##// 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
@@ -1,64 +1,64
1 1 #ifndef FSW_INIT_H_INCLUDED
2 2 #define FSW_INIT_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <leon.h>
6 6
7 7 #include "fsw_params.h"
8 8 #include "fsw_misc.h"
9 9 #include "fsw_processing.h"
10 10
11 11 #include "tc_handler.h"
12 12 #include "wf_handler.h"
13 13 #include "fsw_spacewire.h"
14 14
15 15 #include "avf0_prc0.h"
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;
24 24 extern unsigned char cp_rpw_sc_rw_f_flags;
25 25 extern float cp_rpw_sc_rw1_f1;
26 26 extern float cp_rpw_sc_rw1_f2;
27 27 extern float cp_rpw_sc_rw2_f1;
28 28 extern float cp_rpw_sc_rw2_f2;
29 29 extern float cp_rpw_sc_rw3_f1;
30 30 extern float cp_rpw_sc_rw3_f2;
31 31 extern float cp_rpw_sc_rw4_f1;
32 32 extern float cp_rpw_sc_rw4_f2;
33 33 extern filterPar_t filterPar;
34 34
35 35 // RTEMS TASKS
36 36 rtems_task Init( rtems_task_argument argument);
37 37
38 38 // OTHER functions
39 39 void create_names( void );
40 40 int create_all_tasks( void );
41 41 int start_all_tasks( void );
42 42 //
43 43 rtems_status_code create_message_queues( void );
44 44 rtems_status_code create_timecode_timer( void );
45 45 rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
46 46 rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
47 47 rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id );
48 48 rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id );
49 49 rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id );
50 50 void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max );
51 51 void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize );
52 52 //
53 53 int start_recv_send_tasks( void );
54 54 //
55 55 void init_local_mode_parameters( void );
56 56 void reset_local_time( void );
57 57
58 58 extern void rtems_cpu_usage_report( void );
59 59 extern void rtems_cpu_usage_reset( void );
60 60 extern void rtems_stack_checker_report_usage( void );
61 61
62 62 extern int sched_yield( void );
63 63
64 64 #endif // FSW_INIT_H_INCLUDED
@@ -1,84 +1,87
1 1 #ifndef FSW_MISC_H_INCLUDED
2 2 #define FSW_MISC_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <stdio.h>
6 6 #include <grspw.h>
7 7 #include <grlib_regs.h>
8 8
9 9 #include "fsw_params.h"
10 10 #include "fsw_spacewire.h"
11 11 #include "lfr_cpu_usage_report.h"
12 12
13 13
14 14 enum lfr_reset_cause_t{
15 15 UNKNOWN_CAUSE,
16 16 POWER_ON,
17 17 TC_RESET,
18 18 WATCHDOG,
19 19 ERROR_RESET,
20 20 UNEXP_RESET
21 21 };
22 22
23 23 extern gptimer_regs_t *gptimer_regs;
24 24 extern void ASR16_get_FPRF_IURF_ErrorCounters( unsigned int*, unsigned int* );
25 25 extern void CCR_getInstructionAndDataErrorCounters( unsigned int*, unsigned int* );
26 26
27 27 #define LFR_RESET_CAUSE_UNKNOWN_CAUSE 0
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)() );
34 36 void timer_start( unsigned char timer );
35 37 void timer_stop( unsigned char timer );
36 38 void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider);
37 39
38 40 // WATCHDOG
39 41 rtems_isr watchdog_isr( rtems_vector_number vector );
40 42 void watchdog_configure(void);
41 43 void watchdog_stop(void);
42 44 void watchdog_reload(void);
43 45 void watchdog_start(void);
44 46
45 47 // SERIAL LINK
46 48 int send_console_outputs_on_apbuart_port( void );
47 49 int enable_apbuart_transmitter( void );
48 50 void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value);
49 51
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 );
56 59 void increment_seq_counter(unsigned short *packetSequenceControl);
57 60 void getTime( unsigned char *time);
58 61 unsigned long long int getTimeAsUnsignedLongLongInt( );
59 62 void send_dumb_hk( void );
60 63 void get_temperatures( unsigned char *temperatures );
61 64 void get_v_e1_e2_f3( unsigned char *spacecraft_potential );
62 65 void get_cpu_load( unsigned char *resource_statistics );
63 66 void set_hk_lfr_sc_potential_flag( bool state );
64 67 void set_sy_lfr_pas_filter_enabled( bool state );
65 68 void set_sy_lfr_watchdog_enabled( bool state );
66 69 void set_hk_lfr_calib_enable( bool state );
67 70 void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause );
68 71 void hk_lfr_le_me_he_update();
69 72 void set_hk_lfr_time_not_synchro();
70 73
71 74 extern int sched_yield( void );
72 75 extern void rtems_cpu_usage_reset();
73 76 extern ring_node *current_ring_node_f3;
74 77 extern ring_node *ring_node_to_send_cwf_f3;
75 78 extern ring_node waveform_ring_f3[];
76 79 extern unsigned short sequenceCounterHK;
77 80
78 81 extern unsigned char hk_lfr_q_sd_fifo_size_max;
79 82 extern unsigned char hk_lfr_q_rv_fifo_size_max;
80 83 extern unsigned char hk_lfr_q_p0_fifo_size_max;
81 84 extern unsigned char hk_lfr_q_p1_fifo_size_max;
82 85 extern unsigned char hk_lfr_q_p2_fifo_size_max;
83 86
84 87 #endif // FSW_MISC_H_INCLUDED
@@ -1,938 +1,955
1 1 /** This is the RTEMS initialization module.
