTEMS_SUCCESSFUL) { |
|
570 | 578 | BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n") |
|
571 | 579 | } |
|
572 | 580 | } |
|
573 | 581 | if (status == RTEMS_SUCCESSFUL) // PRC0 |
|
574 | 582 | { |
|
575 | 583 | status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY ); |
|
576 | 584 | if (status!=RTEMS_SUCCESSFUL) { |
|
577 | 585 | BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n") |
|
578 | 586 | } |
|
579 | 587 | } |
|
580 | 588 | if (status == RTEMS_SUCCESSFUL) // AVF1 |
|
581 | 589 | { |
|
582 | 590 | status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY ); |
|
583 | 591 | if (status!=RTEMS_SUCCESSFUL) { |
|
584 | 592 | BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n") |
|
585 | 593 | } |
|
586 | 594 | } |
|
587 | 595 | if (status == RTEMS_SUCCESSFUL) // PRC1 |
|
588 | 596 | { |
|
589 | 597 | status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY ); |
|
590 | 598 | if (status!=RTEMS_SUCCESSFUL) { |
|
591 | 599 | BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n") |
|
592 | 600 | } |
|
593 | 601 | } |
|
594 | 602 | if (status == RTEMS_SUCCESSFUL) // AVF2 |
|
595 | 603 | { |
|
596 | 604 | status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 ); |
|
597 | 605 | if (status!=RTEMS_SUCCESSFUL) { |
|
598 | 606 | BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n") |
|
599 | 607 | } |
|
600 | 608 | } |
|
601 | 609 | if (status == RTEMS_SUCCESSFUL) // PRC2 |
|
602 | 610 | { |
|
603 | 611 | status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 ); |
|
604 | 612 | if (status!=RTEMS_SUCCESSFUL) { |
|
605 | 613 | BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n") |
|
606 | 614 | } |
|
607 | 615 | } |
|
608 | 616 | |
|
609 | 617 | //**************** |
|
610 | 618 | // WAVEFORM PICKER |
|
611 | 619 | if (status == RTEMS_SUCCESSFUL) // WFRM |
|
612 | 620 | { |
|
613 | 621 | status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 ); |
|
614 | 622 | if (status!=RTEMS_SUCCESSFUL) { |
|
615 | 623 | BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n") |
|
616 | 624 | } |
|
617 | 625 | } |
|
618 | 626 | if (status == RTEMS_SUCCESSFUL) // CWF3 |
|
619 | 627 | { |
|
620 | 628 | status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 ); |
|
621 | 629 | if (status!=RTEMS_SUCCESSFUL) { |
|
622 | 630 | BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n") |
|
623 | 631 | } |
|
624 | 632 | } |
|
625 | 633 | if (status == RTEMS_SUCCESSFUL) // CWF2 |
|
626 | 634 | { |
|
627 | 635 | status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 ); |
|
628 | 636 | if (status!=RTEMS_SUCCESSFUL) { |
|
629 | 637 | BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n") |
|
630 | 638 | } |
|
631 | 639 | } |
|
632 | 640 | if (status == RTEMS_SUCCESSFUL) // CWF1 |
|
633 | 641 | { |
|
634 | 642 | status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 ); |
|
635 | 643 | if (status!=RTEMS_SUCCESSFUL) { |
|
636 | 644 | BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n") |
|
637 | 645 | } |
|
638 | 646 | } |
|
639 | 647 | if (status == RTEMS_SUCCESSFUL) // SWBD |
|
640 | 648 | { |
|
641 | 649 | status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 ); |
|
642 | 650 | if (status!=RTEMS_SUCCESSFUL) { |
|
643 | 651 | BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n") |
|
644 | 652 | } |
|
645 | 653 | } |
|
646 | 654 | |
|
647 | 655 | //***** |
|
648 | 656 | // MISC |
|
649 | 657 | if (status == RTEMS_SUCCESSFUL) // HOUS |
|
650 | 658 | { |
|
651 | 659 | status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 ); |
|
652 | 660 | if (status!=RTEMS_SUCCESSFUL) { |
|
653 | 661 | BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n") |
|
654 | 662 | } |
|
655 | 663 | } |
|
656 | 664 | if (status == RTEMS_SUCCESSFUL) // DUMB |
|
657 | 665 | { |
|
658 | 666 | status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); |
|
659 | 667 | if (status!=RTEMS_SUCCESSFUL) { |
|
660 | 668 | BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n") |
|
661 | 669 | } |
|
662 | 670 | } |
|
663 | 671 | if (status == RTEMS_SUCCESSFUL) // LOAD |
|
664 | 672 | { |
|
665 | 673 | status = rtems_task_start( Task_id[TASKID_LOAD], load_task, 1 ); |
|
666 | 674 | if (status!=RTEMS_SUCCESSFUL) { |
|
667 | 675 | BOOT_PRINTF("in INIT *** Error starting TASK_LOAD\n") |
|
668 | 676 | } |
|
669 | 677 | } |
|
670 | 678 | |
|
671 | 679 | return status; |
|
672 | 680 | } |
|
673 | 681 | |
|
674 | 682 | rtems_status_code create_message_queues( void ) // create the two message queues used in the software |
|
675 | 683 | { |
|
676 | 684 | rtems_status_code status_recv; |
|
677 | 685 | rtems_status_code status_send; |
|
678 | 686 | rtems_status_code status_q_p0; |
|
679 | 687 | rtems_status_code status_q_p1; |
|
680 | 688 | rtems_status_code status_q_p2; |
|
681 | 689 | rtems_status_code ret; |
|
682 | 690 | rtems_id queue_id; |
|
683 | 691 | |
|
684 | 692 | //**************************************** |
|
685 | 693 | // create the queue for handling valid TCs |
|
686 | 694 | status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV], |
|
687 | 695 | MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE, |
|
688 | 696 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
689 | 697 | if ( status_recv != RTEMS_SUCCESSFUL ) { |
|
690 | 698 | PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv) |
|
691 | 699 | } |
|
692 | 700 | |
|
693 | 701 | //************************************************ |
|
694 | 702 | // create the queue for handling TM packet sending |
|
695 | 703 | status_send = rtems_message_queue_create( misc_name[QUEUE_SEND], |
|
696 | 704 | MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND, |
|
697 | 705 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
698 | 706 | if ( status_send != RTEMS_SUCCESSFUL ) { |
|
699 | 707 | PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send) |
|
700 | 708 | } |
|
701 | 709 | |
|
702 | 710 | //***************************************************************************** |
|
703 | 711 | // create the queue for handling averaged spectral matrices for processing @ f0 |
|
704 | 712 | status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0], |
|
705 | 713 | MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0, |
|
706 | 714 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
707 | 715 | if ( status_q_p0 != RTEMS_SUCCESSFUL ) { |
|
708 | 716 | PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0) |
|
709 | 717 | } |
|
710 | 718 | |
|
711 | 719 | //***************************************************************************** |
|
712 | 720 | // create the queue for handling averaged spectral matrices for processing @ f1 |
|
713 | 721 | status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1], |
|
714 | 722 | MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1, |
|
715 | 723 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
716 | 724 | if ( status_q_p1 != RTEMS_SUCCESSFUL ) { |
|
717 | 725 | PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1) |
|
718 | 726 | } |
|
719 | 727 | |
|
720 | 728 | //***************************************************************************** |
|
721 | 729 | // create the queue for handling averaged spectral matrices for processing @ f2 |
|
722 | 730 | status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2], |
|
723 | 731 | MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2, |
|
724 | 732 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
725 | 733 | if ( status_q_p2 != RTEMS_SUCCESSFUL ) { |
|
726 | 734 | PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2) |
|
727 | 735 | } |
|
728 | 736 | |
|
729 | 737 | if ( status_recv != RTEMS_SUCCESSFUL ) |
|
730 | 738 | { |
|
731 | 739 | ret = status_recv; |
|
732 | 740 | } |
|
733 | 741 | else if( status_send != RTEMS_SUCCESSFUL ) |
|
734 | 742 | { |
|
735 | 743 | ret = status_send; |
|
736 | 744 | } |
|
737 | 745 | else if( status_q_p0 != RTEMS_SUCCESSFUL ) |
|
738 | 746 | { |
|
739 | 747 | ret = status_q_p0; |
|
740 | 748 | } |
|
741 | 749 | else if( status_q_p1 != RTEMS_SUCCESSFUL ) |
|
742 | 750 | { |
|
743 | 751 | ret = status_q_p1; |
|
744 | 752 | } |
|
745 | 753 | else |
|
746 | 754 | { |
|
747 | 755 | ret = status_q_p2; |
|
748 | 756 | } |
|
749 | 757 | |
|
750 | 758 | return ret; |
|
751 | 759 | } |
|
752 | 760 | |
|
761 | rtems_status_code create_timecode_timer( void ) | |
|
762 | { | |
|
763 | rtems_status_code status; | |
|
764 | ||
|
765 | status = rtems_timer_create( timecode_timer_name, &timecode_timer_id ); | |
|
766 | ||
|
767 | if ( status != RTEMS_SUCCESSFUL ) | |
|
768 | { | |
|
769 | PRINTF1("in create_timer_timecode *** ERR creating SPTC timer, %d\n", status) | |
|
770 | } | |
|
771 | else | |
|
772 | { | |
|
773 | PRINTF("in create_timer_timecode *** OK creating SPTC timer\n") | |
|
774 | } | |
|
775 | ||
|
776 | return status; | |
|
777 | } | |
|
778 | ||
|
753 | 779 | rtems_status_code get_message_queue_id_send( rtems_id *queue_id ) |
|
754 | 780 | { |
|
755 | 781 | rtems_status_code status; |
|
756 | 782 | rtems_name queue_name; |
|
757 | 783 | |
|
758 | 784 | queue_name = rtems_build_name( 'Q', '_', 'S', 'D' ); |
|
759 | 785 | |
|
760 | 786 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
761 | 787 | |
|
762 | 788 | return status; |
|
763 | 789 | } |
|
764 | 790 | |
|
765 | 791 | rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ) |
|
766 | 792 | { |
|
767 | 793 | rtems_status_code status; |
|
768 | 794 | rtems_name queue_name; |
|
769 | 795 | |
|
770 | 796 | queue_name = rtems_build_name( 'Q', '_', 'R', 'V' ); |
|
771 | 797 | |
|
772 | 798 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
773 | 799 | |
|
774 | 800 | return status; |
|
775 | 801 | } |
|
776 | 802 | |
|
777 | 803 | rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id ) |
|
778 | 804 | { |
|
779 | 805 | rtems_status_code status; |
|
780 | 806 | rtems_name queue_name; |
|
781 | 807 | |
|
782 | 808 | queue_name = rtems_build_name( 'Q', '_', 'P', '0' ); |
|
783 | 809 | |
|
784 | 810 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
785 | 811 | |
|
786 | 812 | return status; |
|
787 | 813 | } |
|
788 | 814 | |
|
789 | 815 | rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id ) |
|
790 | 816 | { |
|
791 | 817 | rtems_status_code status; |
|
792 | 818 | rtems_name queue_name; |
|
793 | 819 | |
|
794 | 820 | queue_name = rtems_build_name( 'Q', '_', 'P', '1' ); |
|
795 | 821 | |
|
796 | 822 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
797 | 823 | |
|
798 | 824 | return status; |
|
799 | 825 | } |
|
800 | 826 | |
|
801 | 827 | rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id ) |
|
802 | 828 | { |
|
803 | 829 | rtems_status_code status; |
|
804 | 830 | rtems_name queue_name; |
|
805 | 831 | |
|
806 | 832 | queue_name = rtems_build_name( 'Q', '_', 'P', '2' ); |
|
807 | 833 | |
|
808 | 834 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
809 | 835 | |
|
810 | 836 | return status; |
|
811 | 837 | } |
|
812 | 838 | |
|
813 | 839 | void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max ) |
|
814 | 840 | { |
|
815 | 841 | u_int32_t count; |
|
816 | 842 | rtems_status_code status; |
|
817 | 843 | |
|
818 | 844 | status = rtems_message_queue_get_number_pending( queue_id, &count ); |
|
819 | 845 | |
|
820 | 846 | count = count + 1; |
|
821 | 847 | |
|
822 | 848 | if (status != RTEMS_SUCCESSFUL) |
|
823 | 849 | { |
|
824 | 850 | PRINTF1("in update_queue_max_count *** ERR = %d\n", status) |
|
825 | 851 | } |
|
826 | 852 | else |
|
827 | 853 | { |
|
828 | 854 | if (count > *fifo_size_max) |
|
829 | 855 | { |
|
830 | 856 | *fifo_size_max = count; |
|
831 | 857 | } |
|
832 | 858 | } |
|
833 | 859 | } |
|
834 | 860 | |
|
835 | 861 | void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize ) |
|
836 | 862 | { |
|
837 | 863 | unsigned char i; |
|
838 | 864 | |
|
839 | 865 | //*************** |
|
840 | 866 | // BUFFER ADDRESS |
|
841 | 867 | for(i=0; i<nbNodes; i++) |
|
842 | 868 | { |
|
843 | 869 | ring[i].coarseTime = 0xffffffff; |
|
844 | 870 | ring[i].fineTime = 0xffffffff; |
|
845 | 871 | ring[i].sid = 0x00; |
|
846 | 872 | ring[i].status = 0x00; |
|
847 | 873 | ring[i].buffer_address = (int) &buffer[ i * bufferSize ]; |
|
848 | 874 | } |
|
849 | 875 | |
|
850 | 876 | //***** |
|
851 | 877 | // NEXT |
|
852 | 878 | ring[ nbNodes - 1 ].next = (ring_node*) &ring[ 0 ]; |
|
853 | 879 | for(i=0; i<nbNodes-1; i++) |
|
854 | 880 | { |
|
855 | 881 | ring[i].next = (ring_node*) &ring[ i + 1 ]; |
|
856 | 882 | } |
|
857 | 883 | |
|
858 | 884 | //********* |
|
859 | 885 | // PREVIOUS |
|
860 | 886 | ring[ 0 ].previous = (ring_node*) &ring[ nbNodes - 1 ]; |
|
861 | 887 | for(i=1; i<nbNodes; i++) |
|
862 | 888 | { |
|
863 | 889 | ring[i].previous = (ring_node*) &ring[ i - 1 ]; |
|
864 | 890 | } |
|
865 | 891 | } |
@@ -1,700 +1,705 | |||
|
1 | 1 | /** General usage functions and RTEMS tasks. |
|
2 | 2 | * |
|
3 | 3 | * @file |
|
4 | 4 | * @author P. LEROY |
|
5 | 5 | * |
|
6 | 6 | */ |
|
7 | 7 | |
|
8 | 8 | #include "fsw_misc.h" |
|
9 | 9 | |
|
10 | 10 | void timer_configure(unsigned char timer, unsigned int clock_divider, |
|
11 | 11 | unsigned char interrupt_level, rtems_isr (*timer_isr)() ) |
|
12 | 12 | { |
|
13 | 13 | /** This function configures a GPTIMER timer instantiated in the VHDL design. |
|
14 | 14 | * |
|
15 | 15 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
16 | 16 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
17 | 17 | * @param clock_divider is the divider of the 1 MHz clock that will be configured. |
|
18 | 18 | * @param interrupt_level is the interrupt level that the timer drives. |
|
19 | 19 | * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer. |
|
20 | 20 | * |
|
21 | 21 | * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76 |
|
22 | 22 | * |
|
23 | 23 | */ |
|
24 | 24 | |
|
25 | 25 | rtems_status_code status; |
|
26 | 26 | rtems_isr_entry old_isr_handler; |
|
27 | 27 | |
|
28 | 28 | gptimer_regs->timer[timer].ctrl = 0x00; // reset the control register |
|
29 | 29 | |
|
30 | 30 | status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels |
|
31 | 31 | if (status!=RTEMS_SUCCESSFUL) |
|
32 | 32 | { |
|
33 | 33 | PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n") |
|
34 | 34 | } |
|
35 | 35 | |
|
36 | 36 | timer_set_clock_divider( timer, clock_divider); |
|
37 | 37 | } |
|
38 | 38 | |
|
39 | 39 | void timer_start(unsigned char timer) |
|
40 | 40 | { |
|
41 | 41 | /** This function starts a GPTIMER timer. |
|
42 | 42 | * |
|
43 | 43 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
44 | 44 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
