##// END OF EJS Templates
601 corrected: hk_lfr_le_me_he_update moved
601 corrected: hk_lfr_le_me_he_update moved

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fsw_spacewire.c
728 lines | 27.9 KiB | text/x-c | CLexer
/** Functions related to the SpaceWire interface.
*
* @file
* @author P. LEROY
*
* A group of functions to handle SpaceWire transmissions:
* - configuration of the SpaceWire link
* - SpaceWire related interruption requests processing
* - transmission of TeleMetry packets by a dedicated RTEMS task
* - reception of TeleCommands by a dedicated RTEMS task
*
*/
#include "fsw_spacewire.h"
rtems_name semq_name;
rtems_id semq_id;
unsigned int localCoarseTime;
void resetLocalCoarseTime()
{
localCoarseTime = 0;
}
void setLocalCoarseTime( unsigned int value )
{
localCoarseTime = value;
}
unsigned int getLocalCoarseTime()
{
return localCoarseTime;
}
void incrementLocalCoarseTime()
{
localCoarseTime = localCoarseTime + 1;
}
//***********
// RTEMS TASK
rtems_task spiq_task(rtems_task_argument unused)
{
/** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
*
* @param unused is the starting argument of the RTEMS task
*
*/
rtems_event_set event_out;
rtems_status_code status;
int linkStatus;
BOOT_PRINTF("in SPIQ *** \n")
while(true){
rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
// [0] SUSPEND RECV AND SEND TASKS
status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF("in SPIQ *** ERR suspending RECV Task\n")
}
status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF("in SPIQ *** ERR suspending SEND Task\n")
}
// [1] CHECK THE LINK
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
if ( linkStatus != 5) {
PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
}
// [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
{
spacewire_compute_stats_offsets();
status = spacewire_reset_link( );
}
else // [2.b] in run state, start the link
{
status = spacewire_stop_and_start_link( fdSPW ); // start the link
if ( status != RTEMS_SUCCESSFUL)
{
PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
}
}
// [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
{
status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF("in SPIQ *** ERR resuming SEND Task\n")
}
status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF("in SPIQ *** ERR resuming RECV Task\n")
}
}
else // [3.b] the link is not in run state, go in STANDBY mode
{
status = stop_current_mode();
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF1("in SPIQ *** ERR stop_current_mode *** code %d\n", status)
}
status = enter_mode( LFR_MODE_STANDBY, 0 );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
}
// wake the WTDG task up to wait for the link recovery
status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
status = rtems_task_suspend( RTEMS_SELF );
}
}
}
rtems_task recv_task( rtems_task_argument unused )
{
/** This RTEMS task is dedicated to the reception of incoming TeleCommands.
*
* @param unused is the starting argument of the RTEMS task
*
* The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
* 1. It reads the incoming data.
* 2. Launches the acceptance procedure.
* 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
*
*/
int len;
ccsdsTelecommandPacket_t currentTC;
unsigned char computed_CRC[ 2 ];
unsigned char currentTC_LEN_RCV[ 2 ];
unsigned char destinationID;
unsigned int estimatedPacketLength;
unsigned int parserCode;
rtems_status_code status;
rtems_id queue_recv_id;
rtems_id queue_send_id;
initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
status = get_message_queue_id_recv( &queue_recv_id );
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
}
status = get_message_queue_id_send( &queue_send_id );
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
}
BOOT_PRINTF("in RECV *** \n")
while(1)
{
len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
if (len == -1){ // error during the read call
PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
}
else {
if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
PRINTF("in RECV *** packet lenght too short\n")
}
else {
estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8);
currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength );
// CHECK THE TC
parserCode = tc_parser( &currentTC, estimatedPacketLength, computed_CRC ) ;
if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT)
|| (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE)
|| (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA)
|| (parserCode == WRONG_SRC_ID) )
{ // send TM_LFR_TC_EXE_CORRUPTED
PRINTF1("TC corrupted received, with code: %d\n", parserCode)
if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
&&
!( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
)
{
if ( parserCode == WRONG_SRC_ID )
{
destinationID = SID_TC_GROUND;
}
else
{
destinationID = currentTC.sourceID;
}
}
}
else
{ // send valid TC to the action launcher
status = rtems_message_queue_send( queue_recv_id, &currentTC,
estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3);
}
}
}
}
}
rtems_task send_task( rtems_task_argument argument)
{
/** This RTEMS task is dedicated to the transmission of TeleMetry packets.
*
* @param unused is the starting argument of the RTEMS task
*
* The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
* - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
* - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
* analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
* data it contains.
