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FSW modified to have correct answers to TC_LFR_DUMP_PAR
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1 1 <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
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1 1 #ifndef FSW_RTEMS_H_INCLUDED
2 2 #define FSW_RTEMS_H_INCLUDED
3 3
4 4 #include <errno.h>
5 5 #include <fcntl.h>
6 6 #include <stdio.h>
7 7 #include <stdlib.h>
8 8
9 9 #include <grspw.h>
10 10 #include <apbuart.h>
11 11
12 12 #include <fsw_params.h>
13 13 #include <fsw_misc.h>
14 14 #include <fsw_processing.h>
15 15 #include <tc_handler.h>
16 16 #include <wf_handler.h>
17 17 #include <grlib_regs.h>
18 18
19 19 extern int sched_yield();
20 20 extern int errno;
21 21 extern rtems_id Task_id[ ]; /* array of task ids */
22 22 extern rtems_name Task_name[ ]; /* array of task names */
23 23 extern rtems_name misc_name[ ]; /* arry of miscellaneous names for rtems objects */
24 24 extern int fdSPW; // grspw file descriptor
25 25 extern int fdUART; // uart file descriptor
26
27 void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc);
28
26 29 // MODE PARAMETERS
27 30 extern struct param_norm_str param_norm;
28 31 extern struct param_burst_str param_burst;
29 32 extern struct param_sbm1_str param_sbm1;
30 33 extern struct param_sbm2_str param_sbm2;
31 34 extern unsigned char param_common[];
32 35
33 36 // RTEMS TASKS
34 37 rtems_task Init( rtems_task_argument argument); /* forward declaration needed */
35 38 rtems_task recv_task(rtems_task_argument argument);
36 39 rtems_task spiq_task(rtems_task_argument argument);
37 40 rtems_task stat_task(rtems_task_argument argument);
38 41 rtems_task wfrm_task(rtems_task_argument argument);
39 42 int create_all_tasks();
40 43 int start_all_tasks();
41 44 int create_message_queue();
42 45
43 46 // OTHER functions
44 47 void init_default_mode_parameters();
48
45 49 int configure_spw_link();
46 int send_console_outputs_on_serial_port();
50 void configure_spacewire_set_NP(unsigned char val, unsigned int regAddr); // No Port force
51 void configure_spacewire_set_RE(unsigned char val, unsigned int regAddr); // RMAP Enable
52
47 53 extern int rtems_cpu_usage_report();
48 54 extern int rtems_cpu_usage_reset();
49 55 void print_statistics(spw_stats *);
50 56 rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send);
57 void (*grspw_timecode_callback) (void *pDev, void *regs, int minor, unsigned int tc);
51 58
52 59 #endif // FSW_RTEMS_CONFIG_H_INCLUDED
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@@ -1,69 +1,70
1 1 #ifndef TC_HANDLER_H_INCLUDED
2 2 #define TC_HANDLER_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <bsp.h> // for the LEON_Unmask_interrupt function
6 6 #include <stdio.h>
7 7 #include <unistd.h> // for the read call
8 8 #include <sys/ioctl.h> // for the ioctl call
9 9 #include <ccsds_types.h>
10 10 #include <grspw.h>
11 11 #include <fsw_init.h>
12 12
13 13 extern int fdSPW;
14 14 extern rtems_name misc_name[ ];
15 15 extern rtems_name misc_id[ ];
16 16 extern rtems_id Task_id[ ]; // array of task ids
17 17 // MODE PARAMETERS
18 18 extern struct param_norm_str param_norm;
19 19 extern struct param_sbm1_str param_sbm1;
20 20 extern struct param_sbm2_str param_sbm2;
21 21 extern time_management_regs_t *time_management_regs;
22 22 extern unsigned char param_common[];
23 23
24 24 unsigned char currentTC_LEN_RCV[2]; // SHALL be equal to the current TC packet estimated packet length field
25 25 unsigned char currentTC_COMPUTED_CRC[2];
26 26 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
27 27 unsigned int currentTM_length;
28 28 unsigned char currentTC_processedFlag;
29 29
30 30 //****
31 31 // ISR
32 32 rtems_isr commutation_isr1( rtems_vector_number vector );
33 33 rtems_isr commutation_isr2( rtems_vector_number vector );
34 34
35 35 //**********************
36 36 // GENERAL USE FUNCTIONS
37 37 unsigned int lookUpTableForCRC[256];
38 38 void initLookUpTableForCRC();
39 39 void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData);
40 40
41 41 //*********************
42 42 // ACCEPTANCE FUNCTIONS
43 43 unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int tc_len_recv);
44 44
45 45 unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
46 46 unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader);
47 47 unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC);
48 48 int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV);
49 49
50 50 //***********
51 51 // RTEMS TASK
52 52 rtems_task recv_task( rtems_task_argument unused );
53 53 rtems_task actn_task( rtems_task_argument unused );
54 54 rtems_task dumb_task( rtems_task_argument unused );
55 55 int create_message_queue();
56 56
57 57 //***********
58 58 // TC ACTIONS
59 59 int action_default(ccsdsTelecommandPacket_t *TC);
60 int action_default_alt(ccsdsTelecommandPacket_t *TC);
60 61 int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC);
61 62 //
62 63 int action_load_norm(ccsdsTelecommandPacket_t *TC);
63 64 int action_enter(ccsdsTelecommandPacket_t *TC);
64 65 int action_updt_time(ccsdsTelecommandPacket_t *TC);
65 66
66 67 #endif // TC_HANDLER_H_INCLUDED
67 68
68 69
69 70
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@@ -1,53 +1,55
1 1 #include <drvmgr/ambapp_bus.h>
2 2
3 3 // GRSPW0 resources
4 4 struct drvmgr_key grlib_grspw_0n1_res[] = {
5 5 {"txBdCnt", KEY_TYPE_INT, {(unsigned int)10}},
6 6 {"rxBdCnt", KEY_TYPE_INT, {(unsigned int)10}},
7 7 {"txDataSize", KEY_TYPE_INT, {(unsigned int)4096}},
8 8 {"txHdrSize", KEY_TYPE_INT, {(unsigned int)20+6}}, // 6 is for the auxiliary header, when needed
9 9 {"rxPktSize", KEY_TYPE_INT, {(unsigned int)248+4}},
10 10 KEY_EMPTY
11 11 };
12 12
13 13 #if 0
14 14 /* APBUART0 */
15 15 struct drvmgr_key grlib_drv_res_apbuart0[] =
16 16 {
17 17 {"mode", KEY_TYPE_INT, {(unsigned int)1}},
18 18 {"syscon", KEY_TYPE_INT, {(unsigned int)1}},
19 19 KEY_EMPTY
20 20 };
21 21 /* APBUART1 */
22 22 struct drvmgr_key grlib_drv_res_apbuart1[] =
23 23 {
24 24 {"mode", KEY_TYPE_INT, {(unsigned int)1}},
25 25 {"syscon", KEY_TYPE_INT, {(unsigned int)0}},
26 26 KEY_EMPTY
27 27 };
28 28 /* LEON3 System with driver configuration for 2 APBUARTs, the
29 29 * the rest of the AMBA device drivers use their defaults.