45 | 45 | * |
|
46 | 46 | */ |
|
47 | 47 | |
|
48 | 48 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any |
|
49 | 49 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004; // LD load value from the reload register |
|
50 | 50 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001; // EN enable the timer |
|
51 | 51 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002; // RS restart |
|
52 | 52 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008; // IE interrupt enable |
|
53 | 53 | } |
|
54 | 54 | |
|
55 | 55 | void timer_stop(unsigned char timer) |
|
56 | 56 | { |
|
57 | 57 | /** This function stops a GPTIMER timer. |
|
58 | 58 | * |
|
59 | 59 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
60 | 60 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
61 | 61 | * |
|
62 | 62 | */ |
|
63 | 63 | |
|
64 | 64 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe; // EN enable the timer |
|
65 | 65 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef; // IE interrupt enable |
|
66 | 66 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any |
|
67 | 67 | } |
|
68 | 68 | |
|
69 | 69 | void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider) |
|
70 | 70 | { |
|
71 | 71 | /** This function sets the clock divider of a GPTIMER timer. |
|
72 | 72 | * |
|
73 | 73 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
74 | 74 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
75 | 75 | * @param clock_divider is the divider of the 1 MHz clock that will be configured. |
|
76 | 76 | * |
|
77 | 77 | */ |
|
78 | 78 | |
|
79 | 79 | gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz |
|
80 | 80 | } |
|
81 | 81 | |
|
82 | 82 | // WATCHDOG |
|
83 | 83 | |
|
84 | 84 | rtems_isr watchdog_isr( rtems_vector_number vector ) |
|
85 | 85 | { |
|
86 | 86 | rtems_status_code status_code; |
|
87 | 87 | |
|
88 | 88 | status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_12 ); |
|
89 | 89 | } |
|
90 | 90 | |
|
91 | 91 | void watchdog_configure(void) |
|
92 | 92 | { |
|
93 | 93 | /** This function configure the watchdog. |
|
94 | 94 | * |
|
95 | 95 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
96 | 96 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
97 | 97 | * |
|
98 | 98 | * The watchdog is a timer provided by the GPTIMER IP core of the GRLIB. |
|
99 | 99 | * |
|
100 | 100 | */ |
|
101 | 101 | |
|
102 | 102 | LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG ); // mask gptimer/watchdog interrupt during configuration |
|
103 | 103 | |
|
104 | 104 | timer_configure( TIMER_WATCHDOG, CLKDIV_WATCHDOG, IRQ_SPARC_GPTIMER_WATCHDOG, watchdog_isr ); |
|
105 | 105 | |
|
106 | 106 | LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG ); // clear gptimer/watchdog interrupt |
|
107 | 107 | } |
|
108 | 108 | |
|
109 | 109 | void watchdog_stop(void) |
|
110 | 110 | { |
|
111 | 111 | LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG ); // mask gptimer/watchdog interrupt line |
|
112 | 112 | timer_stop( TIMER_WATCHDOG ); |
|
113 | 113 | LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG ); // clear gptimer/watchdog interrupt |
|
114 | 114 | } |
|
115 | 115 | |
|
116 | 116 | void watchdog_reload(void) |
|
117 | 117 | { |
|
118 | 118 | /** This function reloads the watchdog timer counter with the timer reload value. |
|
119 | 119 | * |
|
120 | 120 | * |
|
121 | 121 | */ |
|
122 | 122 | |
|
123 | 123 | gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000004; // LD load value from the reload register |
|
124 | 124 | } |
|
125 | 125 | |
|
126 | 126 | void watchdog_start(void) |
|
127 | 127 | { |
|
128 | 128 | /** This function starts the watchdog timer. |
|
129 | 129 | * |
|
130 | 130 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
131 | 131 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
132 | 132 | * |
|
133 | 133 | */ |
|
134 | 134 | |
|
135 | 135 | LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG ); |
|
136 | 136 | |
|
137 | 137 | gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000010; // clear pending IRQ if any |
|
138 | 138 | gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000004; // LD load value from the reload register |
|
139 | 139 | gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000001; // EN enable the timer |
|
140 | 140 | gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000008; // IE interrupt enable |
|
141 | 141 | |
|
142 | 142 | LEON_Unmask_interrupt( IRQ_GPTIMER_WATCHDOG ); |
|
143 | 143 | |
|
144 | 144 | } |
|
145 | 145 | |
|
146 | 146 | int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port |
|
147 | 147 | { |
|
148 | 148 | struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART; |
|
149 | 149 | |
|
150 | 150 | apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE; |
|
151 | 151 | |
|
152 | 152 | return 0; |
|
153 | 153 | } |
|
154 | 154 | |
|
155 | 155 | int enable_apbuart_transmitter( void ) // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register |
|
156 | 156 | { |
|
157 | 157 | struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART; |
|
158 | 158 | |
|
159 | 159 | apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE; |
|
160 | 160 | |
|
161 | 161 | return 0; |
|
162 | 162 | } |
|
163 | 163 | |
|
164 | 164 | void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value) |
|
165 | 165 | { |
|
166 | 166 | /** This function sets the scaler reload register of the apbuart module |
|
167 | 167 | * |
|
168 | 168 | * @param regs is the address of the apbuart registers in memory |
|
169 | 169 | * @param value is the value that will be stored in the scaler register |
|
170 | 170 | * |
|
171 | 171 | * The value shall be set by the software to get data on the serial interface. |
|
172 | 172 | * |
|
173 | 173 | */ |
|
174 | 174 | |
|
175 | 175 | struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs; |
|
176 | 176 | |
|
177 | 177 | apbuart_regs->scaler = value; |
|
178 | 178 | BOOT_PRINTF1("OK *** apbuart port scaler reload register set to 0x%x\n", value) |
|
179 | 179 | } |
|
180 | 180 | |
|
181 | 181 | //************ |
|
182 | 182 | // RTEMS TASKS |
|
183 | 183 | |
|
184 | 184 | rtems_task load_task(rtems_task_argument argument) |
|
185 | 185 | { |
|
186 | 186 | BOOT_PRINTF("in LOAD *** \n") |
|
187 | 187 | |
|
188 | 188 | rtems_status_code status; |
|
189 | 189 | unsigned int i; |
|
190 | 190 | unsigned int j; |
|
191 | 191 | rtems_name name_watchdog_rate_monotonic; // name of the watchdog rate monotonic |
|
192 | 192 | rtems_id watchdog_period_id; // id of the watchdog rate monotonic period |
|
193 | 193 | |
|
194 | 194 | name_watchdog_rate_monotonic = rtems_build_name( 'L', 'O', 'A', 'D' ); |
|
195 | 195 | |
|
196 | 196 | status = rtems_rate_monotonic_create( name_watchdog_rate_monotonic, &watchdog_period_id ); |
|
197 | 197 | if( status != RTEMS_SUCCESSFUL ) { |
|
198 | 198 | PRINTF1( "in LOAD *** rtems_rate_monotonic_create failed with status of %d\n", status ) |
|
199 | 199 | } |
|
200 | 200 | |
|
201 | 201 | i = 0; |
|
202 | 202 | j = 0; |
|
203 | 203 | |
|
204 | 204 | watchdog_configure(); |
|
205 | 205 | |
|
206 | 206 | watchdog_start(); |
|
207 | 207 | |
|
208 | 208 | while(1){ |
|
209 | 209 | status = rtems_rate_monotonic_period( watchdog_period_id, WATCHDOG_PERIOD ); |
|
210 | 210 | watchdog_reload(); |
|
211 | 211 | i = i + 1; |
|
212 | 212 | if ( i == 10 ) |
|
213 | 213 | { |
|
214 | 214 | i = 0; |
|
215 | 215 | j = j + 1; |
|
216 | 216 | PRINTF1("%d\n", j) |
|
217 | 217 | } |
|
218 | 218 | #ifdef DEBUG_WATCHDOG |
|
219 | 219 | if (j == 3 ) |
|
220 | 220 | { |
|
221 | 221 | status = rtems_task_delete(RTEMS_SELF); |
|
222 | 222 | } |
|
223 | 223 | #endif |
|
224 | 224 | } |
|
225 | 225 | } |
|
226 | 226 | |
|
227 | 227 | rtems_task hous_task(rtems_task_argument argument) |
|
228 | 228 | { |
|
229 | 229 | rtems_status_code status; |
|
230 | 230 | rtems_status_code spare_status; |
|
231 | 231 | rtems_id queue_id; |
|
232 | 232 | rtems_rate_monotonic_period_status period_status; |
|
233 | 233 | |
|
234 | 234 | status = get_message_queue_id_send( &queue_id ); |
|
235 | 235 | if (status != RTEMS_SUCCESSFUL) |
|
236 | 236 | { |
|
237 | 237 | PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status) |
|
238 | 238 | } |
|
239 | 239 | |
|
240 | 240 | BOOT_PRINTF("in HOUS ***\n") |
|
241 | 241 | |
|
242 | 242 | if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) { |
|
243 | 243 | status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id ); |
|
244 | 244 | if( status != RTEMS_SUCCESSFUL ) { |
|
245 | 245 | PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status ) |
|
246 | 246 | } |
|
247 | 247 | } |
|
248 | 248 | |
|
249 | 249 | status = rtems_rate_monotonic_cancel(HK_id); |
|
250 | 250 | if( status != RTEMS_SUCCESSFUL ) { |
|
251 | 251 | PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status ) |
|
252 | 252 | } |
|
253 | 253 | else { |
|
254 | 254 | DEBUG_PRINTF("OK *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n") |
|
255 | 255 | } |
|
256 | 256 | |
|
257 | 257 | // startup phase |
|
258 | 258 | status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks ); |
|
259 | 259 | status = rtems_rate_monotonic_get_status( HK_id, &period_status ); |
|
260 | 260 | DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state) |
|
261 | 261 | while(period_status.state != RATE_MONOTONIC_EXPIRED ) // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway |
|
262 | 262 | { |
|
263 | 263 | if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization |
|
264 | 264 | { |
|
265 | 265 | break; // break if LFR is synchronized |
|
266 | 266 | } |
|
267 | 267 | else |
|
268 | 268 | { |
|
269 | 269 | status = rtems_rate_monotonic_get_status( HK_id, &period_status ); |
|
270 | 270 | // sched_yield(); |
|
271 | 271 | status = rtems_task_wake_after( 10 ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 100 ms = 10 * 10 ms |
|
272 | 272 | } |
|
273 | 273 | } |
|
274 | 274 | status = rtems_rate_monotonic_cancel(HK_id); |
|
275 | 275 | DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state) |
|
276 | 276 | |
|
277 | 277 | set_hk_lfr_reset_cause( POWER_ON ); |
|
278 | 278 | |
|
279 | 279 | while(1){ // launch the rate monotonic task |
|
280 | 280 | status = rtems_rate_monotonic_period( HK_id, HK_PERIOD ); |
|
281 | 281 | if ( status != RTEMS_SUCCESSFUL ) { |
|
282 | 282 | PRINTF1( "in HOUS *** ERR period: %d\n", status); |
|
283 | 283 | spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 ); |
|
284 | 284 | } |
|
285 | 285 | else { |
|
286 | 286 | housekeeping_packet.packetSequenceControl[0] = (unsigned char) (sequenceCounterHK >> 8); |
|
287 | 287 | housekeeping_packet.packetSequenceControl[1] = (unsigned char) (sequenceCounterHK ); |
|
288 | 288 | increment_seq_counter( &sequenceCounterHK ); |
|
289 | 289 | |
|
290 | 290 | housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
291 | 291 | housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
292 | 292 | housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
293 | 293 | housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time); |
|
294 | 294 | housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8); |
|
295 | 295 | housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time); |
|
296 | 296 | |
|
297 | 297 | spacewire_update_statistics(); |
|
298 | 298 | |
|
299 | 299 | hk_lfr_le_me_he_update(); |
|
300 | 300 | |
|
301 | 301 | housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max; |
|
302 | 302 | housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max; |
|
303 | 303 | housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max; |
|
304 | 304 | housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max; |
|
305 | 305 | housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max; |
|
306 | 306 | |
|
307 | 307 | housekeeping_packet.sy_lfr_common_parameters_spare = parameter_dump_packet.sy_lfr_common_parameters_spare; |
|
308 | 308 | housekeeping_packet.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
309 | 309 | get_temperatures( housekeeping_packet.hk_lfr_temp_scm ); |
|
310 | 310 | get_v_e1_e2_f3( housekeeping_packet.hk_lfr_sc_v_f3 ); |
|
311 | 311 | get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load ); |
|
312 | 312 | |
|
313 | 313 | // SEND PACKET |
|
314 | 314 | status = rtems_message_queue_send( queue_id, &housekeeping_packet, |
|
315 | 315 | PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES); |
|
316 | 316 | if (status != RTEMS_SUCCESSFUL) { |
|
317 | 317 | PRINTF1("in HOUS *** ERR send: %d\n", status) |
|
318 | 318 | } |
|
319 | 319 | } |
|
320 | 320 | } |
|
321 | 321 | |
|
322 | 322 | PRINTF("in HOUS *** deleting task\n") |
|
323 | 323 | |
|
324 | 324 | status = rtems_task_delete( RTEMS_SELF ); // should not return |
|
325 | 325 | |
|
326 | 326 | return; |
|
327 | 327 | } |
|
328 | 328 | |
|
329 | 329 | rtems_task dumb_task( rtems_task_argument unused ) |
|
330 | 330 | { |
|
331 | 331 | /** This RTEMS taks is used to print messages without affecting the general behaviour of the software. |
|
332 | 332 | * |
|
333 | 333 | * @param unused is the starting argument of the RTEMS task |
|
334 | 334 | * |
|
335 | 335 | * The DUMB taks waits for RTEMS events and print messages depending on the incoming events. |
|
336 | 336 | * |
|
337 | 337 | */ |
|
338 | 338 | |
|
339 | 339 | unsigned int i; |
|
340 | 340 | unsigned int intEventOut; |
|
341 | 341 | unsigned int coarse_time = 0; |
|
342 | 342 | unsigned int fine_time = 0; |
|
343 | 343 | rtems_event_set event_out; |
|
344 | 344 | |
|
345 |
char *DumbMessages[1 |
|
|
345 | char *DumbMessages[14] = {"in DUMB *** default", // RTEMS_EVENT_0 | |
|
346 | 346 | "in DUMB *** timecode_irq_handler", // RTEMS_EVENT_1 |
|
347 | 347 | "in DUMB *** f3 buffer changed", // RTEMS_EVENT_2 |
|
348 | 348 | "in DUMB *** in SMIQ *** Error sending event to AVF0", // RTEMS_EVENT_3 |
|
349 | 349 | "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ", // RTEMS_EVENT_4 |
|
350 | 350 | "in DUMB *** waveforms_simulator_isr", // RTEMS_EVENT_5 |
|
351 | 351 | "VHDL SM *** two buffers f0 ready", // RTEMS_EVENT_6 |
|
352 | 352 | "ready for dump", // RTEMS_EVENT_7 |
|
353 | 353 | "VHDL ERR *** spectral matrix", // RTEMS_EVENT_8 |
|
354 | 354 | "tick", // RTEMS_EVENT_9 |
|
355 | 355 | "VHDL ERR *** waveform picker", // RTEMS_EVENT_10 |
|
356 | 356 | "VHDL ERR *** unexpected ready matrix values", // RTEMS_EVENT_11 |
|
357 |
"WATCHDOG timer" |
|
|
357 | "WATCHDOG timer", // RTEMS_EVENT_12 | |
|
358 | "TIMECODE timer" // RTEMS_EVENT_13 | |
|
358 | 359 | }; |
|
359 | 360 | |
|