*
*/
rtems_status_code status; // RTEMS status code
char incomingData[MSG_QUEUE_SIZE_SEND]; // incoming data buffer
spw_ioctl_pkt_send *spw_ioctl_send;
size_t size; // size of the incoming TC packet
u_int32_t count;
rtems_id queue_id;
status = get_message_queue_id_send( &queue_id );
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
}
BOOT_PRINTF("in SEND *** \n")
while(1)
{
status = rtems_message_queue_receive( queue_id, incomingData, &size,
RTEMS_WAIT, RTEMS_NO_TIMEOUT );
if (status!=RTEMS_SUCCESSFUL)
{
PRINTF1("in SEND *** (1) ERR = %d\n", status)
}
else
{
if ((incomingData[0] == CCSDS_DESTINATION_ID) || (incomingData[0] == (char) 0xfe)) // the incoming message is a ccsds packet
{
status = write( fdSPW, incomingData, size );
if (status == -1){
PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
}
}
else // the incoming message is a spw_ioctl_pkt_send structure
{
spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
if (status == -1){
PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
}
}
}
status = rtems_message_queue_get_number_pending( queue_id, &count );
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in SEND *** (3) ERR = %d\n", status)
}
else
{
if (count > maxCount)
{
maxCount = count;
}
}
}
}
rtems_task wtdg_task( rtems_task_argument argument )
{
rtems_event_set event_out;
rtems_status_code status;
int linkStatus;
BOOT_PRINTF("in WTDG ***\n")
while(1)
{
// wait for an RTEMS_EVENT
rtems_event_receive( RTEMS_EVENT_0,
RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
PRINTF("in WTDG *** wait for the link\n")
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
while( linkStatus != 5) // wait for the link
{
rtems_task_wake_after( 10 );
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
}
status = spacewire_stop_and_start_link( fdSPW );
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in WTDG *** ERR link not started %d\n", status)
}
else
{
PRINTF("in WTDG *** OK link started\n")
}
// restart the SPIQ task
status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
}
// restart RECV and SEND
status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF("in SPIQ *** ERR restarting SEND Task\n")
}
status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF("in SPIQ *** ERR restarting RECV Task\n")
}
}
}
//****************
// OTHER FUNCTIONS
int spacewire_open_link( void ) // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);]
{
/** This function opens the SpaceWire link.
*
* @return a valid file descriptor in case of success, -1 in case of a failure
*
*/
rtems_status_code status;
fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
if ( fdSPW < 0 ) {
PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
}
else
{
status = RTEMS_SUCCESSFUL;
}
return status;
}
int spacewire_start_link( int fd )
{
rtems_status_code status;
status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
// -1 default hardcoded driver timeout
return status;
}
int spacewire_stop_and_start_link( int fd )
{
rtems_status_code status;
status = ioctl( fd, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
// -1 default hardcoded driver timeout
return status;
}
int spacewire_configure_link( int fd )
{
/** This function configures the SpaceWire link.
*
* @return GR-RTEMS-DRIVER directive status codes:
* - 22 EINVAL - Null pointer or an out of range value was given as the argument.
* - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
* - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
* - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
* - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
* - 5 EIO - Error when writing to grswp hardware registers.
* - 2 ENOENT - No such file or directory
*/
rtems_status_code status;
spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
}
//
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
}
//
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
}
//
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
}
//
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
}
//
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
}
//
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
}
return status;
}
int spacewire_reset_link( void )
{
/** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
*
* @return RTEMS directive status code:
* - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
* - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
*
*/
rtems_status_code status_spw;
int i;
for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
{
PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
// CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
status_spw = spacewire_stop_and_start_link( fdSPW );
if ( status_spw != RTEMS_SUCCESSFUL )
{
PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
}
if ( status_spw == RTEMS_SUCCESSFUL)
{
break;
}
}
return status_spw;
}
void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
{
/** This function sets the [N]o [P]ort force bit of the GRSPW control register.
*
* @param val is the value, 0 or 1, used to set the value of the NP bit.
* @param regAddr is the address of the GRSPW control register.
*
* NP is the bit 20 of the GRSPW control register.
*
*/
unsigned int *spwptr = (unsigned int*) regAddr;
if (val == 1) {
*spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
}
if (val== 0) {
*spwptr = *spwptr & 0xffdfffff;
}
}
void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
{
/** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
*
* @param val is the value, 0 or 1, used to set the value of the RE bit.
* @param regAddr is the address of the GRSPW control register.