30 30 */
31 31
32 32 /* Override default debug UART assignment.
33 33 * 0 = Default APBUART. APBUART[0], but on MP system CPU0=APBUART0,
34 34 * CPU1=APBUART1...
35 35 * 1 = APBUART[0]
36 36 * 2 = APBUART[1]
37 37 * 3 = APBUART[2]
38 38 * ...
39 39 */
40 40 //int debug_uart_index = 2; /* second UART -- APBUART[1] */
41 41 #endif
42 42
43 43 // If RTEMS_DRVMGR_STARTUP is defined we override the "weak defaults" that is defined by the LEON3 BSP.
44 44
45 45 struct drvmgr_bus_res grlib_drv_resources = {
46 46 .next = NULL,
47 47 .resource = {
48 48 {DRIVER_AMBAPP_GAISLER_GRSPW_ID, 0, &grlib_grspw_0n1_res[0]},
49 49 // {DRIVER_AMBAPP_GAISLER_APBUART_ID, 0, &grlib_drv_res_apbuart0[0]},
50 50 // {DRIVER_AMBAPP_GAISLER_APBUART_ID, 1, &grlib_drv_res_apbuart1[0]},
51 51 RES_EMPTY /* Mark end of device resource array */
52 52 }
53 53 };
54
55
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@@ -1,44 +1,45
1 1 #include <fsw_processing.h>
2 2 #include <rtems.h>
3 3
4 4 // RTEMS GLOBAL VARIABLES
5 5 rtems_name misc_name[5];
6 6 rtems_name misc_id[5];
7 7 rtems_id Task_id[10]; /* array of task ids */
8 8 rtems_name Task_name[10]; /* array of task names */
9 9 int fdSPW;
10 10 int fdUART;
11 11
12 12 // APB CONFIGURATION REGISTERS
13 13 time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT;
14 14
15 15 // WAVEFORMS GLOBAL VARIABLES
16 16 volatile int wf_snap_f0[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
17 17 volatile int wf_snap_f1[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
18 18 volatile int wf_snap_f2[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
19 19 volatile int wf_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
20 20
21 21 // SPECTRAL MATRICES GLOBAL VARIABLES
22 22 volatile int spec_mat_f0_a[ TOTAL_SIZE_SPEC_MAT ];
23 23 volatile int spec_mat_f0_b[ TOTAL_SIZE_SPEC_MAT ];
24 24 volatile int spec_mat_f0_c[ TOTAL_SIZE_SPEC_MAT ];
25 25 volatile int spec_mat_f0_d[ TOTAL_SIZE_SPEC_MAT ];
26 26 volatile int spec_mat_f0_e[ TOTAL_SIZE_SPEC_MAT ];
27 27 volatile int spec_mat_f0_f[ TOTAL_SIZE_SPEC_MAT ];
28 28 volatile int spec_mat_f0_g[ TOTAL_SIZE_SPEC_MAT ];
29 29 volatile int spec_mat_f0_h[ TOTAL_SIZE_SPEC_MAT ];
30 30 //
31 31 float averaged_spec_mat_f0[ TOTAL_SIZE_SPEC_MAT ];
32 32 float compressed_spec_mat_f0[ TOTAL_SIZE_COMPRESSED_MATRIX_f0 ];
33 33
34 34 // MODE PARAMETERS
35 35 struct param_norm_str param_norm;
36 36 struct param_burst_str param_burst;
37 37 struct param_sbm1_str param_sbm1;
38 38 struct param_sbm2_str param_sbm2;
39 39 unsigned char param_common[2];
40 40
41 41 // BASIC PARAMETERS GLOBAL VARIABLES
42 42 unsigned char LFR_BP1_F0[ NB_BINS_COMPRESSED_MATRIX_f0 * 9 ];
43 43
44 44 BP1_t data_BP1[ NB_BINS_COMPRESSED_MATRIX_f0 ];
45
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@@ -1,304 +1,345
1 1 //*************************
2 2 // GPL reminder to be added
3 3 //*************************
4 4
5 5 #include <rtems.h>
6 6
7 7 /* configuration information */
8 8
9 9 #define CONFIGURE_INIT
10 10
11 11 #include <bsp.h> /* for device driver prototypes */
12 12
13 13 /* configuration information */
14 14
15 15 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
16 16 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
17 17
18 18 #define CONFIGURE_MAXIMUM_TASKS 10
19 19 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
20 20 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
21 21 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
22 22 #define CONFIGURE_INIT_TASK_PRIORITY 100
23 23 #define CONFIGURE_MAXIMUM_DRIVERS 16
24 24 #define CONFIGURE_MAXIMUM_PERIODS 1
25 25 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
26 26
27 27 #include <rtems/confdefs.h>
28 28
29 29 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
30 30 #ifdef RTEMS_DRVMGR_STARTUP
31 31 #ifdef LEON3
32 32 /* Add Timer and UART Driver */
33 33 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
34 34 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
35 35 #endif
36 36 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
37 37 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
38 38 #endif
39 39 #endif
40 40 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
41 41 #include <drvmgr/drvmgr_confdefs.h>
42 42 #endif
43 43
44 44 #include <fsw_init.h>
45 45 #include <fsw_config.c>
46 46
47 47 char *link_status(int status);
48 48
49 49 char *lstates[6] = {"Error-reset",
50 50 "Error-wait",
51 51 "Ready",
52 52 "Started",
53 53 "Connecting",
54 54 "Run"
55 55 };
56 56
57 57 rtems_task Init( rtems_task_argument ignored )
58 58 {
59 59 rtems_status_code status;
60 60 rtems_isr_entry old_isr_handler;
61 61
62 62 //send_console_outputs_on_serial_port();
63 63
64 64 initLookUpTableForCRC(); // in tc_handler.h
65 65 init_default_mode_parameters();
66 66 create_message_queue();
67 67 create_all_tasks();
68 68 start_all_tasks();
69 69
70 grspw_timecode_callback = &timecode_irq_handler;
71
70 72 configure_spw_link();
71 73 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
72 74 IRQ_SPARC_SM, spectral_matrices_isr );
73 75 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
74 76 IRQ_SPARC_WF, waveforms_isr );
75 77
76 78 // irq handling of the time management unit
77 79 status = rtems_interrupt_catch( commutation_isr1,
78 80 IRQ_SPARC_TIME1,
79 81 &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
80 82 if (status==RTEMS_SUCCESSFUL)
81 83 PRINTF("commutation_isr1 *** rtems_interrupt_catch successfullly configured\n")
82 84
83 85 status = rtems_interrupt_catch( commutation_isr2,