360 | 361 | BOOT_PRINTF("in DUMB *** \n") |
|
361 | 362 | |
|
362 | 363 | while(1){ |
|
363 | 364 | rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 |
|
364 | 365 | | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7 |
|
365 | | RTEMS_EVENT_8 | RTEMS_EVENT_9 | RTEMS_EVENT_12, | |
|
366 | | RTEMS_EVENT_8 | RTEMS_EVENT_9 | RTEMS_EVENT_12 | RTEMS_EVENT_13, | |
|
366 | 367 | RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT |
|
367 | 368 | intEventOut = (unsigned int) event_out; |
|
368 | 369 | for ( i=0; i<32; i++) |
|
369 | 370 | { |
|
370 | 371 | if ( ((intEventOut >> i) & 0x0001) != 0) |
|
371 | 372 | { |
|
372 | 373 | coarse_time = time_management_regs->coarse_time; |
|
373 | 374 | fine_time = time_management_regs->fine_time; |
|
374 | 375 | if (i==12) |
|
375 | 376 | { |
|
376 | 377 | PRINTF1("%s\n", DumbMessages[12]) |
|
377 | 378 | } |
|
379 | if (i==13) | |
|
380 | { | |
|
381 | PRINTF1("%s\n", DumbMessages[13]) | |
|
382 | } | |
|
378 | 383 | } |
|
379 | 384 | } |
|
380 | 385 | } |
|
381 | 386 | } |
|
382 | 387 | |
|
383 | 388 | //***************************** |
|
384 | 389 | // init housekeeping parameters |
|
385 | 390 | |
|
386 | 391 | void init_housekeeping_parameters( void ) |
|
387 | 392 | { |
|
388 | 393 | /** This function initialize the housekeeping_packet global variable with default values. |
|
389 | 394 | * |
|
390 | 395 | */ |
|
391 | 396 | |
|
392 | 397 | unsigned int i = 0; |
|
393 | 398 | unsigned char *parameters; |
|
394 | 399 | unsigned char sizeOfHK; |
|
395 | 400 | |
|
396 | 401 | sizeOfHK = sizeof( Packet_TM_LFR_HK_t ); |
|
397 | 402 | |
|
398 | 403 | parameters = (unsigned char*) &housekeeping_packet; |
|
399 | 404 | |
|
400 | 405 | for(i = 0; i< sizeOfHK; i++) |
|
401 | 406 | { |
|
402 | 407 | parameters[i] = 0x00; |
|
403 | 408 | } |
|
404 | 409 | |
|
405 | 410 | housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
406 | 411 | housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
407 | 412 | housekeeping_packet.reserved = DEFAULT_RESERVED; |
|
408 | 413 | housekeeping_packet.userApplication = CCSDS_USER_APP; |
|
409 | 414 | housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8); |
|
410 | 415 | housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK); |
|
411 | 416 | housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
412 | 417 | housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
413 | 418 | housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8); |
|
414 | 419 | housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK ); |
|
415 | 420 | housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
416 | 421 | housekeeping_packet.serviceType = TM_TYPE_HK; |
|
417 | 422 | housekeeping_packet.serviceSubType = TM_SUBTYPE_HK; |
|
418 | 423 | housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND; |
|
419 | 424 | housekeeping_packet.sid = SID_HK; |
|
420 | 425 | |
|
421 | 426 | // init status word |
|
422 | 427 | housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0; |
|
423 | 428 | housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1; |
|
424 | 429 | // init software version |
|
425 | 430 | housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1; |
|
426 | 431 | housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2; |
|
427 | 432 | housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3; |
|
428 | 433 | housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4; |
|
429 | 434 | // init fpga version |
|
430 | 435 | parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION); |
|
431 | 436 | housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1 |
|
432 | 437 | housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2 |
|
433 | 438 | housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3 |
|
434 | 439 | |
|
435 | 440 | housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND; |
|
436 | 441 | housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV; |
|
437 | 442 | housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0; |
|
438 | 443 | housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1; |
|
439 | 444 | housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2; |
|
440 | 445 | } |
|
441 | 446 | |
|
442 | 447 | void increment_seq_counter( unsigned short *packetSequenceControl ) |
|
443 | 448 | { |
|
444 | 449 | /** This function increment the sequence counter passes in argument. |
|
445 | 450 | * |
|
446 | 451 | * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0. |
|
447 | 452 | * |
|
448 | 453 | */ |
|
449 | 454 | |
|
450 | 455 | unsigned short segmentation_grouping_flag; |
|
451 | 456 | unsigned short sequence_cnt; |
|
452 | 457 | |
|
453 | 458 | segmentation_grouping_flag = TM_PACKET_SEQ_CTRL_STANDALONE << 8; // keep bits 7 downto 6 |
|
454 | 459 | sequence_cnt = (*packetSequenceControl) & 0x3fff; // [0011 1111 1111 1111] |
|
455 | 460 | |
|
456 | 461 | if ( sequence_cnt < SEQ_CNT_MAX) |
|
457 | 462 | { |
|
458 | 463 | sequence_cnt = sequence_cnt + 1; |
|
459 | 464 | } |
|
460 | 465 | else |
|
461 | 466 | { |
|
462 | 467 | sequence_cnt = 0; |
|
463 | 468 | } |
|
464 | 469 | |
|
465 | 470 | *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ; |
|
466 | 471 | } |
|
467 | 472 | |
|
468 | 473 | void getTime( unsigned char *time) |
|
469 | 474 | { |
|
470 | 475 | /** This function write the current local time in the time buffer passed in argument. |
|
471 | 476 | * |
|
472 | 477 | */ |
|
473 | 478 | |
|
474 | 479 | time[0] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
475 | 480 | time[1] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
476 | 481 | time[2] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
477 | 482 | time[3] = (unsigned char) (time_management_regs->coarse_time); |
|
478 | 483 | time[4] = (unsigned char) (time_management_regs->fine_time>>8); |
|
479 | 484 | time[5] = (unsigned char) (time_management_regs->fine_time); |
|
480 | 485 | } |
|
481 | 486 | |
|
482 | 487 | unsigned long long int getTimeAsUnsignedLongLongInt( ) |
|
483 | 488 | { |
|
484 | 489 | /** This function write the current local time in the time buffer passed in argument. |
|
485 | 490 | * |
|
486 | 491 | */ |
|
487 | 492 | unsigned long long int time; |
|
488 | 493 | |
|
489 | 494 | time = ( (unsigned long long int) (time_management_regs->coarse_time & 0x7fffffff) << 16 ) |
|
490 | 495 | + time_management_regs->fine_time; |
|
491 | 496 | |
|
492 | 497 | return time; |
|
493 | 498 | } |
|
494 | 499 | |
|
495 | 500 | void send_dumb_hk( void ) |
|
496 | 501 | { |
|
497 | 502 | Packet_TM_LFR_HK_t dummy_hk_packet; |
|
498 | 503 | unsigned char *parameters; |
|
499 | 504 | unsigned int i; |
|
500 | 505 | rtems_id queue_id; |
|
501 | 506 | |
|
502 | 507 | dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
503 | 508 | dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
504 | 509 | dummy_hk_packet.reserved = DEFAULT_RESERVED; |
|
505 | 510 | dummy_hk_packet.userApplication = CCSDS_USER_APP; |
|
506 | 511 | dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8); |
|
507 | 512 | dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK); |
|
508 | 513 | dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
509 | 514 | dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
510 | 515 | dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8); |
|
511 | 516 | dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK ); |
|
512 | 517 | dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
513 | 518 | dummy_hk_packet.serviceType = TM_TYPE_HK; |
|
514 | 519 | dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK; |
|
515 | 520 | dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND; |
|
516 | 521 | dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
517 | 522 | dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
518 | 523 | dummy_hk_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
519 | 524 | dummy_hk_packet.time[3] = (unsigned char) (time_management_regs->coarse_time); |
|
520 | 525 | dummy_hk_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8); |
|
521 | 526 | dummy_hk_packet.time[5] = (unsigned char) (time_management_regs->fine_time); |
|
522 | 527 | dummy_hk_packet.sid = SID_HK; |
|
523 | 528 | |
|
524 | 529 | // init status word |
|
525 | 530 | dummy_hk_packet.lfr_status_word[0] = 0xff; |
|
526 | 531 | dummy_hk_packet.lfr_status_word[1] = 0xff; |
|
527 | 532 | // init software version |
|
528 | 533 | dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1; |
|
529 | 534 | dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2; |
|
530 | 535 | dummy_hk_packet.lfr_sw_version[2] = SW_VERSION_N3; |
|
531 | 536 | dummy_hk_packet.lfr_sw_version[3] = SW_VERSION_N4; |
|
532 | 537 | // init fpga version |
|
533 | 538 | parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0); |
|
534 | 539 | dummy_hk_packet.lfr_fpga_version[0] = parameters[1]; // n1 |
|
535 | 540 | dummy_hk_packet.lfr_fpga_version[1] = parameters[2]; // n2 |
|
536 | 541 | dummy_hk_packet.lfr_fpga_version[2] = parameters[3]; // n3 |
|
537 | 542 | |
|
538 | 543 | parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load; |
|
539 | 544 | |
|
540 | 545 | for (i=0; i<100; i++) |
|
541 | 546 | { |
|
542 | 547 | parameters[i] = 0xff; |
|
543 | 548 | } |
|
544 | 549 | |
|
545 | 550 | get_message_queue_id_send( &queue_id ); |
|
546 | 551 | |
|
547 | 552 | rtems_message_queue_send( queue_id, &dummy_hk_packet, |
|
548 | 553 | PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES); |
|
549 | 554 | } |
|
550 | 555 | |
|
551 | 556 | void get_temperatures( unsigned char *temperatures ) |
|
552 | 557 | { |
|
553 | 558 | unsigned char* temp_scm_ptr; |
|
554 | 559 | unsigned char* temp_pcb_ptr; |
|
555 | 560 | unsigned char* temp_fpga_ptr; |
|
556 | 561 | |
|
557 | 562 | // SEL1 SEL0 |
|
558 | 563 | // 0 0 => PCB |
|
559 | 564 | // 0 1 => FPGA |
|
560 | 565 | // 1 0 => SCM |
|
561 | 566 | |
|
562 | 567 | temp_scm_ptr = (unsigned char *) &time_management_regs->temp_scm; |
|
563 | 568 | temp_pcb_ptr = (unsigned char *) &time_management_regs->temp_pcb; |
|
564 | 569 | temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga; |
|
565 | 570 | |
|
566 | 571 | temperatures[0] = temp_scm_ptr[2]; |
|
567 | 572 | temperatures[1] = temp_scm_ptr[3]; |
|
568 | 573 | temperatures[2] = temp_pcb_ptr[2]; |
|
569 | 574 | temperatures[3] = temp_pcb_ptr[3]; |
|
570 | 575 | temperatures[4] = temp_fpga_ptr[2]; |
|
571 | 576 | temperatures[5] = temp_fpga_ptr[3]; |
|
572 | 577 | } |
|
573 | 578 | |
|
574 | 579 | void get_v_e1_e2_f3( unsigned char *spacecraft_potential ) |
|
575 | 580 | { |
|
576 | 581 | unsigned char* v_ptr; |
|
577 | 582 | unsigned char* e1_ptr; |
|
578 | 583 | unsigned char* e2_ptr; |
|
579 | 584 | |
|
580 | 585 | v_ptr = (unsigned char *) &waveform_picker_regs->v; |
|
581 | 586 | e1_ptr = (unsigned char *) &waveform_picker_regs->e1; |
|
582 | 587 | e2_ptr = (unsigned char *) &waveform_picker_regs->e2; |
|
583 | 588 | |
|
584 | 589 | spacecraft_potential[0] = v_ptr[2]; |
|
585 | 590 | spacecraft_potential[1] = v_ptr[3]; |
|
586 | 591 | spacecraft_potential[2] = e1_ptr[2]; |
|
587 | 592 | spacecraft_potential[3] = e1_ptr[3]; |
|
588 | 593 | spacecraft_potential[4] = e2_ptr[2]; |
|
589 | 594 | spacecraft_potential[5] = e2_ptr[3]; |
|
590 | 595 | } |
|
591 | 596 | |
|
592 | 597 | void get_cpu_load( unsigned char *resource_statistics ) |
|
593 | 598 | { |
|
594 | 599 | unsigned char cpu_load; |
|
595 | 600 | |
|
596 | 601 | cpu_load = lfr_rtems_cpu_usage_report(); |
|
597 | 602 | |
|
598 | 603 | // HK_LFR_CPU_LOAD |
|
599 | 604 | resource_statistics[0] = cpu_load; |
|
600 | 605 | |
|
601 | 606 | // HK_LFR_CPU_LOAD_MAX |
|
602 | 607 | if (cpu_load > resource_statistics[1]) |
|
603 | 608 | { |
|
604 | 609 | resource_statistics[1] = cpu_load; |
|
605 | 610 | } |
|
606 | 611 | |
|
607 | 612 | // CPU_LOAD_AVE |
|
608 | 613 | resource_statistics[2] = 0; |
|
609 | 614 | |
|
610 | 615 | #ifndef PRINT_TASK_STATISTICS |
|
611 | 616 | rtems_cpu_usage_reset(); |
|
612 | 617 | #endif |
|
613 | 618 | |
|
614 | 619 | } |
|
615 | 620 | |
|
616 | 621 | void set_hk_lfr_sc_potential_flag( bool state ) |
|
617 | 622 | { |
|
618 | 623 | if (state == true) |
|
619 | 624 | { |
|
620 | 625 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x40; // [0100 0000] |
|
621 | 626 | } |
|
622 | 627 | else |
|
623 | 628 | { |
|
624 | 629 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xbf; // [1011 1111] |
|
625 | 630 | } |
|
626 | 631 | } |
|
627 | 632 | |
|
628 | 633 | void set_hk_lfr_mag_fields_flag( bool state ) |
|
629 | 634 | { |
|
630 | 635 | if (state == true) |
|
631 | 636 | { |
|
632 | 637 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x20; // [0010 0000] |
|
633 | 638 | } |
|
634 | 639 | else |
|
635 | 640 | { |
|
636 | 641 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xd7; // [1101 1111] |
|
637 | 642 | } |
|
638 | 643 | } |
|
639 | 644 | |
|
640 | 645 | void set_hk_lfr_calib_enable( bool state ) |
|
641 | 646 | { |
|
642 | 647 | if (state == true) |
|
643 | 648 | { |
|
644 | 649 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x08; // [0000 1000] |
|
645 | 650 | } |
|
646 | 651 | else |
|
647 | 652 | { |
|
648 | 653 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xf7; // [1111 0111] |
|
649 | 654 | } |
|
650 | 655 | } |
|
651 | 656 | |
|
652 | 657 | void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause ) |
|
653 | 658 | { |
|
654 | 659 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] |
|
655 | 660 | | (lfr_reset_cause & 0x07 ); // [0000 0111] |
|
656 | 661 | } |
|
657 | 662 | |
|
658 | 663 | void hk_lfr_le_me_he_update() |
|
659 | 664 | { |
|
660 | 665 | unsigned int hk_lfr_le_cnt; |
|
661 | 666 | unsigned int hk_lfr_me_cnt; |
|
662 | 667 | unsigned int hk_lfr_he_cnt; |
|
663 | 668 | |
|
664 | 669 | hk_lfr_le_cnt = 0; |
|
665 | 670 | hk_lfr_me_cnt = 0; |
|
666 | 671 | hk_lfr_he_cnt = 0; |
|
667 | 672 | |
|
668 | 673 | //update the low severity error counter |
|
669 | 674 | hk_lfr_le_cnt = |
|
670 | 675 | housekeeping_packet.hk_lfr_dpu_spw_parity |
|
671 | 676 | + housekeeping_packet.hk_lfr_dpu_spw_disconnect |
|
672 | 677 | + housekeeping_packet.hk_lfr_dpu_spw_escape |
|
673 | 678 | + housekeeping_packet.hk_lfr_dpu_spw_credit |
|
674 | 679 | + housekeeping_packet.hk_lfr_dpu_spw_write_sync |
|
675 | 680 | + housekeeping_packet.hk_lfr_dpu_spw_rx_ahb |
|
676 | 681 | + housekeeping_packet.hk_lfr_dpu_spw_tx_ahb |
|
677 | 682 | + housekeeping_packet.hk_lfr_time_timecode_ctr; |
|
678 | 683 | |
|
679 | 684 | //update the medium severity error counter |
|
680 | 685 | hk_lfr_me_cnt = |
|
