##// END OF EJS Templates
AVGV task added...
paul -
r298:ff57d1825f54 R3_plus draft
parent child
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@@ -0,0 +1,31
1 import time
2
3 proxy.loadSysDriver("SpwPlugin","SpwPlugin0")
4 SpwPlugin0.selectBridge("STAR-Dundee Spw USB Brick")
5
6 proxy.loadSysDriverToParent("dsu3plugin","SpwPlugin0")
7 proxy.loadSysDriverToParent("LFRControlPlugin","SpwPlugin0")
8
9 availableBrickCount = SpwPlugin0.StarDundeeGetAvailableBrickCount()
10 print str(availableBrickCount) + " SpaceWire brick(s) found"
11
12 SpwPlugin0.StarDundeeSelectBrick(1)
13 SpwPlugin0.StarDundeeSetBrickAsARouter(1)
14 SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
15 SpwPlugin0.connectBridge()
16
17 #SpwPlugin0.TCPServerSetIP("127.0.0.1")
18 SpwPlugin0.TCPServerConnect()
19
20 # OPEN SPACEWIRE SERVER
21 #LFRControlPlugin0.SetSpwServerIP(129,104,27,164)
22 LFRControlPlugin0.TCPServerConnect()
23
24 # OPEN TM ECHO BRIDGE SERVER
25 LFRControlPlugin0.TMEchoBridgeOpenPort()
26
27 # START SENDING TIMECODES AT 1 Hz
28 SpwPlugin0.StarDundeeStartTimecodes( 1 )
29
30 # it is possible to change the time code frequency
31 #RMAPPlugin0.changeTimecodeFrequency(2)
@@ -0,0 +1,14
1 # LOAD FSW USING LINK 1
2 SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
3
4 dsu3plugin0.openFile("/opt/DEV_PLE/FSW-qt/bin/fsw")
5 #dsu3plugin0.openFile("/opt/LFR/LFR-FSW/2.0.2.3/fsw")
6 dsu3plugin0.loadFile()
7
8 dsu3plugin0.run()
9
10 # START SENDING TIMECODES AT 1 Hz
11 #SpwPlugin0.StarDundeeStartTimecodes( 1 )
12
13 # it is possible to change the time code frequency
14 #RMAPPlugin0.changeTimecodeFrequency(2)
@@ -0,0 +1,13
1 # LOAD FSW USING LINK 1
2 SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
3
4 dsu3plugin0.openFile("/opt/LFR/LFR-FSW/3.0.0.10/fsw")
5 dsu3plugin0.loadFile()
6
7 dsu3plugin0.run()
8
9 # START SENDING TIMECODES AT 1 Hz
10 SpwPlugin0.StarDundeeStartTimecodes( 1 )
11
12 # it is possible to change the time code frequency
13 #RMAPPlugin0.changeTimecodeFrequency(2)
@@ -1,2 +1,2
1 1 3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
2 1ffa3d630b9ced4a87a362dafb10d9838e9cc0d9 header/lfr_common_headers
2 94f0f2fccbcb8030d9437ffbb69ee0eefaaea188 header/lfr_common_headers
@@ -16,8 +16,8
16 16 #include "avf1_prc1.h"
17 17 #include "avf2_prc2.h"
18 18
19 extern rtems_name Task_name[20]; /* array of task names */
20 extern rtems_id Task_id[20]; /* array of task ids */
19 extern rtems_name Task_name[]; /* array of task names */
20 extern rtems_id Task_id[]; /* array of task ids */
21 21 extern rtems_name timecode_timer_name;
22 22 extern rtems_id timecode_timer_id;
23 23 extern unsigned char pa_bia_status_info;
@@ -28,6 +28,8 extern void CCR_getInstructionAndDataErr
28 28
29 29 rtems_name name_hk_rate_monotonic; // name of the HK rate monotonic
30 30 rtems_id HK_id; // id of the HK rate monotonic period
31 rtems_name name_avgv_rate_monotonic; // name of the AVGV rate monotonic
32 rtems_id AVGV_id; // id of the AVGV rate monotonic period
31 33
32 34 void timer_configure( unsigned char timer, unsigned int clock_divider,
33 35 unsigned char interrupt_level, rtems_isr (*timer_isr)() );
@@ -50,6 +52,7 void set_apbuart_scaler_reload_register(
50 52 // RTEMS TASKS
51 53 rtems_task load_task( rtems_task_argument argument );
52 54 rtems_task hous_task( rtems_task_argument argument );
55 rtems_task avgv_task( rtems_task_argument argument );
53 56 rtems_task dumb_task( rtems_task_argument unused );
54 57
55 58 void init_housekeeping_parameters( void );
@@ -26,7 +26,7
26 26 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
27 27 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
28 28
29 #define CONFIGURE_MAXIMUM_TASKS 20
29 #define CONFIGURE_MAXIMUM_TASKS 21 // number of tasks concurrently active including INIT
30 30 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
31 31 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
32 32 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
@@ -34,7 +34,7
34 34 #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
35 35 #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
36 36 #define CONFIGURE_MAXIMUM_DRIVERS 16
37 #define CONFIGURE_MAXIMUM_PERIODS 5
37 #define CONFIGURE_MAXIMUM_PERIODS 5 // [hous] [load] [avgv]
38 38 #define CONFIGURE_MAXIMUM_TIMERS 5 // [spiq] [link] [spacewire_reset_link]
39 39 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
40 40 #ifdef PRINT_STACK_REPORT
@@ -143,9 +143,9 rtems_task Init( rtems_task_argument ign
143 143