2 2 *
3 3 * @file
4 4 * @author P. LEROY
5 5 *
6 6 * This module contains two very different information:
7 7 * - specific instructions to configure the compilation of the RTEMS executive
8 8 * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
9 9 *
10 10 */
11 11
12 12 //*************************
13 13 // GPL reminder to be added
14 14 //*************************
15 15
16 16 #include <rtems.h>
17 17
18 18 /* configuration information */
19 19
20 20 #define CONFIGURE_INIT
21 21
22 22 #include <bsp.h> /* for device driver prototypes */
23 23
24 24 /* configuration information */
25 25
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
33 33 #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
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
41 41 #define CONFIGURE_STACK_CHECKER_ENABLED
42 42 #endif
43 43
44 44 #include <rtems/confdefs.h>
45 45
46 46 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
47 47 #ifdef RTEMS_DRVMGR_STARTUP
48 48 #ifdef LEON3
49 49 /* Add Timer and UART Driver */
50 50
51 51 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
52 52 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
53 53 #endif
54 54
55 55 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
56 56 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
57 57 #endif
58 58
59 59 #endif
60 60 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
61 61
62 62 #include <drvmgr/drvmgr_confdefs.h>
63 63 #endif
64 64
65 65 #include "fsw_init.h"
66 66 #include "fsw_config.c"
67 67 #include "GscMemoryLPP.hpp"
68 68
69 69 void initCache()
70 70 {
71 71 // ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
72 72 // These should only be read and written using 32-bit LDA/STA instructions.
73 73 // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
74 74 // The table below shows the register addresses:
75 75 // 0x00 Cache control register
76 76 // 0x04 Reserved
77 77 // 0x08 Instruction cache configuration register
78 78 // 0x0C Data cache configuration register
79 79
80 80 // Cache Control Register Leon3 / Leon3FT
81 81 // 31..30 29 28 27..24 23 22 21 20..19 18 17 16
82 82 // RFT PS TB DS FD FI FT ST IB
83 83 // 15 14 13..12 11..10 9..8 7..6 5 4 3..2 1..0
84 84 // IP DP ITE IDE DTE DDE DF IF DCS ICS
85 85
86 86 unsigned int cacheControlRegister;
87 87
88 88 CCR_resetCacheControlRegister();
89 89 ASR16_resetRegisterProtectionControlRegister();
90 90
91 91 cacheControlRegister = CCR_getValue();
92 92 PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
93 93 PRINTF1("(0) ASR16 = %x\n", *asr16Ptr);
94 94
95 95 CCR_enableInstructionCache(); // ICS bits
96 96 CCR_enableDataCache(); // DCS bits
97 97 CCR_enableInstructionBurstFetch(); // IB bit
98 98
99 99 faultTolerantScheme();
100 100
101 101 cacheControlRegister = CCR_getValue();
102 102 PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
103 103 PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
104 104
105 105 PRINTF("\n");
106 106 }
107 107
108 108 rtems_task Init( rtems_task_argument ignored )
109 109 {
110 110 /** This is the RTEMS INIT taks, it is the first task launched by the system.