681 | 686 | housekeeping_packet.hk_lfr_dpu_spw_early_eop |
|
682 | 687 | + housekeeping_packet.hk_lfr_dpu_spw_invalid_addr |
|
683 | 688 | + housekeeping_packet.hk_lfr_dpu_spw_eep |
|
684 | 689 | + housekeeping_packet.hk_lfr_dpu_spw_rx_too_big; |
|
685 | 690 | |
|
686 | 691 | //update the high severity error counter |
|
687 | 692 | hk_lfr_he_cnt = 0; |
|
688 | 693 | |
|
689 | 694 | // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers |
|
690 | 695 | // LE |
|
691 | 696 | housekeeping_packet.hk_lfr_le_cnt[0] = (unsigned char) ((hk_lfr_le_cnt & 0xff00) >> 8); |
|
692 | 697 | housekeeping_packet.hk_lfr_le_cnt[1] = (unsigned char) (hk_lfr_le_cnt & 0x00ff); |
|
693 | 698 | // ME |
|
694 | 699 | housekeeping_packet.hk_lfr_me_cnt[0] = (unsigned char) ((hk_lfr_me_cnt & 0xff00) >> 8); |
|
695 | 700 | housekeeping_packet.hk_lfr_me_cnt[1] = (unsigned char) (hk_lfr_me_cnt & 0x00ff); |
|
696 | 701 | // HE |
|
697 | 702 | housekeeping_packet.hk_lfr_he_cnt[0] = (unsigned char) ((hk_lfr_he_cnt & 0xff00) >> 8); |
|
698 | 703 | housekeeping_packet.hk_lfr_he_cnt[1] = (unsigned char) (hk_lfr_he_cnt & 0x00ff); |
|
699 | 704 | |
|
700 | 705 | } |
@@ -1,1295 +1,1403 | |||
|
1 | 1 | /** Functions related to the SpaceWire interface. |
|
2 | 2 | * |
|
3 | 3 | * @file |
|
4 | 4 | * @author P. LEROY |
|
5 | 5 | * |
|
6 | 6 | * A group of functions to handle SpaceWire transmissions: |
|
7 | 7 | * - configuration of the SpaceWire link |
|
8 | 8 | * - SpaceWire related interruption requests processing |
|
9 | 9 | * - transmission of TeleMetry packets by a dedicated RTEMS task |
|
10 | 10 | * - reception of TeleCommands by a dedicated RTEMS task |
|
11 | 11 | * |
|
12 | 12 | */ |
|
13 | 13 | |
|
14 | 14 | #include "fsw_spacewire.h" |
|
15 | 15 | |
|
16 | 16 | rtems_name semq_name; |
|
17 | 17 | rtems_id semq_id; |
|
18 | 18 | |
|
19 | 19 | //***************** |
|
20 | 20 | // waveform headers |
|
21 | 21 | Header_TM_LFR_SCIENCE_CWF_t headerCWF; |
|
22 | 22 | Header_TM_LFR_SCIENCE_SWF_t headerSWF; |
|
23 | 23 | Header_TM_LFR_SCIENCE_ASM_t headerASM; |
|
24 | 24 | |
|
25 | unsigned char previousTimecodeCtr = 0; | |
|
26 | unsigned int *grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER); | |
|
27 | ||
|
25 | 28 | //*********** |
|
26 | 29 | // RTEMS TASK |
|
27 | 30 | rtems_task spiq_task(rtems_task_argument unused) |
|
28 | 31 | { |
|
29 | 32 | /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver. |
|
30 | 33 | * |
|
31 | 34 | * @param unused is the starting argument of the RTEMS task |
|
32 | 35 | * |
|
33 | 36 | */ |
|
34 | 37 | |
|
35 | 38 | rtems_event_set event_out; |
|
36 | 39 | rtems_status_code status; |
|
37 | 40 | int linkStatus; |
|
38 | 41 | |
|
39 | 42 | BOOT_PRINTF("in SPIQ *** \n") |
|
40 | 43 | |
|
41 | 44 | while(true){ |
|
42 | 45 | rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT |
|
43 | 46 | PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n") |
|
44 | 47 | |
|
45 | 48 | // [0] SUSPEND RECV AND SEND TASKS |
|
46 | 49 | status = rtems_task_suspend( Task_id[ TASKID_RECV ] ); |
|
47 | 50 | if ( status != RTEMS_SUCCESSFUL ) { |
|
48 | 51 | PRINTF("in SPIQ *** ERR suspending RECV Task\n") |
|
49 | 52 | } |
|
50 | 53 | status = rtems_task_suspend( Task_id[ TASKID_SEND ] ); |
|
51 | 54 | if ( status != RTEMS_SUCCESSFUL ) { |
|
52 | 55 | PRINTF("in SPIQ *** ERR suspending SEND Task\n") |
|
53 | 56 | } |
|
54 | 57 | |
|
55 | 58 | // [1] CHECK THE LINK |
|
56 | 59 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1) |
|
57 | 60 | if ( linkStatus != 5) { |
|
58 | 61 | PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus) |
|
59 | 62 | status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms |
|
60 | 63 | } |
|
61 | 64 | |
|
62 | 65 | // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT |
|
63 | 66 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2) |
|
64 | 67 | if ( linkStatus != 5 ) // [2.a] not in run state, reset the link |
|
65 | 68 | { |
|
66 | 69 | spacewire_compute_stats_offsets(); |
|
67 | 70 | status = spacewire_reset_link( ); |
|
68 | 71 | } |
|
69 | 72 | else // [2.b] in run state, start the link |
|
70 | 73 | { |
|
71 | 74 | status = spacewire_stop_and_start_link( fdSPW ); // start the link |
|
72 | 75 | if ( status != RTEMS_SUCCESSFUL) |
|
73 | 76 | { |
|
74 | 77 | PRINTF1("in SPIQ *** ERR spacewire_stop_and_start_link %d\n", status) |
|
75 | 78 | } |
|
76 | 79 | } |
|
77 | 80 | |
|
78 | 81 | // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS |
|
79 | 82 | if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully |
|
80 | 83 | { |
|
81 | 84 | status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 ); |
|
82 | 85 | if ( status != RTEMS_SUCCESSFUL ) { |
|
83 | 86 | PRINTF("in SPIQ *** ERR resuming SEND Task\n") |
|
84 | 87 | } |
|
85 | 88 | status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 ); |
|
86 | 89 | if ( status != RTEMS_SUCCESSFUL ) { |
|
87 | 90 | PRINTF("in SPIQ *** ERR resuming RECV Task\n") |
|
88 | 91 | } |
|
89 | 92 | } |
|
90 | 93 | else // [3.b] the link is not in run state, go in STANDBY mode |
|
91 | 94 | { |
|
92 | 95 | status = enter_mode_standby(); |
|
93 | 96 | if ( status != RTEMS_SUCCESSFUL ) { |
|
94 | 97 | PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status) |
|
95 | 98 | } |
|
96 | 99 | // wake the WTDG task up to wait for the link recovery |
|
97 | 100 | status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 ); |
|
98 | 101 | status = rtems_task_suspend( RTEMS_SELF ); |
|
99 | 102 | } |
|
100 | 103 | } |
|
101 | 104 | } |
|
102 | 105 | |
|
103 | 106 | rtems_task recv_task( rtems_task_argument unused ) |
|
104 | 107 | { |
|
105 | 108 | /** This RTEMS task is dedicated to the reception of incoming TeleCommands. |
|
106 | 109 | * |
|
107 | 110 | * @param unused is the starting argument of the RTEMS task |
|
108 | 111 | * |
|
109 | 112 | * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked: |
|
110 | 113 | * 1. It reads the incoming data. |
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111 | 114 | * 2. Launches the acceptance procedure. |
|
112 | 115 | * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue. |
|
113 | 116 | * |
|
114 | 117 | */ |
|
115 | 118 | |
|
116 | 119 | int len; |
|
117 | 120 | ccsdsTelecommandPacket_t currentTC; |
|
118 | 121 | unsigned char computed_CRC[ 2 ]; |
|
119 | 122 | unsigned char currentTC_LEN_RCV[ 2 ]; |
|
120 | 123 | unsigned char destinationID; |
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121 | 124 | unsigned int estimatedPacketLength; |
|
122 | 125 | unsigned int parserCode; |
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123 | 126 | rtems_status_code status; |
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124 | 127 | rtems_id queue_recv_id; |
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125 | 128 | rtems_id queue_send_id; |
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126 | 129 | |
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127 | 130 | initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes |
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128 | 131 | |
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129 | 132 | status = get_message_queue_id_recv( &queue_recv_id ); |
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130 | 133 | if (status != RTEMS_SUCCESSFUL) |
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131 | 134 | { |
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132 | 135 | PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status) |
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133 | 136 | } |
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134 | 137 | |
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135 | 138 | status = get_message_queue_id_send( &queue_send_id ); |
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136 | 139 | if (status != RTEMS_SUCCESSFUL) |
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137 | 140 | { |
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138 | 141 | PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status) |
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139 | 142 | } |
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140 | 143 | |
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141 | 144 | BOOT_PRINTF("in RECV *** \n") |
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142 | 145 | |
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143 | 146 | while(1) |
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144 | 147 | { |
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145 | 148 | len = read( fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking |
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146 | 149 | if (len == -1){ // error during the read call |
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147 | 150 | PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno) |
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148 | 151 | } |
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149 | 152 | else { |
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150 | 153 | if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) { |
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151 | 154 | PRINTF("in RECV *** packet lenght too short\n") |
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152 | 155 | } |
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153 | 156 | else { |
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154 | 157 | estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes |
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155 | 158 | currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8); |
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156 | 159 | currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength ); |
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157 | 160 | // CHECK THE TC |
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158 | 161 | parserCode = tc_parser( ¤tTC, estimatedPacketLength, computed_CRC ) ; |
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159 | 162 | if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT) |
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160 | 163 | || (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE) |
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161 | 164 | || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA) |
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162 | 165 | || (parserCode == WRONG_SRC_ID) ) |
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163 | 166 | { // send TM_LFR_TC_EXE_CORRUPTED |
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164 | 167 | PRINTF1("TC corrupted received, with code: %d\n", parserCode) |
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165 | 168 | if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) ) |
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166 | 169 | && |
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167 | 170 | !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO)) |
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168 | 171 | ) |
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169 | 172 | { |
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170 | 173 | if ( parserCode == WRONG_SRC_ID ) |
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171 | 174 | { |
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172 | 175 | destinationID = SID_TC_GROUND; |
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173 | 176 | } |
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174 | 177 | else |
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175 | 178 | { |
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176 | 179 | destinationID = currentTC.sourceID; |
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177 | 180 | } |
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178 | 181 | send_tm_lfr_tc_exe_corrupted( ¤tTC, queue_send_id, |
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179 | 182 | computed_CRC, currentTC_LEN_RCV, |
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180 | 183 | destinationID ); |
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181 | 184 | } |
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182 | 185 | } |
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183 | 186 | else |
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184 | 187 | { // send valid TC to the action launcher |
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185 | 188 | status = rtems_message_queue_send( queue_recv_id, ¤tTC, |
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186 | 189 | estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3); |
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187 | 190 | } |
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188 | 191 | } |
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189 | 192 | } |
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190 | 193 | |
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191 | 194 | update_queue_max_count( queue_recv_id, &hk_lfr_q_rv_fifo_size_max ); |
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192 | 195 | |
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193 | 196 | } |
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194 | 197 | } |
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195 | 198 | |
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196 | 199 | rtems_task send_task( rtems_task_argument argument) |
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197 | 200 | { |
|
198 | 201 | /** This RTEMS task is dedicated to the transmission of TeleMetry packets. |
|
199 | 202 | * |
|
200 | 203 | * @param unused is the starting argument of the RTEMS task |
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201 | 204 | * |
|
202 | 205 | * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives: |
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203 | 206 | * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call. |
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204 | 207 | * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After |
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205 | 208 | * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the |
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206 | 209 | * data it contains. |
|
207 | 210 | * |
|
208 | 211 | */ |
|
209 | 212 | |
|
210 | 213 | rtems_status_code status; // RTEMS status code |
|
211 | 214 | char incomingData[MSG_QUEUE_SIZE_SEND]; // incoming data buffer |