84 86 IRQ_SPARC_TIME2,
85 87 &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
86 88 if (status==RTEMS_SUCCESSFUL)
87 89 PRINTF("commutation_isr2 *** rtems_interrupt_catch successfullly configured\n")
88 90
89 91 LEON_Unmask_interrupt( IRQ_TIME1 );
90 92 LEON_Unmask_interrupt( IRQ_TIME2 );
91 93
92 94 status = rtems_task_delete(RTEMS_SELF);
93 95 }
94 96
95 97 rtems_task spiq_task(rtems_task_argument unused)
96 98 {
97 99 rtems_event_set event_out;
98 100 struct grspw_regs_str *grspw_regs;
99 101 grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW;
100 102
101 103 while(1){
102 104 PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
103 105 rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
104 106
105 107 if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL) // suspend RECV task
106 108 PRINTF("In SPIQ *** Error suspending RECV Task\n")
107 109
108 110 configure_spw_link();
109 111
110 112 if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task
111 113 PRINTF("In SPIQ *** Error resume RECV Task\n")
112 114 }
113 115 }
114 116
115 117 void init_default_mode_parameters()
116 118 {
117 119 // COMMON PARAMETERS
118 120 param_common[0] = 0x00;
119 121 param_common[1] = 0x10; // default value 0 0 0 1 0 0 0 0
120 122 // NORMAL MODE
121 123 param_norm.sy_lfr_n_swf_l = 2048; // nb sample
122 124 param_norm.sy_lfr_n_swf_p = 300; // sec
123 125 param_norm.sy_lfr_n_asm_p = 3600; // sec
124 126 param_norm.sy_lfr_n_bp_p0 = 4; // sec
125 127 param_norm.sy_lfr_n_bp_p1 = 20; // sec
126 128 // BURST MODE
127 129 param_burst.sy_lfr_b_bp_p0 = 1; // sec
128 130 param_burst.sy_lfr_b_bp_p1 = 5; // sec
129 131 // SBM1 MODE
130 132 param_sbm1.sy_lfr_s1_bp_p0 = 1; // sec
131 133 param_sbm1.sy_lfr_s1_bp_p1 = 1; // sec
132 134 // SBM2 MODE
133 135 param_sbm2.sy_lfr_s2_bp_p0 = 1; // sec
134 136 param_sbm2.sy_lfr_s2_bp_p0 = 5; // sec
135 137 }
136 138
137 139 int create_all_tasks()
138 140 {
139 141 rtems_status_code status;
140 142
141 143 Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
142 144 Task_name[2] = rtems_build_name( 'A', 'C', 'T', 'N' );
143 145 Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' );
144 146 Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' );
145 147 Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' );
146 148 Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' );
147 149 Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' );
148 150 Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' );
149 151 Task_name[9] = rtems_build_name( 'D', 'U', 'M', 'B' );
150 152
151 153 // RECV
152 154 status = rtems_task_create(
153 155 Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
154 156 RTEMS_DEFAULT_MODES,
155 157 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1]
156 158 );
157 159 // ACTN
158 160 status = rtems_task_create(
159 161 Task_name[2], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
160 162 RTEMS_DEFAULT_MODES,
161 163 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[2]
162 164 );
163 165 // SPIQ
164 166 status = rtems_task_create(
165 167 Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
166 168 RTEMS_DEFAULT_MODES,
167 169 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3]
168 170 );
169 171 // SMIQ
170 172 status = rtems_task_create(
171 173 Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
172 174 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
173 175 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4]
174 176 );
175 177 // STAT
176 178 status = rtems_task_create(
177 179 Task_name[5], 150, RTEMS_MINIMUM_STACK_SIZE * 2,
178 180 RTEMS_DEFAULT_MODES,
179 181 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5]
180 182 );
181 183 // AVF0
182 184 status = rtems_task_create(
183 185 Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
184 186 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
185 187 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6]
186 188 );
187 189 // BPF0
188 190 status = rtems_task_create(
189 191 Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
190 192 RTEMS_DEFAULT_MODES,
191 193 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7]
192 194 );
193 195 // WFRM
194 196 status = rtems_task_create(
195 197 Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
196 198 RTEMS_DEFAULT_MODES,
197 199 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8]
198 200 );
199 201 // DUMB
200 202 status = rtems_task_create(
201 203 Task_name[9], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
202 204 RTEMS_DEFAULT_MODES,
203 205 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[9]
204 206 );
205 207
206 208 return 0;
207 209 }
208 210
209 211 int start_all_tasks()
210 212 {
211 213 rtems_status_code status;
212 214
213 215 status = rtems_task_start( Task_id[3], spiq_task, 1 );
214 216 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n")
215 217
216 218 status = rtems_task_start( Task_id[1], recv_task, 1 );
217 219 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n")
218 220
219 221 status = rtems_task_start( Task_id[2], actn_task, 1 );
220 222 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_ACTN\n")
221 223
222 224 status = rtems_task_start( Task_id[4], smiq_task, 1 );
223 225 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n")
224 226
225 227 status = rtems_task_start( Task_id[5], stat_task, 1 );
226 228 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n")
227 229
228 230 status = rtems_task_start( Task_id[6], avf0_task, 1 );