111 111 *
112 112 * @param unused is the starting argument of the RTEMS task
113 113 *
114 114 * The INIT task create and run all other RTEMS tasks.
115 115 *
116 116 */
117 117
118 118 //***********
119 119 // INIT CACHE
120 120
121 121 unsigned char *vhdlVersion;
122 122
123 123 reset_lfr();
124 124
125 125 reset_local_time();
126 126
127 127 rtems_cpu_usage_reset();
128 128
129 129 rtems_status_code status;
130 130 rtems_status_code status_spw;
131 131 rtems_isr_entry old_isr_handler;
132 132
133 133 // UART settings
134 134 enable_apbuart_transmitter();
135 135 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
136 136
137 137 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
138 138
139 139
140 140 PRINTF("\n\n\n\n\n")
141 141
142 142 initCache();
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);
152 152 PRINTF("** VHDL **\n")
153 153 PRINTF1("** %d.", vhdlVersion[1])
154 154 PRINTF1("%d." , vhdlVersion[2])
155 155 PRINTF1("%d **\n", vhdlVersion[3])
156 156 PRINTF("*************************\n")
157 157 PRINTF("\n\n")
158 158
159 159 init_parameter_dump();
160 160 init_kcoefficients_dump();
161 161 init_local_mode_parameters();
162 162 init_housekeeping_parameters();
163 163 init_k_coefficients_prc0();
164 164 init_k_coefficients_prc1();
165 165 init_k_coefficients_prc2();
166 166 pa_bia_status_info = 0x00;
167 167 cp_rpw_sc_rw_f_flags = 0x00;
168 168 cp_rpw_sc_rw1_f1 = 0.0;
169 169 cp_rpw_sc_rw1_f2 = 0.0;
170 170 cp_rpw_sc_rw2_f1 = 0.0;
171 171 cp_rpw_sc_rw2_f2 = 0.0;
172 172 cp_rpw_sc_rw3_f1 = 0.0;
173 173 cp_rpw_sc_rw3_f2 = 0.0;
174 174 cp_rpw_sc_rw4_f1 = 0.0;
175 175 cp_rpw_sc_rw4_f2 = 0.0;
176 176 // initialize filtering parameters
177 177 filterPar.spare_sy_lfr_pas_filter_enabled = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
178 178 filterPar.sy_lfr_pas_filter_modulus = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
179 179 filterPar.sy_lfr_pas_filter_tbad = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
180 180 filterPar.sy_lfr_pas_filter_offset = DEFAULT_SY_LFR_PAS_FILTER_OFFSET;
181 181 filterPar.sy_lfr_pas_filter_shift = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
182 182 filterPar.sy_lfr_sc_rw_delta_f = DEFAULT_SY_LFR_SC_RW_DELTA_F;
183 183 update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE );
184 184
185 185 // waveform picker initialization
186 186 WFP_init_rings();
187 187 LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG ); // initialize the waveform rings
188 188 WFP_reset_current_ring_nodes();
189 189 reset_waveform_picker_regs();
190 190
191 191 // spectral matrices initialization
192 192 SM_init_rings(); // initialize spectral matrices rings
193 193 SM_reset_current_ring_nodes();
194 194 reset_spectral_matrix_regs();
195 195
196 196 // configure calibration
197 197 configureCalibration( false ); // true means interleaved mode, false is for normal mode
198 198
199 199 updateLFRCurrentMode( LFR_MODE_STANDBY );
200 200
201 201 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
202 202
203 203 create_names(); // create all names
204 204
205 205 status = create_timecode_timer(); // create the timer used by timecode_irq_handler
206 206 if (status != RTEMS_SUCCESSFUL)
207 207 {
208 208 PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
209 209 }
210 210
211 211 status = create_message_queues(); // create message queues
212 212 if (status != RTEMS_SUCCESSFUL)
213 213 {
214 214 PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
215 215 }
216 216
217 217 status = create_all_tasks(); // create all tasks
218 218 if (status != RTEMS_SUCCESSFUL)
219 219 {
220 220 PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
221 221 }
222 222
223 223 // **************************
224 224 // <SPACEWIRE INITIALIZATION>
225 225 status_spw = spacewire_open_link(); // (1) open the link
226 226 if ( status_spw != RTEMS_SUCCESSFUL )
227 227 {
228 228 PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
229 229 }
230 230
231 231 if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
232 232 {
233 233 status_spw = spacewire_configure_link( fdSPW );
234 234 if ( status_spw != RTEMS_SUCCESSFUL )
235 235 {
236 236 PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
237 237 }
238 238 }
239 239
240 240 if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
241 241 {
242 242 status_spw = spacewire_start_link( fdSPW );
243 243 if ( status_spw != RTEMS_SUCCESSFUL )
244 244 {
245 245 PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
246 246 }
247 247 }
248 248 // </SPACEWIRE INITIALIZATION>
249 249 // ***************************
250 250
251 251 status = start_all_tasks(); // start all tasks
252 252 if (status != RTEMS_SUCCESSFUL)
253 253 {