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212 | 215 | ring_node *incomingRingNodePtr; |
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213 | 216 | int ring_node_address; |
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214 | 217 | char *charPtr; |
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215 | 218 | spw_ioctl_pkt_send *spw_ioctl_send; |
|
216 | 219 | size_t size; // size of the incoming TC packet |
|
217 | 220 | rtems_id queue_send_id; |
|
218 | 221 | unsigned int sid; |
|
219 | 222 | unsigned char sidAsUnsignedChar; |
|
220 | 223 | unsigned char type; |
|
221 | 224 | |
|
222 | 225 | incomingRingNodePtr = NULL; |
|
223 | 226 | ring_node_address = 0; |
|
224 | 227 | charPtr = (char *) &ring_node_address; |
|
225 | 228 | sid = 0; |
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226 | 229 | sidAsUnsignedChar = 0; |
|
227 | 230 | |
|
228 | 231 | init_header_cwf( &headerCWF ); |
|
229 | 232 | init_header_swf( &headerSWF ); |
|
230 | 233 | init_header_asm( &headerASM ); |
|
231 | 234 | |
|
232 | 235 | status = get_message_queue_id_send( &queue_send_id ); |
|
233 | 236 | if (status != RTEMS_SUCCESSFUL) |
|
234 | 237 | { |
|
235 | 238 | PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status) |
|
236 | 239 | } |
|
237 | 240 | |
|
238 | 241 | BOOT_PRINTF("in SEND *** \n") |
|
239 | 242 | |
|
240 | 243 | while(1) |
|
241 | 244 | { |
|
242 | 245 | status = rtems_message_queue_receive( queue_send_id, incomingData, &size, |
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243 | 246 | RTEMS_WAIT, RTEMS_NO_TIMEOUT ); |
|
244 | 247 | |
|
245 | 248 | if (status!=RTEMS_SUCCESSFUL) |
|
246 | 249 | { |
|
247 | 250 | PRINTF1("in SEND *** (1) ERR = %d\n", status) |
|
248 | 251 | } |
|
249 | 252 | else |
|
250 | 253 | { |
|
251 | 254 | if ( size == sizeof(ring_node*) ) |
|
252 | 255 | { |
|
253 | 256 | charPtr[0] = incomingData[0]; |
|
254 | 257 | charPtr[1] = incomingData[1]; |
|
255 | 258 | charPtr[2] = incomingData[2]; |
|
256 | 259 | charPtr[3] = incomingData[3]; |
|
257 | 260 | incomingRingNodePtr = (ring_node*) ring_node_address; |
|
258 | 261 | sid = incomingRingNodePtr->sid; |
|
259 | 262 | if ( (sid==SID_NORM_CWF_LONG_F3) |
|
260 | 263 | || (sid==SID_BURST_CWF_F2 ) |
|
261 | 264 | || (sid==SID_SBM1_CWF_F1 ) |
|
262 | 265 | || (sid==SID_SBM2_CWF_F2 )) |
|
263 | 266 | { |
|
264 | 267 | spw_send_waveform_CWF( incomingRingNodePtr, &headerCWF ); |
|
265 | 268 | } |
|
266 | 269 | else if ( (sid==SID_NORM_SWF_F0) || (sid== SID_NORM_SWF_F1) || (sid==SID_NORM_SWF_F2) ) |
|
267 | 270 | { |
|
268 | 271 | spw_send_waveform_SWF( incomingRingNodePtr, &headerSWF ); |
|
269 | 272 | } |
|
270 | 273 | else if ( (sid==SID_NORM_CWF_F3) ) |
|
271 | 274 | { |
|
272 | 275 | spw_send_waveform_CWF3_light( incomingRingNodePtr, &headerCWF ); |
|
273 | 276 | } |
|
274 | 277 | else if (sid==SID_NORM_ASM_F0) |
|
275 | 278 | { |
|
276 | 279 | spw_send_asm_f0( incomingRingNodePtr, &headerASM ); |
|
277 | 280 | } |
|
278 | 281 | else if (sid==SID_NORM_ASM_F1) |
|
279 | 282 | { |
|
280 | 283 | spw_send_asm_f1( incomingRingNodePtr, &headerASM ); |
|
281 | 284 | } |
|
282 | 285 | else if (sid==SID_NORM_ASM_F2) |
|
283 | 286 | { |
|
284 | 287 | spw_send_asm_f2( incomingRingNodePtr, &headerASM ); |
|
285 | 288 | } |
|
286 | 289 | else if ( sid==TM_CODE_K_DUMP ) |
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287 | 290 | { |
|
288 | 291 | spw_send_k_dump( incomingRingNodePtr ); |
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289 | 292 | } |
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290 | 293 | else |
|
291 | 294 | { |
|
292 | 295 | PRINTF1("unexpected sid = %d\n", sid); |
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293 | 296 | } |
|
294 | 297 | } |
|
295 | 298 | else if ( incomingData[0] == CCSDS_DESTINATION_ID ) // the incoming message is a ccsds packet |
|
296 | 299 | { |
|
297 | 300 | sidAsUnsignedChar = (unsigned char) incomingData[ PACKET_POS_PA_LFR_SID_PKT ]; |
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298 | 301 | sid = sidAsUnsignedChar; |
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299 | 302 | type = (unsigned char) incomingData[ PACKET_POS_SERVICE_TYPE ]; |
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300 | 303 | if (type == TM_TYPE_LFR_SCIENCE) // this is a BP packet, all other types are handled differently |
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301 | 304 | // SET THE SEQUENCE_CNT PARAMETER IN CASE OF BP0 OR BP1 PACKETS |
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302 | 305 | { |
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303 | 306 | increment_seq_counter_source_id( (unsigned char*) &incomingData[ PACKET_POS_SEQUENCE_CNT ], sid ); |
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304 | 307 | } |
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305 | 308 | |
|
306 | 309 | status = write( fdSPW, incomingData, size ); |
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307 | 310 | if (status == -1){ |
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308 | 311 | PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size) |
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309 | 312 | } |
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310 | 313 | } |
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311 | 314 | else // the incoming message is a spw_ioctl_pkt_send structure |
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312 | 315 | { |
|
313 | 316 | spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData; |
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314 | 317 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send ); |
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315 | 318 | if (status == -1){ |
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316 | 319 | PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status) |
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317 | 320 | } |
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318 | 321 | } |
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319 | 322 | } |
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320 | 323 | |
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321 | 324 | update_queue_max_count( queue_send_id, &hk_lfr_q_sd_fifo_size_max ); |
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322 | 325 | |
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323 | 326 | } |
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324 | 327 | } |
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325 | 328 | |
|
326 | 329 | rtems_task wtdg_task( rtems_task_argument argument ) |
|
327 | 330 | { |
|
328 | 331 | rtems_event_set event_out; |
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329 | 332 | rtems_status_code status; |
|
330 | 333 | int linkStatus; |
|
331 | 334 | |
|
332 | 335 | BOOT_PRINTF("in WTDG ***\n") |
|
333 | 336 | |
|
334 | 337 | while(1) |
|
335 | 338 | { |
|
336 | 339 | // wait for an RTEMS_EVENT |
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337 | 340 | rtems_event_receive( RTEMS_EVENT_0, |
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338 | 341 | RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); |
|
339 | 342 | PRINTF("in WTDG *** wait for the link\n") |
|
340 | 343 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status |
|
341 | 344 | while( linkStatus != 5) // wait for the link |
|
342 | 345 | { |
|
343 | 346 | status = rtems_task_wake_after( 10 ); // monitor the link each 100ms |
|
344 | 347 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status |
|
345 | 348 | } |
|
346 | 349 | |
|
347 | 350 | status = spacewire_stop_and_start_link( fdSPW ); |
|
348 | 351 | |
|
349 | 352 | if (status != RTEMS_SUCCESSFUL) |
|
350 | 353 | { |
|
351 | 354 | PRINTF1("in WTDG *** ERR link not started %d\n", status) |
|
352 | 355 | } |
|
353 | 356 | else |
|
354 | 357 | { |
|
355 | 358 | PRINTF("in WTDG *** OK link started\n") |
|
356 | 359 | } |
|
357 | 360 | |
|
358 | 361 | // restart the SPIQ task |
|
359 | 362 | status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 ); |
|
360 | 363 | if ( status != RTEMS_SUCCESSFUL ) { |
|
361 | 364 | PRINTF("in SPIQ *** ERR restarting SPIQ Task\n") |
|
362 | 365 | } |
|
363 | 366 | |
|
364 | 367 | // restart RECV and SEND |
|
365 | 368 | status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 ); |
|
366 | 369 | if ( status != RTEMS_SUCCESSFUL ) { |
|
367 | 370 | PRINTF("in SPIQ *** ERR restarting SEND Task\n") |
|
368 | 371 | } |
|
369 | 372 | status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 ); |
|
370 | 373 | if ( status != RTEMS_SUCCESSFUL ) { |
|
371 | 374 | PRINTF("in SPIQ *** ERR restarting RECV Task\n") |
|
372 | 375 | } |
|
373 | 376 | } |
|
374 | 377 | } |
|
375 | 378 | |
|
376 | 379 | //**************** |
|
377 | 380 | // OTHER FUNCTIONS |
|
378 | 381 | int spacewire_open_link( void ) // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);] |
|
379 | 382 | { |
|
380 | 383 | /** This function opens the SpaceWire link. |
|
381 | 384 | * |
|
382 | 385 | * @return a valid file descriptor in case of success, -1 in case of a failure |
|
383 | 386 | * |
|
384 | 387 | */ |
|
385 | 388 | rtems_status_code status; |
|
386 | 389 | |
|
387 | 390 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware |
|
388 | 391 | if ( fdSPW < 0 ) { |
|
389 | 392 | PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno) |
|
390 | 393 | } |
|
391 | 394 | else |
|
392 | 395 | { |
|
393 | 396 | status = RTEMS_SUCCESSFUL; |
|
394 | 397 | } |
|
395 | 398 | |
|
396 | 399 | return status; |
|
397 | 400 | } |
|
398 | 401 | |
|
399 | 402 | int spacewire_start_link( int fd ) |
|
400 | 403 | { |
|
401 | 404 | rtems_status_code status; |
|
402 | 405 | |
|
403 | 406 | status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started |
|
404 | 407 | // -1 default hardcoded driver timeout |
|
405 | 408 | |
|
406 | 409 | return status; |
|
407 | 410 | } |
|
408 | 411 | |
|
409 | 412 | int spacewire_stop_and_start_link( int fd ) |
|
410 | 413 | { |
|
411 | 414 | rtems_status_code status; |
|
412 | 415 | |
|
413 | 416 | status = ioctl( fd, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0 |
|
414 | 417 | status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started |
|
415 | 418 | // -1 default hardcoded driver timeout |
|
416 | 419 | |
|
417 | 420 | return status; |
|
418 | 421 | } |
|
419 | 422 | |
|
420 | 423 | int spacewire_configure_link( int fd ) |
|
421 | 424 | { |
|
422 | 425 | /** This function configures the SpaceWire link. |
|
423 | 426 | * |
|
424 | 427 | * @return GR-RTEMS-DRIVER directive status codes: |
|
425 | 428 | * - 22 EINVAL - Null pointer or an out of range value was given as the argument. |
|
426 | 429 | * - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode. |
|
427 | 430 | * - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used. |
|
428 | 431 | * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up. |
|
429 | 432 | * - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers. |
|
430 | 433 | * - 5 EIO - Error when writing to grswp hardware registers. |
|
431 | 434 | * - 2 ENOENT - No such file or directory |
|
432 | 435 | */ |
|
433 | 436 | |
|
434 | 437 | rtems_status_code status; |
|
435 | 438 | |
|
436 | 439 | spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force |
|
437 | 440 | spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration |
|
438 | 441 | |
|
439 | 442 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception |
|
440 | 443 | if (status!=RTEMS_SUCCESSFUL) { |
|
441 | 444 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") |
|
442 | 445 | } |
|
443 | 446 | // |
|
444 | 447 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a |
|
445 | 448 | if (status!=RTEMS_SUCCESSFUL) { |
|
446 | 449 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs |
|
447 | 450 | } |
|
448 | 451 | // |
|
449 | 452 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts |
|
450 | 453 | if (status!=RTEMS_SUCCESSFUL) { |
|
451 | 454 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") |
|
452 | 455 | } |
|
453 | 456 | // |
|
454 | 457 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit |
|
455 | 458 | if (status!=RTEMS_SUCCESSFUL) { |
|
456 | 459 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") |
|
457 | 460 | } |
|
458 | 461 | // |
|
459 | 462 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 1); // transmission blocks |
|
460 | 463 | if (status!=RTEMS_SUCCESSFUL) { |
|
461 | 464 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n") |
|
462 | 465 | } |
|
463 | 466 | // |
|
464 | 467 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available |
|
465 | 468 | if (status!=RTEMS_SUCCESSFUL) { |
|
466 | 469 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n") |
|
467 | 470 | } |
|
468 | 471 | // |
|
469 | 472 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ] |
|
470 | 473 | if (status!=RTEMS_SUCCESSFUL) { |
|
471 | 474 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") |
|
472 | 475 | } |
|
473 | 476 | |
|
474 | 477 | return status; |
|
475 | 478 | } |
|
476 | 479 | |
|
477 | 480 | int spacewire_reset_link( void ) |
|
478 | 481 | { |
|
479 | 482 | /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver. |
|
480 | 483 | * |
|
481 | 484 | * @return RTEMS directive status code: |
|
482 | 485 | * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s. |
|
483 | 486 | * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout. |
|
484 | 487 | * |
|
485 | 488 | */ |
|
486 | 489 | |
|
487 | 490 | rtems_status_code status_spw; |
|
488 | 491 | rtems_status_code status; |
|
489 | 492 | int i; |
|
490 | 493 | |
|
491 | 494 | for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ ) |
|
492 | 495 | { |
|
493 | 496 | PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i); |
|
494 | 497 | |
|
495 | 498 | // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM |
|
496 | 499 | |
|
497 | 500 | status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms |
|
498 | 501 | |
|
499 | 502 | status_spw = spacewire_stop_and_start_link( fdSPW ); |
|
500 | 503 | if ( status_spw != RTEMS_SUCCESSFUL ) |
|
501 | 504 | { |
|
502 | 505 | PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw) |
|
503 | 506 | } |
|
504 | 507 | |
|
505 | 508 | if ( status_spw == RTEMS_SUCCESSFUL) |
|
506 | 509 | { |
|
507 | 510 | break; |
|
508 | 511 | } |
|
509 | 512 | } |
|
510 | 513 | |
|
511 | 514 | return status_spw; |
|
512 | 515 | } |
|
513 | 516 | |
|
514 | 517 | void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force |
|
515 | 518 | { |
|