229 231 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n")
230 232
231 233 status = rtems_task_start( Task_id[7], bpf0_task, 1 );
232 234 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n")
233 235
234 236 status = rtems_task_start( Task_id[8], wfrm_task, 1 );
235 237 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n")
236 238
237 239 status = rtems_task_start( Task_id[9], dumb_task, 1 );
238 240 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_DUMB\n")
239 241
240 242 return 0;
241 243 }
242 244
243 245 int configure_spw_link()
244 246 {
245 247 rtems_status_code status;
246 248
247 249 close(fdSPW); // close the device if it is already open
248 250 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
249 251 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
250 252 while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){
251 253 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n")
252 254 close(fdSPW); // close the device
253 255 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
254 256 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
255 257 rtems_task_wake_after(100);
256 258 }
257 259
258 260 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
259 261
260 262 // sets a few parameters of the link
261 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit
262 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n")
263 //
263 //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit
264 //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n")
265
266 configure_spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force
267 configure_spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to break the no port force configuration
268
264 269 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
265 270 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
266 271 //
267 272 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]); // sets the task ID to which an event is sent when a
268 273 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
269 274 //
270 275 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts
271 276 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
272 277 //
273 278 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
274 279 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
275
280 //
276 281 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit
277 282 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
278
283 //
279 284 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key
280 285 PRINTF1("destination address set to: %d\n", CCSDS_DESTINATION_ID)
281 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
282
283 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_NODEADDR, CCSDS_NODE_ADDRESS); // sets the destination key
286 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DESTKEY\n")
287 //
288 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_NODEADDR, CCSDS_NODE_ADDRESS); // sets the node address
284 289 PRINTF1("node address set to: %d\n", CCSDS_NODE_ADDRESS)
285 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
290 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_NODEADDR\n")
291 //
292 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909);
293 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
286 294
287 295 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
288 296
289 297 return RTEMS_SUCCESSFUL;
290 298 }
291 299
300 void configure_spacewire_set_NP(unsigned char val, unsigned int regAddr) // No Port force
301 {
302 unsigned int *spwptr;
303 spwptr = (unsigned int*) regAddr;
304 if (val == 1)
305 {
306 *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
307 }
308 if (val== 0)
309 {
310 *spwptr = *spwptr & 0xffdfffff;
311 }
312 }
313
314 void configure_spacewire_set_RE(unsigned char val, unsigned int regAddr) // RMAP Enable
315 {
316 unsigned int *spwptr;
317 spwptr = (unsigned int*) regAddr;
318 if (val == 1)
319 {
320 *spwptr = *spwptr | 0x00010000; // [NP] set the No port force bit
321 }
322 if (val== 0)
323 {
324 *spwptr = *spwptr & 0xfffdffff;
325 }
326 }
327
292 328 char *link_status(int status){
293 329 return lstates[status];
294 330 }
295 331
296 332 rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
297 333 {
298 334 rtems_status_code status;
299 335 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
300 336 if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n");
301 337 return status;
302 338 }
303 339
340 void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc)
341 {
342 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
343 printf("In timecode_irq_handler *** Error sending event to DUMB\n");
344 }
304 345
Show file before | Show file after | Hide comments
@@ -1,520 +1,531
1 1 #include <tc_handler.h>
2 2 #include <fsw_params.h>
3 3
4 4 char *errorCCSDSMsg[8] = { "ILLEGAL_APID 0",
5 5 "WRONG_LEN_PACKET 1",
6 6 "INCOR_CHECKSUM 2",
7 7 "ILL_TYPE 3",
8 8 "ILL_SUBTYPE 4",
9 9 "WRONG_APP_DATA 5",
10 10 "WRONG_CMD_CODE 6",
11 11 "CCSDS_TM_VALID 7"
12 12 };
13 13
14 14 //**********************
15 15 // GENERAL USE FUNCTIONS
16 16 unsigned int Crc_opt( unsigned char D, unsigned int Chk)
17 17 {
18 18 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
19 19 }
20 20
21 21 void initLookUpTableForCRC()
22 22 {
23 23 unsigned int i, tmp;
24 24 for (i=0; i<256; i++)
25 25 {
26 26 tmp = 0;
27 27 if((i & 1) != 0) tmp = tmp ^ 0x1021;
28 28 if((i & 2) != 0) tmp = tmp ^ 0x2042;
29 29 if((i & 4) != 0) tmp = tmp ^ 0x4084;
30 30 if((i & 8) != 0) tmp = tmp ^ 0x8108;