254 254 PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
255 255 }
256 256
257 257 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
258 258 status = start_recv_send_tasks();
259 259 if ( status != RTEMS_SUCCESSFUL )
260 260 {
261 261 PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
262 262 }
263 263
264 264 // suspend science tasks, they will be restarted later depending on the mode
265 265 status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
266 266 if (status != RTEMS_SUCCESSFUL)
267 267 {
268 268 PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
269 269 }
270 270
271 271 // configure IRQ handling for the waveform picker unit
272 272 status = rtems_interrupt_catch( waveforms_isr,
273 273 IRQ_SPARC_WAVEFORM_PICKER,
274 274 &old_isr_handler) ;
275 275 // configure IRQ handling for the spectral matrices unit
276 276 status = rtems_interrupt_catch( spectral_matrices_isr,
277 277 IRQ_SPARC_SPECTRAL_MATRIX,
278 278 &old_isr_handler) ;
279 279
280 280 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
281 281 if ( status_spw != RTEMS_SUCCESSFUL )
282 282 {
283 283 status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
284 284 if ( status != RTEMS_SUCCESSFUL ) {
285 285 PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
286 286 }
287 287 }
288 288
289 289 BOOT_PRINTF("delete INIT\n")
290 290
291 291 set_hk_lfr_sc_potential_flag( true );
292 292
293 293 // start the timer to detect a missing spacewire timecode
294 294 // the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
295 295 // if a tickout is generated, the timer is restarted
296 296 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
297 297
298 298 grspw_timecode_callback = &timecode_irq_handler;
299 299
300 300 status = rtems_task_delete(RTEMS_SELF);
301 301
302 302 }
303 303
304 304 void init_local_mode_parameters( void )
305 305 {
306 306 /** This function initialize the param_local global variable with default values.
307 307 *
308 308 */
309 309
310 310 unsigned int i;
311 311
312 312 // LOCAL PARAMETERS
313 313
314 314 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
315 315 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
316 316 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
317 317
318 318 // init sequence counters
319 319
320 320 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
321 321 {
322 322 sequenceCounters_TC_EXE[i] = 0x00;
323 323 sequenceCounters_TM_DUMP[i] = 0x00;
324 324 }
325 325 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
326 326 sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
327 327 sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
328 328 }
329 329
330 330 void reset_local_time( void )
331 331 {
332 332 time_management_regs->ctrl = time_management_regs->ctrl | 0x02; // [0010] software reset, coarse time = 0x80000000
333 333 }
334 334
335 335 void create_names( void ) // create all names for tasks and queues
336 336 {
337 337 /** This function creates all RTEMS names used in the software for tasks and queues.
338 338 *
339 339 * @return RTEMS directive status codes:
340 340 * - RTEMS_SUCCESSFUL - successful completion
341 341 *
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' );
348 349 Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
349 350 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
350 351 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
351 352 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
352 353 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
353 354 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
354 355 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
355 356 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
356 357 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
357 358 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
358 359 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
359 360 Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
360 361 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
361 362 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
362 363 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
363 364 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
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' );
370 372 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
371 373 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
372 374 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
373 375
374 376 timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
375 377 }
376 378
377 379 int create_all_tasks( void ) // create all tasks which run in the software
378 380 {
379 381 /** This function creates all RTEMS tasks used in the software.