516 | 519 | /** This function sets the [N]o [P]ort force bit of the GRSPW control register. |
|
517 | 520 | * |
|
518 | 521 | * @param val is the value, 0 or 1, used to set the value of the NP bit. |
|
519 | 522 | * @param regAddr is the address of the GRSPW control register. |
|
520 | 523 | * |
|
521 | 524 | * NP is the bit 20 of the GRSPW control register. |
|
522 | 525 | * |
|
523 | 526 | */ |
|
524 | 527 | |
|
525 | 528 | unsigned int *spwptr = (unsigned int*) regAddr; |
|
526 | 529 | |
|
527 | 530 | if (val == 1) { |
|
528 | 531 | *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit |
|
529 | 532 | } |
|
530 | 533 | if (val== 0) { |
|
531 | 534 | *spwptr = *spwptr & 0xffdfffff; |
|
532 | 535 | } |
|
533 | 536 | } |
|
534 | 537 | |
|
535 | 538 | void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable |
|
536 | 539 | { |
|
537 | 540 | /** This function sets the [R]MAP [E]nable bit of the GRSPW control register. |
|
538 | 541 | * |
|
539 | 542 | * @param val is the value, 0 or 1, used to set the value of the RE bit. |
|
540 | 543 | * @param regAddr is the address of the GRSPW control register. |
|
541 | 544 | * |
|
542 | 545 | * RE is the bit 16 of the GRSPW control register. |
|
543 | 546 | * |
|
544 | 547 | */ |
|
545 | 548 | |
|
546 | 549 | unsigned int *spwptr = (unsigned int*) regAddr; |
|
547 | 550 | |
|
548 | 551 | if (val == 1) |
|
549 | 552 | { |
|
550 | 553 | *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit |
|
551 | 554 | } |
|
552 | 555 | if (val== 0) |
|
553 | 556 | { |
|
554 | 557 | *spwptr = *spwptr & 0xfffdffff; |
|
555 | 558 | } |
|
556 | 559 | } |
|
557 | 560 | |
|
558 | 561 | void spacewire_compute_stats_offsets( void ) |
|
559 | 562 | { |
|
560 | 563 | /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising. |
|
561 | 564 | * |
|
562 | 565 | * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics |
|
563 | 566 | * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it |
|
564 | 567 | * during the open systel call). |
|
565 | 568 | * |
|
566 | 569 | */ |
|
567 | 570 | |
|
568 | 571 | spw_stats spacewire_stats_grspw; |
|
569 | 572 | rtems_status_code status; |
|
570 | 573 | |
|
571 | 574 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw ); |
|
572 | 575 | |
|
573 | 576 | spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received |
|
574 | 577 | + spacewire_stats.packets_received; |
|
575 | 578 | spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent |
|
576 | 579 | + spacewire_stats.packets_sent; |
|
577 | 580 | spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err |
|
578 | 581 | + spacewire_stats.parity_err; |
|
579 | 582 | spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err |
|
580 | 583 | + spacewire_stats.disconnect_err; |
|
581 | 584 | spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err |
|
582 | 585 | + spacewire_stats.escape_err; |
|
583 | 586 | spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err |
|
584 | 587 | + spacewire_stats.credit_err; |
|
585 | 588 | spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err |
|
586 | 589 | + spacewire_stats.write_sync_err; |
|
587 | 590 | spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err |
|
588 | 591 | + spacewire_stats.rx_rmap_header_crc_err; |
|
589 | 592 | spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err |
|
590 | 593 | + spacewire_stats.rx_rmap_data_crc_err; |
|
591 | 594 | spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep |
|
592 | 595 | + spacewire_stats.early_ep; |
|
593 | 596 | spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address |
|
594 | 597 | + spacewire_stats.invalid_address; |
|
595 | 598 | spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err |
|
596 | 599 | + spacewire_stats.rx_eep_err; |
|
597 | 600 | spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated |
|
598 | 601 | + spacewire_stats.rx_truncated; |
|
599 | 602 | } |
|
600 | 603 | |
|
601 | 604 | void spacewire_update_statistics( void ) |
|
602 | 605 | { |
|
603 | 606 | rtems_status_code status; |
|
604 | 607 | spw_stats spacewire_stats_grspw; |
|
605 | 608 | |
|
606 | 609 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw ); |
|
607 | 610 | |
|
608 | 611 | spacewire_stats.packets_received = spacewire_stats_backup.packets_received |
|
609 | 612 | + spacewire_stats_grspw.packets_received; |
|
610 | 613 | spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent |
|
611 | 614 | + spacewire_stats_grspw.packets_sent; |
|
612 | 615 | spacewire_stats.parity_err = spacewire_stats_backup.parity_err |
|
613 | 616 | + spacewire_stats_grspw.parity_err; |
|
614 | 617 | spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err |
|
615 | 618 | + spacewire_stats_grspw.disconnect_err; |
|
616 | 619 | spacewire_stats.escape_err = spacewire_stats_backup.escape_err |
|
617 | 620 | + spacewire_stats_grspw.escape_err; |
|
618 | 621 | spacewire_stats.credit_err = spacewire_stats_backup.credit_err |
|
619 | 622 | + spacewire_stats_grspw.credit_err; |
|
620 | 623 | spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err |
|
621 | 624 | + spacewire_stats_grspw.write_sync_err; |
|
622 | 625 | spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err |
|
623 | 626 | + spacewire_stats_grspw.rx_rmap_header_crc_err; |
|
624 | 627 | spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err |
|
625 | 628 | + spacewire_stats_grspw.rx_rmap_data_crc_err; |
|
626 | 629 | spacewire_stats.early_ep = spacewire_stats_backup.early_ep |
|
627 | 630 | + spacewire_stats_grspw.early_ep; |
|
628 | 631 | spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address |
|
629 | 632 | + spacewire_stats_grspw.invalid_address; |
|
630 | 633 | spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err |
|
631 | 634 | + spacewire_stats_grspw.rx_eep_err; |
|
632 | 635 | spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated |
|
633 | 636 | + spacewire_stats_grspw.rx_truncated; |
|
634 | 637 | //spacewire_stats.tx_link_err; |
|
635 | 638 | |
|
636 | 639 | //**************************** |
|
637 | 640 | // DPU_SPACEWIRE_IF_STATISTICS |
|
638 | 641 | housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8); |
|
639 | 642 | housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received); |
|
640 | 643 | housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8); |
|
641 | 644 | housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent); |
|
642 | 645 | //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt; |
|
643 | 646 | //housekeeping_packet.hk_lfr_dpu_spw_last_timc; |
|
644 | 647 | |
|
645 | 648 | //****************************************** |
|
646 | 649 | // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY |
|
647 | 650 | housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err; |
|
648 | 651 | housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err; |
|
649 | 652 | housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err; |
|
650 | 653 | housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err; |
|
651 | 654 | housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err; |
|
652 | 655 | |
|
653 | 656 | //********************************************* |
|
654 | 657 | // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY |
|
655 | 658 | housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep; |
|
656 | 659 | housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address; |
|
657 | 660 | housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err; |
|
658 | 661 | housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated; |
|
659 | 662 | } |
|
660 | 663 | |
|
661 | void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ) | |
|
664 | void increase_unsigned_char_counter( unsigned char *counter ) | |
|
662 | 665 | { |
|
663 | // a valid timecode has been received, write it in the HK report | |
|
664 | unsigned int *grspwPtr; | |
|
665 | unsigned char timecodeCtr; | |
|
666 | unsigned char updateTimeCtr; | |
|
666 | // update the number of valid timecodes that have been received | |
|
667 | if (*counter == 255) | |
|
668 | { | |
|
669 | *counter = 0; | |
|
670 | } | |
|
671 | else | |
|
672 | { | |
|
673 | *counter = *counter + 1; | |
|
674 | } | |
|
675 | } | |
|
667 | 676 | |
|
668 | grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER); | |
|
677 | rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data ) | |
|
678 | { | |
|
679 | ||
|
680 | unsigned char currentTimecodeCtr; | |
|
681 | ||
|
682 | currentTimecodeCtr = (unsigned char) (grspwPtr[0] & TIMECODE_MASK); | |
|
669 | 683 | |
|
670 | housekeeping_packet.hk_lfr_dpu_spw_last_timc = (unsigned char) (grspwPtr[0] & 0xff); // [1111 1111] | |
|
671 | timecodeCtr = (unsigned char) (grspwPtr[0] & 0x3f); // [0011 1111] | |
|
672 | updateTimeCtr = time_management_regs->coarse_time_load & 0x3f; // [0011 1111] | |
|
684 | if (currentTimecodeCtr == previousTimecodeCtr) | |
|
685 | { | |
|
686 | //************************ | |
|
687 | // HK_LFR_TIMECODE_MISSING | |
|
688 | // the timecode value has not changed, no valid timecode has been received, the timecode is MISSING | |
|
689 | increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_missing ); | |
|
690 | } | |
|
691 | else if (currentTimecodeCtr == (previousTimecodeCtr+1)) | |
|
692 | { | |
|
693 | // the timecode value has changed and the value is valid, this is unexpected because | |
|
694 | // the timer should not have fired, the timecode_irq_handler should have been raised | |
|
695 | } | |
|
696 | else | |
|
697 | { | |
|
698 | //************************ | |
|
699 | // HK_LFR_TIMECODE_INVALID | |
|
700 | // the timecode value has changed and the value is not valid, no tickout has been generated | |
|
701 | // this is why the timer has fired | |
|
702 | increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_invalid ); | |
|
703 | } | |
|
673 | 704 | |
|
674 | // update the number of valid timecodes that have been received | |
|
675 | if (housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt == 255) | |
|
705 | rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_13 ); | |
|
706 | } | |
|
707 | ||
|
708 | unsigned int check_timecode_and_previous_timecode_coherency(unsigned char currentTimecodeCtr) | |
|
709 | { | |
|
710 | unsigned char ret; | |
|
711 | ||
|
712 | ret = LFR_DEFAULT; | |
|
713 | ||
|
714 | if (currentTimecodeCtr == 0) | |
|
676 | 715 | { |
|
677 | housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = 0; | |
|
716 | if (previousTimecodeCtr == 63) | |
|
717 | { | |
|
718 | ret = LFR_SUCCESSFUL; | |
|
719 | } | |
|
720 | else | |
|
721 | { | |
|
722 | ret = LFR_DEFAULT; | |
|
723 | } | |
|
678 | 724 | } |
|
679 | 725 | else |
|
680 | 726 | { |
|
681 | housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt + 1; | |
|
682 | } | |
|
683 | ||
|
684 | // check the value of the timecode with respect to the last TC_LFR_UPDATE_TIME => SSS-CP-FS-370 | |
|
685 | if (timecodeCtr != updateTimeCtr) | |
|
686 | { | |
|
687 | if (housekeeping_packet.hk_lfr_time_timecode_ctr == 255) | |
|
727 | if (currentTimecodeCtr == (previousTimecodeCtr +1)) | |
|
688 | 728 | { |
|
689 | housekeeping_packet.hk_lfr_time_timecode_ctr = 0; | |
|
729 | ret = LFR_SUCCESSFUL; | |
|
690 | 730 | } |
|
691 | 731 | else |
|
692 | 732 | { |
|
693 | housekeeping_packet.hk_lfr_time_timecode_ctr = housekeeping_packet.hk_lfr_time_timecode_ctr + 1; | |
|
733 | ret = LFR_DEFAULT; | |
|
694 | 734 | } |
|
695 | 735 | } |
|
736 | ||
|
737 | return ret; | |
|
738 | } | |
|
739 | ||
|
740 | unsigned int check_timecode_and_internal_time_coherency(unsigned char timecode, unsigned char internalTime) | |
|
741 | { | |
|
742 | unsigned int ret; | |
|
743 | ||
|
744 | ret = LFR_DEFAULT; | |
|
745 | ||
|
746 | if (timecode == internalTime) | |
|
747 | { | |
|
748 | ret = LFR_SUCCESSFUL; | |
|
749 | } | |
|
750 | else | |
|
751 | { | |
|
752 | ret = LFR_DEFAULT; | |
|
753 | } | |
|
754 | ||
|
755 | return ret; | |
|
756 | } | |
|
757 | ||
|
758 | void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ) | |
|
759 | { | |
|
760 | // a tickout has been emitted, perform actions on the incoming timecode | |
|
761 | ||
|
762 | unsigned char incomingTimecode; | |
|
763 | unsigned char updateTime; | |
|
764 | unsigned char internalTime; | |
|
765 | rtems_status_code status; | |
|
766 | ||
|
767 | incomingTimecode = (unsigned char) (grspwPtr[0] & TIMECODE_MASK); | |
|
768 | updateTime = time_management_regs->coarse_time_load & TIMECODE_MASK; | |
|
769 | internalTime = time_management_regs->coarse_time & TIMECODE_MASK; | |
|
770 | ||
|
771 | housekeeping_packet.hk_lfr_dpu_spw_last_timc = incomingTimecode; | |
|
772 | ||
|
773 | // update the number of tickout that have been generated | |
|
774 | increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt ); | |
|
775 | ||
|
776 | //************************** | |
|
777 | // HK_LFR_TIMECODE_ERRONEOUS | |
|
778 | // MISSING and INVALID are handled by the timecode_timer_routine service routine | |
|
779 | if (check_timecode_and_previous_timecode_coherency( incomingTimecode ) == LFR_DEFAULT) | |
|
780 | { | |
|
781 | // this is unexpected but a tickout has been raised and the timecode is erroneous | |
|
782 | increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_erroneous ); | |
|
783 | } | |
|
784 | ||
|
785 | //************************ | |
|
786 | // HK_LFR_TIME_TIMECODE_IT | |
|
787 | // check the coherency between the SpaceWire timecode and the Internal Time | |
|
788 | if (check_timecode_and_internal_time_coherency( incomingTimecode, internalTime ) == LFR_DEFAULT) | |
|
789 | { | |
|
790 | increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_it ); | |
|
791 | } | |
|
792 | ||
|
793 | //******************** | |
|
794 | // HK_LFR_TIMECODE_CTR | |
|
795 | // check the value of the timecode with respect to the last TC_LFR_UPDATE_TIME => SSS-CP-FS-370 | |
|
796 | if (incomingTimecode != updateTime) | |
|
797 | { | |
|
798 | increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_ctr ); | |
|
799 | } | |
|
800 | ||
|
801 | // launch the timecode timer to detect missing or invalid timecodes | |
|
802 | previousTimecodeCtr = incomingTimecode; // update the previousTimecodeCtr value | |
|
803 | status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT, timecode_timer_routine, NULL ); | |
|
696 | 804 | } |
|
697 | 805 | |
|
698 | 806 | void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header ) |
|
699 | 807 | { |
|
700 | 808 | header->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
701 | 809 | header->protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
702 | 810 | header->reserved = DEFAULT_RESERVED; |