31 31 if((i & 16) != 0) tmp = tmp ^ 0x1231;
32 32 if((i & 32) != 0) tmp = tmp ^ 0x2462;
33 33 if((i & 64) != 0) tmp = tmp ^ 0x48c4;
34 34 if((i & 128) != 0) tmp = tmp ^ 0x9188;
35 35 lookUpTableForCRC[i] = tmp;
36 36 }
37 37 }
38 38
39 39 void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
40 40 {
41 41 unsigned int Chk;
42 42 int j;
43 43 Chk = 0xffff; // reset the syndrom to all ones
44 44 for (j=0; j<sizeOfData; j++) {
45 45 Chk = Crc_opt(data[j], Chk);
46 46 }
47 47 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
48 48 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
49 49 }
50 50
51 51
52 52 //*********************
53 53 // ACCEPTANCE FUNCTIONS
54 54 int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
55 55 {
56 56 rtems_status_code status;
57 57 spw_ioctl_pkt_send spw_ioctl_send;
58 58 TMHeader_t TM_header;
59 59 unsigned int code = 0;
60 60 unsigned char computed_CRC[2];
61 61 char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
62 62
63 63 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
64 64 code = acceptTM( TC, tc_len_recv ) ;
65 65 if ( (code == 0) | (code == 1) | (code == 2)
66 66 | (code == 3) | (code == 4) | (code == 5) )
67 67 { // generate TM_LFR_TC_EXE_CORRUPTED
68 68 // BUILD HEADER
69 69 TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_EXE_CORR, 0, 0, &TM_header);
70 70 // BUILD DATA
71 71 TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
72 72 // PREPARE TM SENDING
73 73 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
74 74 spw_ioctl_send.hdr = (char*) &TM_header;
75 75 spw_ioctl_send.dlen = 16;
76 76 spw_ioctl_send.data = data;
77 77 // SEND PACKET
78 78 write_spw(&spw_ioctl_send);
79 79 }
80 80 else { // send valid TC to the action launcher
81 81 status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
82 82 return -1;
83 83 }
84 84 return -1;
85 85 }
86 86
87 87 unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
88 88 {
89 89 unsigned char pid = 0;
90 90 unsigned char category = 0;
91 91 unsigned int length = 0;
92 92 unsigned char packetType = 0;
93 93 unsigned char packetSubtype = 0;
94 94 unsigned char * CCSDSContent;
95 95
96 96 // APID check *** APID on 2 bytes
97 97 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx
98 98 category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
99 99 if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID;
100 100 if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID;
101 101
102 102 // packet length check
103 103 length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1];
104 104 if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
105 105 if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
106 106
107 107 packetType = TMPacket->dataFieldHeader[1];
108 108 packetSubtype = TMPacket->dataFieldHeader[2];
109 109 // service type, subtype and packet length check
110 110 if (packetType == 181){
111 111 switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
112 112 case 3:
113 113 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
114 114 break;
115 115 case 20:
116 116 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
117 117 break;
118 118 case 21:
119 119 if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
120 120 break;
121 121 case 24:
122 122 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
123 123 break;
124 124 case 27:
125 125 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
126 126 break;
127 127 case 28:
128 128 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
129 129 break;
130 130 case 30:
131 131 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
132 132 break;
133 133 case 40:
134 134 if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
135 135 break;
136 136 case 50:
137 137 if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
138 138 break;
139 139 case 60:
140 140 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
141 141 break;
142 142 case 61:
143 143 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
144 144 break;
145 145 default:
146 146 return ILL_SUBTYPE;
147 147 break;
148 148 }
149 149 }
150 150 else if (packetType == 9){
151 151 if (packetSubtype!=129) return ILL_SUBTYPE;
152 152 if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
153 153 }
154 154 else return ILL_TYPE;
155 155
156 156 // source ID check // Source ID not documented in the ICD
157 157
158 158 // packet error control, CRC check
159 159 CCSDSContent = (unsigned char*) TMPacket->packetID;
160 160 GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
161 161 if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM;
162 162 if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM;
163 163
164 164 return CCSDS_TM_VALID;
165 165 }
166 166
167 167 unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
168 168 unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
169 169 {
170 170 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
171 171 TMHeader->protocolIdentifier = 0x02;
172 172 TMHeader->reserved = 0x00;
173 173 TMHeader->userApplication = 0x00;
174 174 TMHeader->packetID[0] = 0x0c;
175 175 TMHeader->packetSequenceControl[0] = 0xc0;
176 176 TMHeader->packetSequenceControl[1] = 0x00;
177 177 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
178 178 TMHeader->packetLength[1] = (unsigned char) packetLength;
179 179 TMHeader->dataFieldHeader[0] = 0x10;
180 180 TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
181 181 switch (tm_type){
182 182 case(TM_LFR_TC_EXE_OK):
183 183 TMHeader->packetID[1] = 0xc1;