380 382 *
381 383 * @return RTEMS directive status codes:
382 384 * - RTEMS_SUCCESSFUL - task created successfully
383 385 * - RTEMS_INVALID_ADDRESS - id is NULL
384 386 * - RTEMS_INVALID_NAME - invalid task name
385 387 * - RTEMS_INVALID_PRIORITY - invalid task priority
386 388 * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
387 389 * - RTEMS_TOO_MANY - too many tasks created
388 390 * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
389 391 * - RTEMS_TOO_MANY - too many global objects
390 392 *
391 393 */
392 394
393 395 rtems_status_code status;
394 396
395 397 //**********
396 398 // SPACEWIRE
397 399 // RECV
398 400 status = rtems_task_create(
399 401 Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
400 402 RTEMS_DEFAULT_MODES,
401 403 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
402 404 );
403 405 if (status == RTEMS_SUCCESSFUL) // SEND
404 406 {
405 407 status = rtems_task_create(
406 408 Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
407 409 RTEMS_DEFAULT_MODES,
408 410 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
409 411 );
410 412 }
411 413 if (status == RTEMS_SUCCESSFUL) // LINK
412 414 {
413 415 status = rtems_task_create(
414 416 Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
415 417 RTEMS_DEFAULT_MODES,
416 418 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LINK]
417 419 );
418 420 }
419 421 if (status == RTEMS_SUCCESSFUL) // ACTN
420 422 {
421 423 status = rtems_task_create(
422 424 Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
423 425 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
424 426 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
425 427 );
426 428 }
427 429 if (status == RTEMS_SUCCESSFUL) // SPIQ
428 430 {
429 431 status = rtems_task_create(
430 432 Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
431 433 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
432 434 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
433 435 );
434 436 }
435 437
436 438 //******************
437 439 // SPECTRAL MATRICES
438 440 if (status == RTEMS_SUCCESSFUL) // AVF0
439 441 {
440 442 status = rtems_task_create(
441 443 Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
442 444 RTEMS_DEFAULT_MODES,
443 445 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
444 446 );
445 447 }
446 448 if (status == RTEMS_SUCCESSFUL) // PRC0
447 449 {
448 450 status = rtems_task_create(
449 451 Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
450 452 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
451 453 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
452 454 );
453 455 }
454 456 if (status == RTEMS_SUCCESSFUL) // AVF1
455 457 {
456 458 status = rtems_task_create(
457 459 Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
458 460 RTEMS_DEFAULT_MODES,
459 461 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
460 462 );
461 463 }
462 464 if (status == RTEMS_SUCCESSFUL) // PRC1
463 465 {
464 466 status = rtems_task_create(
465 467 Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
466 468 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
467 469 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
468 470 );
469 471 }
470 472 if (status == RTEMS_SUCCESSFUL) // AVF2
471 473 {
472 474 status = rtems_task_create(
473 475 Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
474 476 RTEMS_DEFAULT_MODES,
475 477 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
476 478 );
477 479 }
478 480 if (status == RTEMS_SUCCESSFUL) // PRC2
479 481 {
480 482 status = rtems_task_create(
481 483 Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
482 484 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
483 485 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
484 486 );
485 487 }
486 488
487 489 //****************
488 490 // WAVEFORM PICKER
489 491 if (status == RTEMS_SUCCESSFUL) // WFRM
490 492 {
491 493 status = rtems_task_create(
492 494 Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
493 495 RTEMS_DEFAULT_MODES,
494 496 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
495 497 );
496 498 }
497 499 if (status == RTEMS_SUCCESSFUL) // CWF3
498 500 {
499 501 status = rtems_task_create(
500 502 Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
501 503 RTEMS_DEFAULT_MODES,
502 504 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
503 505 );
504 506 }
505 507 if (status == RTEMS_SUCCESSFUL) // CWF2
506 508 {
507 509 status = rtems_task_create(
508 510 Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
509 511 RTEMS_DEFAULT_MODES,
510 512 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
511 513 );
512 514 }
513 515 if (status == RTEMS_SUCCESSFUL) // CWF1
514 516 {
515 517 status = rtems_task_create(
516 518 Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
517 519 RTEMS_DEFAULT_MODES,
518 520 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
519 521 );
520 522 }
521 523 if (status == RTEMS_SUCCESSFUL) // SWBD
522 524 {
523 525 status = rtems_task_create(
524 526 Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
525 527 RTEMS_DEFAULT_MODES,
526 528 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
527 529 );
528 530 }
529 531
530 532 //*****
531 533 // MISC
532 534 if (status == RTEMS_SUCCESSFUL) // LOAD
533 535 {
534 536 status = rtems_task_create(
535 537 Task_name[TASKID_LOAD], TASK_PRIORITY_LOAD, RTEMS_MINIMUM_STACK_SIZE,
536 538 RTEMS_DEFAULT_MODES,
537 539 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LOAD]
538 540 );
539 541 }
540 542 if (status == RTEMS_SUCCESSFUL) // DUMB
541 543 {
542 544 status = rtems_task_create(
543 545 Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
544 546 RTEMS_DEFAULT_MODES,
545 547 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
546 548 );
547 549 }
548 550 if (status == RTEMS_SUCCESSFUL) // HOUS
549 551 {
550 552 status = rtems_task_create(
551 553 Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
552 554 RTEMS_DEFAULT_MODES,
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 }
559 569
560 570 int start_recv_send_tasks( void )
561 571 {
562 572 rtems_status_code status;
563 573
564 574 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
565 575 if (status!=RTEMS_SUCCESSFUL) {
566 576 BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
567 577 }
568 578
569 579 if (status == RTEMS_SUCCESSFUL) // SEND
570 580 {
571 581 status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
572 582 if (status!=RTEMS_SUCCESSFUL) {
573 583 BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
574 584 }
575 585 }
576 586
577 587 return status;
578 588 }
579 589
580 590 int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
581 591 {
582 592 /** This function starts all RTEMS tasks used in the software.