144 144 PRINTF("*************************\n")
145 145 PRINTF("** LFR Flight Software **\n")
146 PRINTF1("** %d.", SW_VERSION_N1)
147 PRINTF1("%d." , SW_VERSION_N2)
148 PRINTF1("%d." , SW_VERSION_N3)
146 PRINTF1("** %d-", SW_VERSION_N1)
147 PRINTF1("%d-" , SW_VERSION_N2)
148 PRINTF1("%d-" , SW_VERSION_N3)
149 149 PRINTF1("%d **\n", SW_VERSION_N4)
150 150
151 151 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
@@ -342,6 +342,7 void create_names( void ) // create all
342 342 */
343 343
344 344 // task names
345 Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' );
345 346 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
346 347 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
347 348 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
@@ -364,6 +365,7 void create_names( void ) // create all
364 365
365 366 // rate monotonic period names
366 367 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
368 name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' );
367 369
368 370 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
369 371 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
@@ -553,6 +555,14 int create_all_tasks( void ) // create a
553 555 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
554 556 );
555 557 }
558 if (status == RTEMS_SUCCESSFUL) // AVGV
559 {
560 status = rtems_task_create(
561 Task_name[TASKID_AVGV], TASK_PRIORITY_AVGV, RTEMS_MINIMUM_STACK_SIZE,
562 RTEMS_DEFAULT_MODES,
563 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVGV]
564 );
565 }
556 566
557 567 return status;
558 568 }
@@ -708,6 +718,13 int start_all_tasks( void ) // start all
708 718 BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
709 719 }
710 720 }
721 if (status == RTEMS_SUCCESSFUL) // AVGV
722 {
723 status = rtems_task_start( Task_id[TASKID_AVGV], avgv_task, 1 );
724 if (status!=RTEMS_SUCCESSFUL) {
725 BOOT_PRINTF("in INIT *** Error starting TASK_AVGV\n")
726 }
727 }
711 728 if (status == RTEMS_SUCCESSFUL) // DUMB
712 729 {
713 730 status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
@@ -335,6 +335,91 rtems_task hous_task(rtems_task_argument
335 335 return;
336 336 }
337 337
338 rtems_task avgv_task(rtems_task_argument argument)
339 {
340 #define MOVING_AVERAGE 16
341 rtems_status_code status;
342 unsigned int v[MOVING_AVERAGE];
343 unsigned int e1[MOVING_AVERAGE];
344 unsigned int e2[MOVING_AVERAGE];
345 float average_v;
346 float average_e1;
347 float average_e2;
348 unsigned char k;
349 unsigned char indexOfOldValue;
350
351 BOOT_PRINTF("in AVGV ***\n");
352
353 if (rtems_rate_monotonic_ident( name_avgv_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
354 status = rtems_rate_monotonic_create( name_avgv_rate_monotonic, &AVGV_id );
355 if( status != RTEMS_SUCCESSFUL ) {
356 PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status );
357 }
358 }
359
360 status = rtems_rate_monotonic_cancel(AVGV_id);
361 if( status != RTEMS_SUCCESSFUL ) {
362 PRINTF1( "ERR *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id) ***code: %d\n", status );
363 }
364 else {
365 DEBUG_PRINTF("OK *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id)\n");
366 }
367
368 // initialize values
369 k = 0;
370 indexOfOldValue = MOVING_AVERAGE - 1;
371 for (k = 0; k < MOVING_AVERAGE; k++)
372 {
373 v[k] = 0;
374 e1[k] = 0;
375 e2[k] = 0;
376 average_v = 0.;
377 average_e1 = 0.;
378 average_e2 = 0.;
379 }
380
381 k = 0;
382
383 while(1){ // launch the rate monotonic task
384 status = rtems_rate_monotonic_period( AVGV_id, AVGV_PERIOD );
385 if ( status != RTEMS_SUCCESSFUL ) {
386 PRINTF1( "in AVGV *** ERR period: %d\n", status);
387 }
388 else {
389 // store new value in buffer
390 v[k] = waveform_picker_regs->v;
391 e1[k] = waveform_picker_regs->e1;
392 e2[k] = waveform_picker_regs->e2;
393 if (k == (MOVING_AVERAGE - 1))
394 {
395 indexOfOldValue = 0;
396 }
397 else
398 {
399 indexOfOldValue = k + 1;
400 }
401 average_v = average_v + v[k] - v[indexOfOldValue];
402 average_e1 = average_e1 + e1[k] - e1[indexOfOldValue];
403 average_e2 = average_e2 + e2[k] - e2[indexOfOldValue];
404 }
405 if (k == (MOVING_AVERAGE-1))
406 {
407 k = 0;
408 printf("tick\n");
409 }
410 else
411 {
412 k++;
413 }
414 }
415
416 PRINTF("in AVGV *** deleting task\n")
417
418 status = rtems_task_delete( RTEMS_SELF ); // should not return
419
420 return;
421 }
422
338 423 rtems_task dumb_task( rtems_task_argument unused )
339 424 {
340 425 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
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