184 184 TMHeader->dataFieldHeader[1] = 1; // type
185 185 TMHeader->dataFieldHeader[2] = 7; // subtype
186 186 break;
187 187 case(TM_LFR_TC_EXE_ERR):
188 188 TMHeader->packetID[1] = 0xc1;
189 189 TMHeader->dataFieldHeader[1] = 1; // type
190 190 TMHeader->dataFieldHeader[2] = 8; // subtype
191 191 break;
192 192 case(TM_LFR_HK):
193 193 TMHeader->packetID[1] = 0xc4;
194 194 TMHeader->dataFieldHeader[1] = 3; // type
195 195 TMHeader->dataFieldHeader[2] = 25; // subtype
196 196 break;
197 197 case(TM_LFR_SCI):
198 198 TMHeader->packetID[1] = 0xcc;
199 199 TMHeader->dataFieldHeader[1] = 21; // type
200 200 TMHeader->dataFieldHeader[2] = 3; // subtype
201 201 break;
202 202 case(TM_LFR_SCI_SBM):
203 203 TMHeader->packetID[1] = 0xfc;
204 204 TMHeader->dataFieldHeader[1] = 21; // type
205 205 TMHeader->dataFieldHeader[2] = 3; // subtype
206 206 break;
207 207 case(TM_LFR_PAR_DUMP):
208 208 TMHeader->packetID[1] = 0xc9;
209 209 TMHeader->dataFieldHeader[1] = 181; // type
210 210 TMHeader->dataFieldHeader[2] = 31; // subtype
211 211 break;
212 212 default:
213 213 return 0;
214 214 }
215 215 TMHeader->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
216 216 TMHeader->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
217 217 TMHeader->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
218 218 TMHeader->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
219 219 TMHeader->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
220 220 TMHeader->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
221 221 return 1;
222 222 }
223 223
224 224 unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
225 225 {
226 226 unsigned int packetLength;
227 227 packetLength = TC->packetLength[0] * 256 + TC->packetLength[1];
228 228 switch (SID){
229 229 case (SID_NOT_EXE):
230 230 break;
231 231 case (SID_NOT_IMP):
232 232 data[0] = 0x9c;
233 233 data[1] = 0x42;
234 234 data[2] = TC->packetID[0];
235 235 data[3] = TC->packetID[1];
236 236 data[4] = TC->packetSequenceControl[0];
237 237 data[5] = TC->packetSequenceControl[1];
238 238 data[6] = TC->dataFieldHeader[1]; // type
239 239 data[7] = TC->dataFieldHeader[2]; // subtype
240 240 break;
241 241 case (SID_EXE_ERR):
242 242 break;
243 243 case (SID_EXE_CORR):
244 244 data[0] = 0x9c;
245 245 data[1] = 0x45;
246 246 data[2] = TC->packetID[0];
247 247 data[3] = TC->packetID[1];
248 248 data[4] = TC->packetSequenceControl[0];
249 249 data[5] = TC->packetSequenceControl[1];
250 250 data[6] = TC->dataFieldHeader[1]; // type
251 251 data[7] = TC->dataFieldHeader[2]; // subtype
252 252 data[8] = currentTC_LEN_RCV[0];
253 253 data[9] = currentTC_LEN_RCV[1];
254 254 data[10] = TC->packetLength[0];
255 255 data[11] = TC->packetLength[1];
256 256 data[12] = TC->dataAndCRC[packetLength];
257 257 data[13] = TC->dataAndCRC[packetLength+1];
258 258 data[14] = computed_CRC[0];
259 259 data[15] = computed_CRC[1];
260 260 break;
261 261 default:
262 262 return 0;
263 263 }
264 264 return 1;
265 265 }
266 266
267 267 //***********
268 268 // RTEMS TASK
269 269 rtems_task recv_task( rtems_task_argument unused )
270 270 {
271 271 int len = 0;
272 272 unsigned int i = 0;
273 273 unsigned int data_length = 0;
274 274 ccsdsTelecommandPacket_t currentTC;
275 275 char data[100];
276 276
277 277 for(i=0; i<100; i++) data[i] = 0;
278 278
279 279 PRINTF("In RECV *** \n")
280 280
281 281 while(1)
282 282 {
283 283 len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
284 284 if (len == -1){ // error during the read call
285 285 PRINTF("In RECV *** last read call returned -1\n")
286 286 if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL)
287 287 PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
288 288 if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL)
289 289 PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
290 290 }
291 291 else {
292 292 PRINTF1("Got pck of length %d\n", len+1)
293 293 currentTC_LEN_RCV[0] = 0x00;
294 294 currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // build the corresponding packet size field
295 295 currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes
296 296 // CHECK THE TC AND BUILD THE APPROPRIATE TM
297 297 data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
298 298 if (data_length!=-1)
299 299 {
300 300 }
301 301 }
302 302 }
303 303 }
304 304
305 305 rtems_task actn_task( rtems_task_argument unused )
306 306 {
307 307 int result = 0;
308 308 rtems_status_code status; // RTEMS status code
309 309 ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
310 310 size_t size; // size of the incoming TC packet
311 311 unsigned char subtype = 0; // subtype of the current TC packet
312 312
313 313 PRINTF("In ACTN *** \n")
314 314
315 315 while(1)
316 316 {
317 317 status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
318 318 RTEMS_WAIT, RTEMS_NO_TIMEOUT);
319 319 if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status)
320 320 else
321 321 {
322 322 subtype = TC.dataFieldHeader[2];
323 323 switch(subtype)
324 324 {
325 325 case TC_SUBTYPE_RESET:
326 326 result = action_default( &TC );
327 327 break;
328 328 //
329 329 case TC_SUBTYPE_LOAD_COMM:
330 330 result = action_default( &TC );
331 331 break;
332 332 //
333 333 case TC_SUBTYPE_LOAD_NORM:
334 334 result = action_load_norm( &TC );
335 335 send_tm_lfr_tc_exe_success( &TC );
336 336 break;
337 337 //
338 338 case TC_SUBTYPE_LOAD_BURST:
339 339 result = action_default( &TC );
340 340 break;
341 341 //
342 342 case TC_SUBTYPE_LOAD_SBM1:
343 343 result = action_default( &TC );