583 593 *
584 594 * @return RTEMS directive status codes:
585 595 * - RTEMS_SUCCESSFUL - ask started successfully
586 596 * - RTEMS_INVALID_ADDRESS - invalid task entry point
587 597 * - RTEMS_INVALID_ID - invalid task id
588 598 * - RTEMS_INCORRECT_STATE - task not in the dormant state
589 599 * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
590 600 *
591 601 */
592 602 // starts all the tasks fot eh flight software
593 603
594 604 rtems_status_code status;
595 605
596 606 //**********
597 607 // SPACEWIRE
598 608 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
599 609 if (status!=RTEMS_SUCCESSFUL) {
600 610 BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
601 611 }
602 612
603 613 if (status == RTEMS_SUCCESSFUL) // LINK
604 614 {
605 615 status = rtems_task_start( Task_id[TASKID_LINK], link_task, 1 );
606 616 if (status!=RTEMS_SUCCESSFUL) {
607 617 BOOT_PRINTF("in INIT *** Error starting TASK_LINK\n")
608 618 }
609 619 }
610 620
611 621 if (status == RTEMS_SUCCESSFUL) // ACTN
612 622 {
613 623 status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
614 624 if (status!=RTEMS_SUCCESSFUL) {
615 625 BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
616 626 }
617 627 }
618 628
619 629 //******************
620 630 // SPECTRAL MATRICES
621 631 if (status == RTEMS_SUCCESSFUL) // AVF0
622 632 {
623 633 status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
624 634 if (status!=RTEMS_SUCCESSFUL) {
625 635 BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
626 636 }
627 637 }
628 638 if (status == RTEMS_SUCCESSFUL) // PRC0
629 639 {
630 640 status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
631 641 if (status!=RTEMS_SUCCESSFUL) {
632 642 BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
633 643 }
634 644 }
635 645 if (status == RTEMS_SUCCESSFUL) // AVF1
636 646 {
637 647 status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
638 648 if (status!=RTEMS_SUCCESSFUL) {
639 649 BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
640 650 }
641 651 }
642 652 if (status == RTEMS_SUCCESSFUL) // PRC1
643 653 {
644 654 status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
645 655 if (status!=RTEMS_SUCCESSFUL) {
646 656 BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
647 657 }
648 658 }
649 659 if (status == RTEMS_SUCCESSFUL) // AVF2
650 660 {
651 661 status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
652 662 if (status!=RTEMS_SUCCESSFUL) {
653 663 BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
654 664 }
655 665 }
656 666 if (status == RTEMS_SUCCESSFUL) // PRC2
657 667 {
658 668 status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
659 669 if (status!=RTEMS_SUCCESSFUL) {
660 670 BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
661 671 }
662 672 }
663 673
664 674 //****************
665 675 // WAVEFORM PICKER
666 676 if (status == RTEMS_SUCCESSFUL) // WFRM
667 677 {
668 678 status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
669 679 if (status!=RTEMS_SUCCESSFUL) {
670 680 BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
671 681 }
672 682 }
673 683 if (status == RTEMS_SUCCESSFUL) // CWF3
674 684 {
675 685 status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
676 686 if (status!=RTEMS_SUCCESSFUL) {