|
703 | 811 | header->userApplication = CCSDS_USER_APP; |
|
704 | 812 | header->packetSequenceControl[0]= TM_PACKET_SEQ_CTRL_STANDALONE; |
|
705 | 813 | header->packetSequenceControl[1]= TM_PACKET_SEQ_CNT_DEFAULT; |
|
706 | 814 | header->packetLength[0] = 0x00; |
|
707 | 815 | header->packetLength[1] = 0x00; |
|
708 | 816 | // DATA FIELD HEADER |
|
709 | 817 | header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
710 | 818 | header->serviceType = TM_TYPE_LFR_SCIENCE; // service type |
|
711 | 819 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype |
|
712 | 820 | header->destinationID = TM_DESTINATION_ID_GROUND; |
|
713 | 821 | header->time[0] = 0x00; |
|
714 | 822 | header->time[0] = 0x00; |
|
715 | 823 | header->time[0] = 0x00; |
|
716 | 824 | header->time[0] = 0x00; |
|
717 | 825 | header->time[0] = 0x00; |
|
718 | 826 | header->time[0] = 0x00; |
|
719 | 827 | // AUXILIARY DATA HEADER |
|
720 | 828 | header->sid = 0x00; |
|
721 | 829 | header->hkBIA = DEFAULT_HKBIA; |
|
722 | 830 | header->blkNr[0] = 0x00; |
|
723 | 831 | header->blkNr[1] = 0x00; |
|
724 | 832 | } |
|
725 | 833 | |
|
726 | 834 | void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header ) |
|
727 | 835 | { |
|
728 | 836 | header->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
729 | 837 | header->protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
730 | 838 | header->reserved = DEFAULT_RESERVED; |
|
731 | 839 | header->userApplication = CCSDS_USER_APP; |
|
732 | 840 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
733 | 841 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
734 | 842 | header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
735 | 843 | header->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
736 | 844 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8); |
|
737 | 845 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336 ); |
|
738 | 846 | // DATA FIELD HEADER |
|
739 | 847 | header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
740 | 848 | header->serviceType = TM_TYPE_LFR_SCIENCE; // service type |
|
741 | 849 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype |
|
742 | 850 | header->destinationID = TM_DESTINATION_ID_GROUND; |
|
743 | 851 | header->time[0] = 0x00; |
|
744 | 852 | header->time[0] = 0x00; |
|
745 | 853 | header->time[0] = 0x00; |
|
746 | 854 | header->time[0] = 0x00; |
|
747 | 855 | header->time[0] = 0x00; |
|
748 | 856 | header->time[0] = 0x00; |
|
749 | 857 | // AUXILIARY DATA HEADER |
|
750 | 858 | header->sid = 0x00; |
|
751 | 859 | header->hkBIA = DEFAULT_HKBIA; |
|
752 | 860 | header->pktCnt = DEFAULT_PKTCNT; // PKT_CNT |
|
753 | 861 | header->pktNr = 0x00; |
|
754 | 862 | header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8); |
|
755 | 863 | header->blkNr[1] = (unsigned char) (BLK_NR_CWF ); |
|
756 | 864 | } |
|
757 | 865 | |
|
758 | 866 | void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
759 | 867 | { |
|
760 | 868 | header->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
761 | 869 | header->protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
762 | 870 | header->reserved = DEFAULT_RESERVED; |
|
763 | 871 | header->userApplication = CCSDS_USER_APP; |
|
764 | 872 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
765 | 873 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
766 | 874 | header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
767 | 875 | header->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
768 | 876 | header->packetLength[0] = 0x00; |
|
769 | 877 | header->packetLength[1] = 0x00; |
|
770 | 878 | // DATA FIELD HEADER |
|
771 | 879 | header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
772 | 880 | header->serviceType = TM_TYPE_LFR_SCIENCE; // service type |
|
773 | 881 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype |
|
774 | 882 | header->destinationID = TM_DESTINATION_ID_GROUND; |
|
775 | 883 | header->time[0] = 0x00; |
|
776 | 884 | header->time[0] = 0x00; |
|
777 | 885 | header->time[0] = 0x00; |
|
778 | 886 | header->time[0] = 0x00; |
|
779 | 887 | header->time[0] = 0x00; |
|
780 | 888 | header->time[0] = 0x00; |
|
781 | 889 | // AUXILIARY DATA HEADER |
|
782 | 890 | header->sid = 0x00; |
|
783 | 891 | header->biaStatusInfo = 0x00; |
|
784 | 892 | header->pa_lfr_pkt_cnt_asm = 0x00; |
|
785 | 893 | header->pa_lfr_pkt_nr_asm = 0x00; |
|
786 | 894 | header->pa_lfr_asm_blk_nr[0] = 0x00; |
|
787 | 895 | header->pa_lfr_asm_blk_nr[1] = 0x00; |
|
788 | 896 | } |
|
789 | 897 | |
|
790 | 898 | int spw_send_waveform_CWF( ring_node *ring_node_to_send, |
|
791 | 899 | Header_TM_LFR_SCIENCE_CWF_t *header ) |
|
792 | 900 | { |
|
793 | 901 | /** This function sends CWF CCSDS packets (F2, F1 or F0). |
|
794 | 902 | * |
|
795 | 903 | * @param waveform points to the buffer containing the data that will be send. |
|
796 | 904 | * @param sid is the source identifier of the data that will be sent. |
|
797 | 905 | * @param headerCWF points to a table of headers that have been prepared for the data transmission. |
|
798 | 906 | * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures |
|
799 | 907 | * contain information to setup the transmission of the data packets. |
|
800 | 908 | * |
|
801 | 909 | * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks. |
|
802 | 910 | * |
|
803 | 911 | */ |
|
804 | 912 | |
|
805 | 913 | unsigned int i; |
|
806 | 914 | int ret; |
|
807 | 915 | unsigned int coarseTime; |
|
808 | 916 | unsigned int fineTime; |
|
809 | 917 | rtems_status_code status; |
|
810 | 918 | spw_ioctl_pkt_send spw_ioctl_send_CWF; |
|
811 | 919 | int *dataPtr; |
|
812 | 920 | unsigned char sid; |
|
813 | 921 | |
|
814 | 922 | spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF; |
|
815 | 923 | spw_ioctl_send_CWF.options = 0; |
|
816 | 924 | |
|
817 | 925 | ret = LFR_DEFAULT; |
|
818 | 926 | sid = (unsigned char) ring_node_to_send->sid; |
|
819 | 927 | |
|
820 | 928 | coarseTime = ring_node_to_send->coarseTime; |
|
821 | 929 | fineTime = ring_node_to_send->fineTime; |
|
822 | 930 | dataPtr = (int*) ring_node_to_send->buffer_address; |
|
823 | 931 | |
|
824 | 932 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8); |
|
825 | 933 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336 ); |
|
826 | 934 | header->hkBIA = pa_bia_status_info; |
|
827 | 935 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
828 | 936 | header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8); |
|
829 | 937 | header->blkNr[1] = (unsigned char) (BLK_NR_CWF ); |
|
830 | 938 | |
|
831 | 939 | for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform |
|
832 | 940 | { |
|
833 | 941 | spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) ]; |
|
834 | 942 | spw_ioctl_send_CWF.hdr = (char*) header; |
|
835 | 943 | // BUILD THE DATA |
|
836 | 944 | spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK; |
|
837 | 945 | |
|
838 | 946 | // SET PACKET SEQUENCE CONTROL |
|
839 | 947 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
840 | 948 | |
|
841 | 949 | // SET SID |
|
842 | 950 | header->sid = sid; |
|
843 | 951 | |
|
844 | 952 | // SET PACKET TIME |
|
845 | 953 | compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime); |
|
846 | 954 | // |
|
847 | 955 | header->time[0] = header->acquisitionTime[0]; |
|
848 | 956 | header->time[1] = header->acquisitionTime[1]; |
|
849 | 957 | header->time[2] = header->acquisitionTime[2]; |
|
850 | 958 | header->time[3] = header->acquisitionTime[3]; |
|
851 | 959 | header->time[4] = header->acquisitionTime[4]; |
|
852 | 960 | header->time[5] = header->acquisitionTime[5]; |
|
853 | 961 | |
|
854 | 962 | // SET PACKET ID |
|
855 | 963 | if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) ) |
|
856 | 964 | { |
|
857 | 965 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2 >> 8); |
|
858 | 966 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2); |
|
859 | 967 | } |
|
860 | 968 | else |
|
861 | 969 | { |
|
862 | 970 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
863 | 971 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
864 | 972 | } |
|
865 | 973 | |
|
866 | 974 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF ); |
|
867 | 975 | if (status != RTEMS_SUCCESSFUL) { |
|
868 | 976 | ret = LFR_DEFAULT; |
|
869 | 977 | } |
|
870 | 978 | } |
|
871 | 979 | |
|
872 | 980 | return ret; |
|
873 | 981 | } |
|
874 | 982 | |
|
875 | 983 | int spw_send_waveform_SWF( ring_node *ring_node_to_send, |
|
876 | 984 | Header_TM_LFR_SCIENCE_SWF_t *header ) |
|
877 | 985 | { |
|
878 | 986 | /** This function sends SWF CCSDS packets (F2, F1 or F0). |
|
879 | 987 | * |
|
880 | 988 | * @param waveform points to the buffer containing the data that will be send. |
|
881 | 989 | * @param sid is the source identifier of the data that will be sent. |
|
882 | 990 | * @param headerSWF points to a table of headers that have been prepared for the data transmission. |
|
883 | 991 | * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures |
|
884 | 992 | * contain information to setup the transmission of the data packets. |
|
885 | 993 | * |
|
886 | 994 | * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks. |
|
887 | 995 | * |
|
888 | 996 | */ |
|
889 | 997 | |
|
890 | 998 | unsigned int i; |
|
891 | 999 | int ret; |
|
892 | 1000 | unsigned int coarseTime; |
|
893 | 1001 | unsigned int fineTime; |
|
894 | 1002 | rtems_status_code status; |
|
895 | 1003 | spw_ioctl_pkt_send spw_ioctl_send_SWF; |
|
896 | 1004 | int *dataPtr; |
|
897 | 1005 | unsigned char sid; |
|
898 | 1006 | |
|
899 | 1007 | spw_ioctl_send_SWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_SWF; |
|
900 | 1008 | spw_ioctl_send_SWF.options = 0; |
|
901 | 1009 | |
|
902 | 1010 | ret = LFR_DEFAULT; |
|
903 | 1011 | |
|
904 | 1012 | coarseTime = ring_node_to_send->coarseTime; |
|
905 | 1013 | fineTime = ring_node_to_send->fineTime; |
|
906 | 1014 | dataPtr = (int*) ring_node_to_send->buffer_address; |
|
907 | 1015 | sid = ring_node_to_send->sid; |
|
908 | 1016 | |
|
909 | 1017 | header->hkBIA = pa_bia_status_info; |
|
910 | 1018 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
911 | 1019 | |
|
912 | 1020 | for (i=0; i<7; i++) // send waveform |
|
913 | 1021 | { |
|
914 | 1022 | spw_ioctl_send_SWF.data = (char*) &dataPtr[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) ]; |
|
915 | 1023 | spw_ioctl_send_SWF.hdr = (char*) header; |
|
916 | 1024 | |
|
917 | 1025 | // SET PACKET SEQUENCE CONTROL |
|
918 | 1026 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
919 | 1027 | |
|
920 | 1028 | // SET PACKET LENGTH AND BLKNR |
|
921 | 1029 | if (i == 6) |
|
922 | 1030 | { |
|
923 | 1031 | spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK; |
|
924 | 1032 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8); |
|
925 | 1033 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224 ); |
|
926 | 1034 | header->blkNr[0] = (unsigned char) (BLK_NR_224 >> 8); |
|
927 | 1035 | header->blkNr[1] = (unsigned char) (BLK_NR_224 ); |
|
928 | 1036 | } |
|
929 | 1037 | else |
|
930 | 1038 | { |
|
931 | 1039 | spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK; |
|
932 | 1040 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8); |
|
933 | 1041 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304 ); |
|
934 | 1042 | header->blkNr[0] = (unsigned char) (BLK_NR_304 >> 8); |
|
935 | 1043 | header->blkNr[1] = (unsigned char) (BLK_NR_304 ); |
|
936 | 1044 | } |
|
937 | 1045 | |
|
938 | 1046 | // SET PACKET TIME |
|
939 | 1047 | compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime ); |
|
940 | 1048 | // |
|
941 | 1049 | header->time[0] = header->acquisitionTime[0]; |
|
942 | 1050 | header->time[1] = header->acquisitionTime[1]; |
|
943 | 1051 | header->time[2] = header->acquisitionTime[2]; |
|
944 | 1052 | header->time[3] = header->acquisitionTime[3]; |
|
945 | 1053 | header->time[4] = header->acquisitionTime[4]; |
|
946 | 1054 | header->time[5] = header->acquisitionTime[5]; |
|
947 | 1055 | |
|
948 | 1056 | // SET SID |
|
949 | 1057 | header->sid = sid; |
|
950 | 1058 | |
|
951 | 1059 | // SET PKTNR |
|
952 | 1060 | header->pktNr = i+1; // PKT_NR |
|
953 | 1061 | |
|
954 | 1062 | // SEND PACKET |
|
955 | 1063 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_SWF ); |
|
956 | 1064 | if (status != RTEMS_SUCCESSFUL) { |
|
957 | 1065 | ret = LFR_DEFAULT; |
|
958 | 1066 | } |
|
959 | 1067 | } |
|
960 | 1068 | |
|
961 | 1069 | return ret; |
|
962 | 1070 | } |
|
963 | 1071 | |
|
964 | 1072 | int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send, |
|
965 | 1073 | Header_TM_LFR_SCIENCE_CWF_t *header ) |
|
966 | 1074 | { |
|
967 | 1075 | /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data. |
|
968 | 1076 | * |
|
969 | 1077 | * @param waveform points to the buffer containing the data that will be send. |
|
970 | 1078 | * @param headerCWF points to a table of headers that have been prepared for the data transmission. |
|
971 | 1079 | * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures |
|
972 | 1080 | * contain information to setup the transmission of the data packets. |
|
973 | 1081 | * |
|
974 | 1082 | * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer |
|
975 | 1083 | * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks. |
|
976 | 1084 | * |
|
977 | 1085 | */ |
|
978 | 1086 | |
|
979 | 1087 | unsigned int i; |
|
980 | 1088 | int ret; |
|
981 | 1089 | unsigned int coarseTime; |
|
982 | 1090 | unsigned int fineTime; |
|
983 | 1091 | rtems_status_code status; |
|
984 | 1092 | spw_ioctl_pkt_send spw_ioctl_send_CWF; |
|
985 | 1093 | char *dataPtr; |
|
986 | 1094 | unsigned char sid; |
|
987 | 1095 | |
|
988 | 1096 | spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF; |
|
989 | 1097 | spw_ioctl_send_CWF.options = 0; |
|
990 | 1098 | |
|
991 | 1099 | ret = LFR_DEFAULT; |
|
992 | 1100 | sid = ring_node_to_send->sid; |
|
993 | 1101 | |
|
994 | 1102 | coarseTime = ring_node_to_send->coarseTime; |
|
995 | 1103 | fineTime = ring_node_to_send->fineTime; |
|
996 | 1104 | dataPtr = (char*) ring_node_to_send->buffer_address; |
|
997 | 1105 | |
|
998 | 1106 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8); |
|
999 | 1107 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672 ); |
|
1000 | 1108 | header->hkBIA = pa_bia_status_info; |
|
1001 | 1109 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
1002 | 1110 | header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8); |
|
1003 | 1111 | header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3 ); |
|
1004 | 1112 | |
|
1005 | 1113 | //********************* |