344 344 break;
345 345 //
346 346 case TC_SUBTYPE_LOAD_SBM2:
347 347 result = action_default( &TC );
348 348 break;
349 349 //
350 350 case TC_SUBTYPE_DUMP:
351 351 result = action_default( &TC );
352 352 break;
353 353 //
354 354 case TC_SUBTYPE_ENTER:
355 355 result = action_enter( &TC );
356 356 send_tm_lfr_tc_exe_success( &TC );
357 357 break;
358 358 //
359 359 case TC_SUBTYPE_UPDT_INFO:
360 360 result = action_default( &TC );
361 361 break;
362 362 //
363 363 case TC_SUBTYPE_EN_CAL:
364 364 result = action_default( &TC );
365 365 break;
366 366 //
367 367 case TC_SUBTYPE_DIS_CAL:
368 368 result = action_default( &TC );
369 369 break;
370 370 //
371 371 case TC_SUBTYPE_UPDT_TIME:
372 372 result = action_updt_time( &TC );
373 373 send_tm_lfr_tc_exe_success( &TC );
374 374 break;
375 375 //
376 376 default:
377 377 break;
378 378 }
379 379 }
380 380 }
381 381 }
382 382
383 383 int create_message_queue()
384 384 {
385 385 rtems_status_code status;
386 386 misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
387 387 status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
388 388 RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
389 389 if (status!=RTEMS_SUCCESSFUL) PRINTF("in create_message_queue *** error creating message queue\n")
390 390
391 391 return 0;
392 392 }
393 393
394 394 //***********
395 395 // TC ACTIONS
396
396 397 int action_default(ccsdsTelecommandPacket_t *TC)
397 398 {
398 char data[100]; // buffer for the generic TM packet
399 TMHeader_t TM_header; // TM header
400 spw_ioctl_pkt_send spw_ioctl_send; // structure to send the TM packet if any
401 // BUILD HEADER
402 TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP, 0, 0, &TM_header);
403 // BUILD DATA
404 TM_build_data( TC, data, SID_NOT_IMP, NULL);
405 // filling the strture for the spcawire transmission
399 TMHeader_t TM_header;
400 char data[8];
401 spw_ioctl_pkt_send spw_ioctl_send;
402
403 TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP,
404 time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header);
405
406 data[0] = 0x9c;
407 data[1] = 0x42;
408 data[2] = TC->packetID[0];
409 data[3] = TC->packetID[1];
410 data[4] = TC->packetSequenceControl[0];
411 data[5] = TC->packetSequenceControl[1];
412 data[6] = TC->dataFieldHeader[1]; // type
413 data[7] = TC->dataFieldHeader[2]; // subtype
414
415 // filling the structure for the spacewire transmission
406 416 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
407 417 spw_ioctl_send.hdr = (char*) &TM_header;
408 418 spw_ioctl_send.dlen = 8;
409 419 spw_ioctl_send.data = data;
420
410 421 // SEND DATA
411 422 write_spw(&spw_ioctl_send);
412 423
413 424 return 0;
414 425 }
415 426
416 427 int action_enter(ccsdsTelecommandPacket_t *TC)
417 428 {
418 429 unsigned char lfr_mode = TC->dataAndCRC[1];
419 430 printf("enter mode %d\n", lfr_mode);
420 431 switch(lfr_mode)
421 432 {
422 433 case(LFR_MODE_STANDBY):
423 434 LEON_Mask_interrupt( IRQ_WF );
424 435 LEON_Mask_interrupt( IRQ_SM );
425 436 break;
426 437 case(LFR_MODE_NORMAL):
427 438 LEON_Unmask_interrupt( IRQ_WF );
428 439 LEON_Unmask_interrupt( IRQ_SM );
429 440 break;
430 441 case(LFR_MODE_BURST):
431 442 break;
432 443 case(LFR_MODE_SBM1):
433 444 break;
434 445 case(LFR_MODE_SBM2):
435 446 break;
436 447 }
437 448 return 0;
438 449 }
439 450
440 451 int action_load_norm(ccsdsTelecommandPacket_t *TC)
441 452 {
442 453 param_norm.sy_lfr_n_swf_l = TC->dataAndCRC[0] * 256 + TC->dataAndCRC[1];
443 454 param_norm.sy_lfr_n_swf_p = TC->dataAndCRC[2] * 256 + TC->dataAndCRC[3];
444 455 param_norm.sy_lfr_n_asm_p = TC->dataAndCRC[4] * 256 + TC->dataAndCRC[5];
445 456 param_norm.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
446 457 param_norm.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
447 458 /*printf("sy_lfr_n_ => swf_l %d, swf_p %d, asm_p %d, bsp_p0 %d, bsp_p1 %d\n",
448 459 param_norm.sy_lfr_n_swf_l, param_norm.sy_lfr_n_swf_p,
449 460 param_norm.sy_lfr_n_asm_p, param_norm.sy_lfr_n_bp_p0, param_norm.sy_lfr_n_bp_p1);*/
450 461 return 0;
451 462 }
452 463
453 464 int action_updt_time(ccsdsTelecommandPacket_t *TC)
454 465 {
455 466 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
456 467 + (TC->dataAndCRC[1] << 16)
457 468 + (TC->dataAndCRC[2] << 8)
458 469 + TC->dataAndCRC[3];
459 470 //time_management_regs->ctrl = time_management_regs->ctrl | 1;
460 471 return 0;
461 472 }
462 473
463 474 int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
464 475 {
465 476 TMHeader_t TM_header;
466 477 char data[4];
467 478 spw_ioctl_pkt_send spw_ioctl_send;
468 479
469 480 TM_build_header( TM_LFR_TC_EXE_OK, TM_LEN_EXE,
470 481 time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header);
471 482
472 483 data[0] = TC->packetID[0];
473 484 data[1] = TC->packetID[1];
474 485 data[2] = TC->packetSequenceControl[0];
475 486 data[3] = TC->packetSequenceControl[1];
476 487
477 488 // filling the structure for the spacewire transmission
478 489 spw_ioctl_send.hlen = TM_HEADER_LEN + 3; // + 4 is for the protocole extra header
479 490 spw_ioctl_send.hdr = (char*) &TM_header;
480 491 spw_ioctl_send.dlen = 3;
481 492 spw_ioctl_send.data = data;
482 493
483 494 // SEND DATA
484 495 write_spw(&spw_ioctl_send);
485 496
486 497 return 0;
487 498 }
488 499
489 500 //***************************
490 501 // Interrupt Service Routines
491 502 rtems_isr commutation_isr1( rtems_vector_number vector )
492 503 {
493 504 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
494 printf("In spectral_matrices_isr *** Error sending event to DUMB\n");
505 printf("In commutation_isr1 *** Error sending event to DUMB\n");
495 506 }
496 507
497 508 rtems_isr commutation_isr2( rtems_vector_number vector )
498 509 {
499 510 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
500 printf("In spectral_matrices_isr *** Error sending event to DUMB\n");
511 printf("In commutation_isr2 *** Error sending event to DUMB\n");
501 512 }
502 513
503 514 rtems_task dumb_task( rtems_task_argument unused )
504 515 {
505 516 unsigned int coarse_time;
506 517 unsigned int fine_time;
507 518 rtems_event_set event_out;
508 519
509 520 PRINTF("In DUMB *** \n")
510 521
511 522 while(1){
512 523 rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
513 524 coarse_time = time_management_regs->coarse_time;
514 525 fine_time = time_management_regs->fine_time;
515 526 printf("commutation_isr*, coarse time = %x, fine time = %x\n", coarse_time, fine_time);
516 527 }
517 528 }
518 529
519 530
520 531
Show file before | Show file after | Hide comments
@@ -1,115 +1,115
1 1 #include <wf_handler.h>
2 2
3 3 rtems_isr waveforms_isr( rtems_vector_number vector )
4 4 {
5 5 if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
6 printf("In spectral_matrices_isr *** Error sending event to WFRM\n");
6 printf("In waveforms_isr *** Error sending event to WFRM\n");
7 7 }
8 8
9 9 rtems_task wfrm_task(rtems_task_argument argument)
10 10 {
11 11 unsigned int length;
12 12 unsigned int i = 0;
13 13 spw_ioctl_pkt_send spw_ioctl_send;
14 14 rtems_event_set event_out;
15 15 gptimer_regs_t *gptimer_regs;
16 16 gptimer_regs = (gptimer_regs_t *) REGS_ADDR_GPTIMER;
17 17 ExtendedTMHeader_t header;
18 18
19 19 header.targetLogicalAddress = CCSDS_DESTINATION_ID;
20 20 header.protocolIdentifier = CCSDS_PROTOCOLE_ID;
21 21 header.reserved = 0x00;
22 22 header.userApplication = CCSDS_USER_APP;
23 23 header.packetID[0] = 0x0c;
24 24 header.packetID[1] = 0xcc;
25 25 header.packetSequenceControl[0] = 0x00;
26 26 header.packetSequenceControl[1] = 0x00;
27 27 header.packetLength[0] = 0x00;
28 28 header.packetLength[1] = 0x00;
29 29 header.dataFieldHeader[0] = 0x10;
30 30 header.dataFieldHeader[1] = 0x15; // service type
31 31 header.dataFieldHeader[2] = 0x03; // service subtype
32 32 header.dataFieldHeader[3] = CCSDS_DESTINATION_ID;
33 33
34 34 header.auxiliaryHeader[0] = 0x00;
35 35 header.auxiliaryHeader[1] = 0x1f;
36 36 header.auxiliaryHeader[2] = 0x07; // PKT_CNT
37 37 header.auxiliaryHeader[3] = 0x00; // PKT_NR
38 38 header.auxiliaryHeader[4] = 0x00; // BLK_NR MSB
39 39 header.auxiliaryHeader[5] = 0x00; // BLK_NR LSB
40 40
41 41 // BUILD THE PACKET HEADER
42 42 spw_ioctl_send.hlen = TM_HEADER_LEN + 4 + 6; // + 4 is for the protocole extra header, + 6 is for the auxiliary header
43 43 spw_ioctl_send.hdr = (char*) &header;
44 44
45 45 PRINTF("In WFRM *** \n")
46 46
47 47 while(1){
48 48 rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
49 49 header.dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
50 50 header.dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
51 51 header.dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
52 52 header.dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
53 53 header.dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
54 54 header.dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
55 55 for (i=0; i<7; i++) // send F0
56 56 {
57 57 // BUILD THE DATA
58 58 if (i==6) {
59 59 spw_ioctl_send.dlen = 8 * NB_BYTES_SWF_BLK;
60 60 length = TM_LEN_SCI_NORM_SWF_340;
61 61 }
62 62 else {
63 63 spw_ioctl_send.dlen = 340 * NB_BYTES_SWF_BLK;
64 64 length = TM_LEN_SCI_NORM_SWF_8;
65 65 }
66 66 spw_ioctl_send.data = (char*) &wf_snap_f0[i * 340 * NB_BYTES_SWF_BLK];
67 67 // BUILD THE HEADER
68 68 header.packetLength[0] = (unsigned char) (length>>8);
69 69 header.packetLength[1] = (unsigned char) (length);
70 70 header.auxiliaryHeader[0] = SID_NORM_SWF_F0; // SID
71 71 // SEND PACKET
72 72 write_spw(&spw_ioctl_send);
73 73 }
74 74 for (i=0; i<7; i++) // send F1
75 75 {
76 76 // BUILD THE DATA
77 77 if (i==6) {
78 78 spw_ioctl_send.dlen = 8 * NB_BYTES_SWF_BLK;
79 79 length = TM_LEN_SCI_NORM_SWF_340;
80 80 }
81 81 else {
82 82 spw_ioctl_send.dlen = 340 * NB_BYTES_SWF_BLK;
83 83 length = TM_LEN_SCI_NORM_SWF_8;
84 84 }
85 85 spw_ioctl_send.data = (char*) &wf_snap_f1[i * 340 * NB_BYTES_SWF_BLK];
86 86 // BUILD THE HEADER
87 87 header.packetLength[0] = (unsigned char) (length>>8);
88 88 header.packetLength[1] = (unsigned char) (length);
89 89 header.auxiliaryHeader[0] = SID_NORM_SWF_F1; // SID
90 90 // SEND PACKET
91 91 write_spw(&spw_ioctl_send);
92 92 }
93 93 for (i=0; i<7; i++) // send F0
94 94 {
95 95 // BUILD THE DATA
96 96 if (i==6) {
97 97 spw_ioctl_send.dlen = 8 * NB_BYTES_SWF_BLK;
98 98 length = TM_LEN_SCI_NORM_SWF_340;
99 99 }
100 100 else {
101 101 spw_ioctl_send.dlen = 340 * NB_BYTES_SWF_BLK;
102 102 length = TM_LEN_SCI_NORM_SWF_8;
103 103 }
104 104 spw_ioctl_send.data = (char*) &wf_snap_f2[i * 340 * NB_BYTES_SWF_BLK];
105 105 // BUILD THE HEADER
106 106 header.packetLength[0] = (unsigned char) (length>>8);
107 107 header.packetLength[1] = (unsigned char) (length);
108 108 header.auxiliaryHeader[0] = SID_NORM_SWF_F2; // SID
109 109 // SEND PACKET
110 110 write_spw(&spw_ioctl_send);
111 111 }
112 112 // irq processed, reset the related register of the timer unit
113 113 gptimer_regs->timer[2].ctrl = gptimer_regs->timer[2].ctrl | 0x00000010;
114 114 }
115 115 }
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