|
1006 | 1114 | // SEND CWF3_light DATA |
|
1007 | 1115 | for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform |
|
1008 | 1116 | { |
|
1009 | 1117 | spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) ]; |
|
1010 | 1118 | spw_ioctl_send_CWF.hdr = (char*) header; |
|
1011 | 1119 | // BUILD THE DATA |
|
1012 | 1120 | spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK; |
|
1013 | 1121 | |
|
1014 | 1122 | // SET PACKET SEQUENCE COUNTER |
|
1015 | 1123 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1016 | 1124 | |
|
1017 | 1125 | // SET SID |
|
1018 | 1126 | header->sid = sid; |
|
1019 | 1127 | |
|
1020 | 1128 | // SET PACKET TIME |
|
1021 | 1129 | compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, header->acquisitionTime ); |
|
1022 | 1130 | // |
|
1023 | 1131 | header->time[0] = header->acquisitionTime[0]; |
|
1024 | 1132 | header->time[1] = header->acquisitionTime[1]; |
|
1025 | 1133 | header->time[2] = header->acquisitionTime[2]; |
|
1026 | 1134 | header->time[3] = header->acquisitionTime[3]; |
|
1027 | 1135 | header->time[4] = header->acquisitionTime[4]; |
|
1028 | 1136 | header->time[5] = header->acquisitionTime[5]; |
|
1029 | 1137 | |
|
1030 | 1138 | // SET PACKET ID |
|
1031 | 1139 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
1032 | 1140 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
1033 | 1141 | |
|
1034 | 1142 | // SEND PACKET |
|
1035 | 1143 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF ); |
|
1036 | 1144 | if (status != RTEMS_SUCCESSFUL) { |
|
1037 | 1145 | ret = LFR_DEFAULT; |
|
1038 | 1146 | } |
|
1039 | 1147 | } |
|
1040 | 1148 | |
|
1041 | 1149 | return ret; |
|
1042 | 1150 | } |
|
1043 | 1151 | |
|
1044 | 1152 | void spw_send_asm_f0( ring_node *ring_node_to_send, |
|
1045 | 1153 | Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
1046 | 1154 | { |
|
1047 | 1155 | unsigned int i; |
|
1048 | 1156 | unsigned int length = 0; |
|
1049 | 1157 | rtems_status_code status; |
|
1050 | 1158 | unsigned int sid; |
|
1051 | 1159 | float *spectral_matrix; |
|
1052 | 1160 | int coarseTime; |
|
1053 | 1161 | int fineTime; |
|
1054 | 1162 | spw_ioctl_pkt_send spw_ioctl_send_ASM; |
|
1055 | 1163 | |
|
1056 | 1164 | sid = ring_node_to_send->sid; |
|
1057 | 1165 | spectral_matrix = (float*) ring_node_to_send->buffer_address; |
|
1058 | 1166 | coarseTime = ring_node_to_send->coarseTime; |
|
1059 | 1167 | fineTime = ring_node_to_send->fineTime; |
|
1060 | 1168 | |
|
1061 | 1169 | header->biaStatusInfo = pa_bia_status_info; |
|
1062 | 1170 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
1063 | 1171 | |
|
1064 | 1172 | for (i=0; i<3; i++) |
|
1065 | 1173 | { |
|
1066 | 1174 | if ((i==0) || (i==1)) |
|
1067 | 1175 | { |
|
1068 | 1176 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_1; |
|
1069 | 1177 | spw_ioctl_send_ASM.data = (char *) &spectral_matrix[ |
|
1070 | 1178 | ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM ) |
|
1071 | 1179 | ]; |
|
1072 | 1180 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_1; |
|
1073 | 1181 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1074 | 1182 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F0_1) >> 8 ); // BLK_NR MSB |
|
1075 | 1183 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F0_1); // BLK_NR LSB |
|
1076 | 1184 | } |
|
1077 | 1185 | else |
|
1078 | 1186 | { |
|
1079 | 1187 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_2; |
|
1080 | 1188 | spw_ioctl_send_ASM.data = (char*) &spectral_matrix[ |
|
1081 | 1189 | ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM ) |
|
1082 | 1190 | ]; |
|
1083 | 1191 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_2; |
|
1084 | 1192 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1085 | 1193 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F0_2) >> 8 ); // BLK_NR MSB |
|
1086 | 1194 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F0_2); // BLK_NR LSB |
|
1087 | 1195 | } |
|
1088 | 1196 | |
|
1089 | 1197 | spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM; |
|
1090 | 1198 | spw_ioctl_send_ASM.hdr = (char *) header; |
|
1091 | 1199 | spw_ioctl_send_ASM.options = 0; |
|
1092 | 1200 | |
|
1093 | 1201 | // (2) BUILD THE HEADER |
|
1094 | 1202 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1095 | 1203 | header->packetLength[0] = (unsigned char) (length>>8); |
|
1096 | 1204 | header->packetLength[1] = (unsigned char) (length); |
|
1097 | 1205 | header->sid = (unsigned char) sid; // SID |
|
1098 | 1206 | header->pa_lfr_pkt_cnt_asm = 3; |
|
1099 | 1207 | header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1); |
|
1100 | 1208 | |
|
1101 | 1209 | // (3) SET PACKET TIME |
|
1102 | 1210 | header->time[0] = (unsigned char) (coarseTime>>24); |
|
1103 | 1211 | header->time[1] = (unsigned char) (coarseTime>>16); |
|
1104 | 1212 | header->time[2] = (unsigned char) (coarseTime>>8); |
|
1105 | 1213 | header->time[3] = (unsigned char) (coarseTime); |
|
1106 | 1214 | header->time[4] = (unsigned char) (fineTime>>8); |
|
1107 | 1215 | header->time[5] = (unsigned char) (fineTime); |
|
1108 | 1216 | // |
|
1109 | 1217 | header->acquisitionTime[0] = header->time[0]; |
|
1110 | 1218 | header->acquisitionTime[1] = header->time[1]; |
|
1111 | 1219 | header->acquisitionTime[2] = header->time[2]; |
|
1112 | 1220 | header->acquisitionTime[3] = header->time[3]; |
|
1113 | 1221 | header->acquisitionTime[4] = header->time[4]; |
|
1114 | 1222 | header->acquisitionTime[5] = header->time[5]; |
|
1115 | 1223 | |
|
1116 | 1224 | // (4) SEND PACKET |
|
1117 | 1225 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM ); |
|
1118 | 1226 | if (status != RTEMS_SUCCESSFUL) { |
|
1119 | 1227 | PRINTF1("in ASM_send *** ERR %d\n", (int) status) |
|
1120 | 1228 | } |
|
1121 | 1229 | } |
|
1122 | 1230 | } |
|
1123 | 1231 | |
|
1124 | 1232 | void spw_send_asm_f1( ring_node *ring_node_to_send, |
|
1125 | 1233 | Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
1126 | 1234 | { |
|
1127 | 1235 | unsigned int i; |
|
1128 | 1236 | unsigned int length = 0; |
|
1129 | 1237 | rtems_status_code status; |
|
1130 | 1238 | unsigned int sid; |
|
1131 | 1239 | float *spectral_matrix; |
|
1132 | 1240 | int coarseTime; |
|
1133 | 1241 | int fineTime; |
|
1134 | 1242 | spw_ioctl_pkt_send spw_ioctl_send_ASM; |
|
1135 | 1243 | |
|
1136 | 1244 | sid = ring_node_to_send->sid; |
|
1137 | 1245 | spectral_matrix = (float*) ring_node_to_send->buffer_address; |
|
1138 | 1246 | coarseTime = ring_node_to_send->coarseTime; |
|
1139 | 1247 | fineTime = ring_node_to_send->fineTime; |
|
1140 | 1248 | |
|
1141 | 1249 | header->biaStatusInfo = pa_bia_status_info; |
|
1142 | 1250 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
1143 | 1251 | |
|
1144 | 1252 | for (i=0; i<3; i++) |
|
1145 | 1253 | { |
|
1146 | 1254 | if ((i==0) || (i==1)) |
|
1147 | 1255 | { |
|
1148 | 1256 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_1; |
|
1149 | 1257 | spw_ioctl_send_ASM.data = (char *) &spectral_matrix[ |
|
1150 | 1258 | ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM ) |
|
1151 | 1259 | ]; |
|
1152 | 1260 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_1; |
|
1153 | 1261 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1154 | 1262 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F1_1) >> 8 ); // BLK_NR MSB |
|
1155 | 1263 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F1_1); // BLK_NR LSB |
|
1156 | 1264 | } |
|
1157 | 1265 | else |
|
1158 | 1266 | { |
|
1159 | 1267 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_2; |
|
1160 | 1268 | spw_ioctl_send_ASM.data = (char*) &spectral_matrix[ |
|
1161 | 1269 | ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM ) |
|
1162 | 1270 | ]; |
|
1163 | 1271 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_2; |
|
1164 | 1272 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1165 | 1273 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F1_2) >> 8 ); // BLK_NR MSB |
|
1166 | 1274 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F1_2); // BLK_NR LSB |
|
1167 | 1275 | } |
|
1168 | 1276 | |
|
1169 | 1277 | spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM; |
|
1170 | 1278 | spw_ioctl_send_ASM.hdr = (char *) header; |
|
1171 | 1279 | spw_ioctl_send_ASM.options = 0; |
|
1172 | 1280 | |
|
1173 | 1281 | // (2) BUILD THE HEADER |
|
1174 | 1282 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1175 | 1283 | header->packetLength[0] = (unsigned char) (length>>8); |
|
1176 | 1284 | header->packetLength[1] = (unsigned char) (length); |
|
1177 | 1285 | header->sid = (unsigned char) sid; // SID |
|
1178 | 1286 | header->pa_lfr_pkt_cnt_asm = 3; |
|
1179 | 1287 | header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1); |
|
1180 | 1288 | |
|
1181 | 1289 | // (3) SET PACKET TIME |
|
1182 | 1290 | header->time[0] = (unsigned char) (coarseTime>>24); |
|
1183 | 1291 | header->time[1] = (unsigned char) (coarseTime>>16); |
|
1184 | 1292 | header->time[2] = (unsigned char) (coarseTime>>8); |
|
1185 | 1293 | header->time[3] = (unsigned char) (coarseTime); |
|
1186 | 1294 | header->time[4] = (unsigned char) (fineTime>>8); |
|
1187 | 1295 | header->time[5] = (unsigned char) (fineTime); |
|
1188 | 1296 | // |
|
1189 | 1297 | header->acquisitionTime[0] = header->time[0]; |
|
1190 | 1298 | header->acquisitionTime[1] = header->time[1]; |
|
1191 | 1299 | header->acquisitionTime[2] = header->time[2]; |
|
1192 | 1300 | header->acquisitionTime[3] = header->time[3]; |
|
1193 | 1301 | header->acquisitionTime[4] = header->time[4]; |
|
1194 | 1302 | header->acquisitionTime[5] = header->time[5]; |
|
1195 | 1303 | |
|
1196 | 1304 | // (4) SEND PACKET |
|
1197 | 1305 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM ); |
|
1198 | 1306 | if (status != RTEMS_SUCCESSFUL) { |
|
1199 | 1307 | PRINTF1("in ASM_send *** ERR %d\n", (int) status) |
|
1200 | 1308 | } |
|
1201 | 1309 | } |
|
1202 | 1310 | } |
|
1203 | 1311 | |
|
1204 | 1312 | void spw_send_asm_f2( ring_node *ring_node_to_send, |
|
1205 | 1313 | Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
1206 | 1314 | { |
|
1207 | 1315 | unsigned int i; |
|
1208 | 1316 | unsigned int length = 0; |
|
1209 | 1317 | rtems_status_code status; |
|
1210 | 1318 | unsigned int sid; |
|
1211 | 1319 | float *spectral_matrix; |
|
1212 | 1320 | int coarseTime; |
|
1213 | 1321 | int fineTime; |
|
1214 | 1322 | spw_ioctl_pkt_send spw_ioctl_send_ASM; |
|
1215 | 1323 | |
|
1216 | 1324 | sid = ring_node_to_send->sid; |
|
1217 | 1325 | spectral_matrix = (float*) ring_node_to_send->buffer_address; |
|
1218 | 1326 | coarseTime = ring_node_to_send->coarseTime; |
|
1219 | 1327 | fineTime = ring_node_to_send->fineTime; |
|
1220 | 1328 | |
|
1221 | 1329 | header->biaStatusInfo = pa_bia_status_info; |
|
1222 | 1330 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
1223 | 1331 | |
|
1224 | 1332 | for (i=0; i<3; i++) |
|
1225 | 1333 | { |
|
1226 | 1334 | |
|
1227 | 1335 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F2_PKT; |
|
1228 | 1336 | spw_ioctl_send_ASM.data = (char *) &spectral_matrix[ |
|
1229 | 1337 | ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM ) |
|
1230 | 1338 | ]; |
|
1231 | 1339 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2; |
|
1232 | 1340 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; |
|
1233 | 1341 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F2) >> 8 ); // BLK_NR MSB |
|
1234 | 1342 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F2); // BLK_NR LSB |
|
1235 | 1343 | |
|
1236 | 1344 | spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM; |
|
1237 | 1345 | spw_ioctl_send_ASM.hdr = (char *) header; |
|
1238 | 1346 | spw_ioctl_send_ASM.options = 0; |
|
1239 | 1347 | |
|
1240 | 1348 | // (2) BUILD THE HEADER |
|
1241 | 1349 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1242 | 1350 | header->packetLength[0] = (unsigned char) (length>>8); |
|
1243 | 1351 | header->packetLength[1] = (unsigned char) (length); |
|
1244 | 1352 | header->sid = (unsigned char) sid; // SID |
|
1245 | 1353 | header->pa_lfr_pkt_cnt_asm = 3; |
|
1246 | 1354 | header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1); |
|
1247 | 1355 | |
|
1248 | 1356 | // (3) SET PACKET TIME |
|
1249 | 1357 | header->time[0] = (unsigned char) (coarseTime>>24); |
|
1250 | 1358 | header->time[1] = (unsigned char) (coarseTime>>16); |
|
1251 | 1359 | header->time[2] = (unsigned char) (coarseTime>>8); |
|
1252 | 1360 | header->time[3] = (unsigned char) (coarseTime); |
|
1253 | 1361 | header->time[4] = (unsigned char) (fineTime>>8); |
|
1254 | 1362 | header->time[5] = (unsigned char) (fineTime); |
|
1255 | 1363 | // |
|
1256 | 1364 | header->acquisitionTime[0] = header->time[0]; |
|
1257 | 1365 | header->acquisitionTime[1] = header->time[1]; |
|
1258 | 1366 | header->acquisitionTime[2] = header->time[2]; |
|
1259 | 1367 | header->acquisitionTime[3] = header->time[3]; |
|
1260 | 1368 | header->acquisitionTime[4] = header->time[4]; |
|
1261 | 1369 | header->acquisitionTime[5] = header->time[5]; |
|
1262 | 1370 | |
|
1263 | 1371 | // (4) SEND PACKET |
|
1264 | 1372 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM ); |
|
1265 | 1373 | if (status != RTEMS_SUCCESSFUL) { |
|
1266 | 1374 | PRINTF1("in ASM_send *** ERR %d\n", (int) status) |
|
1267 | 1375 | } |
|
1268 | 1376 | } |
|
1269 | 1377 | } |
|
1270 | 1378 | |
|
1271 | 1379 | void spw_send_k_dump( ring_node *ring_node_to_send ) |
|
1272 | 1380 | { |
|
1273 | 1381 | rtems_status_code status; |
|
1274 | 1382 | Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump; |
|
1275 | 1383 | unsigned int packetLength; |
|
1276 | 1384 | unsigned int size; |
|
1277 | 1385 | |
|
1278 | 1386 | PRINTF("spw_send_k_dump\n") |
|
1279 | 1387 | |
|
1280 | 1388 | kcoefficients_dump = (Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *) ring_node_to_send->buffer_address; |
|
1281 | 1389 | |
|
1282 | 1390 | packetLength = kcoefficients_dump->packetLength[0] * 256 + kcoefficients_dump->packetLength[1]; |
|
1283 | 1391 | |
|
1284 | 1392 | size = packetLength + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES; |
|
1285 | 1393 | |
|
1286 | 1394 | PRINTF2("packetLength %d, size %d\n", packetLength, size ) |
|
1287 | 1395 | |
|
1288 | 1396 | status = write( fdSPW, (char *) ring_node_to_send->buffer_address, size ); |
|
1289 | 1397 | |
|
1290 | 1398 | if (status == -1){ |
|
1291 | 1399 | PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size) |
|
1292 | 1400 | } |
|
1293 | 1401 | |
|
1294 | 1402 | ring_node_to_send->status = 0x00; |
|
1295 | 1403 | } |
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