*
* RE is the bit 16 of the GRSPW control register.
*
*/
unsigned int *spwptr = (unsigned int*) regAddr;
if (val == 1)
{
*spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
}
if (val== 0)
{
*spwptr = *spwptr & 0xfffdffff;
}
}
void spacewire_compute_stats_offsets( void )
{
/** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
*
* The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
* to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
* during the open systel call).
*
*/
spw_stats spacewire_stats_grspw;
rtems_status_code status;
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
+ spacewire_stats.packets_received;
spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
+ spacewire_stats.packets_sent;
spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
+ spacewire_stats.parity_err;
spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
+ spacewire_stats.disconnect_err;
spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
+ spacewire_stats.escape_err;
spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
+ spacewire_stats.credit_err;
spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
+ spacewire_stats.write_sync_err;
spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
+ spacewire_stats.rx_rmap_header_crc_err;
spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
+ spacewire_stats.rx_rmap_data_crc_err;
spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
+ spacewire_stats.early_ep;
spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
+ spacewire_stats.invalid_address;
spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
+ spacewire_stats.rx_eep_err;
spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
+ spacewire_stats.rx_truncated;
}
void spacewire_update_statistics( void )
{
rtems_status_code status;
spw_stats spacewire_stats_grspw;
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
spacewire_stats.packets_received = spacewire_stats_backup.packets_received
+ spacewire_stats_grspw.packets_received;
spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
+ spacewire_stats_grspw.packets_sent;
spacewire_stats.parity_err = spacewire_stats_backup.parity_err
+ spacewire_stats_grspw.parity_err;
spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
+ spacewire_stats_grspw.disconnect_err;
spacewire_stats.escape_err = spacewire_stats_backup.escape_err
+ spacewire_stats_grspw.escape_err;
spacewire_stats.credit_err = spacewire_stats_backup.credit_err
+ spacewire_stats_grspw.credit_err;
spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
+ spacewire_stats_grspw.write_sync_err;
spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
+ spacewire_stats_grspw.rx_rmap_header_crc_err;
spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
+ spacewire_stats_grspw.rx_rmap_data_crc_err;
spacewire_stats.early_ep = spacewire_stats_backup.early_ep
+ spacewire_stats_grspw.early_ep;
spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
+ spacewire_stats_grspw.invalid_address;
spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
+ spacewire_stats_grspw.rx_eep_err;
spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
+ spacewire_stats_grspw.rx_truncated;
//spacewire_stats.tx_link_err;
//****************************
// DPU_SPACEWIRE_IF_STATISTICS
housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
//housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
//housekeeping_packet.hk_lfr_dpu_spw_last_timc;
//******************************************
// ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
//*********************************************
// ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
}
void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
{
struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
incrementLocalCoarseTime();
//*******
// GPIO 2
if ( get_transitionCoarseTime() == getLocalCoarseTime() )
{
grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x04; // [0000 0100]
}
else
{
grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xfb; // [1111 1011]
}
//*******
// GPIO 3
if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
{
grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7; // [1111 0111]
}
else
{
grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x08; // [0000 1000]
}
rtems_event_send( rtems_task_id_updt, RTEMS_EVENT_0);
}
rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
{
int linkStatus;
rtems_status_code status;
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
if ( linkStatus == 5) {
PRINTF("in spacewire_reset_link *** link is running\n")
status = RTEMS_SUCCESSFUL;
}
}
rtems_task updt_task(rtems_task_argument unused)
{
rtems_event_set event_out;
rtems_status_code status;
rtems_id queue_id;
unsigned int coarseTimeToSend;
Packet_TC_LFR_UPDATE_TIME_WITH_HEADER_t update_time_packet;
resetLocalCoarseTime();
reset_transitionCoarseTime();
status = get_message_queue_id_send( &queue_id );
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
}
update_time_packet.targetLogicalAddress = 0xfe;
update_time_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
update_time_packet.reserved = DEFAULT_RESERVED;
update_time_packet.userApplication = CCSDS_USER_APP;
update_time_packet.packetID[0] = (unsigned char) (TC_LFR_PACKET_ID >> 8);
update_time_packet.packetID[1] = (unsigned char) (TC_LFR_PACKET_ID );
update_time_packet.packetSequenceControl[0] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL >> 8);
update_time_packet.packetSequenceControl[1] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL );
update_time_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME >> 8);
update_time_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME );
update_time_packet.ccsdsSecHeaderFlag_pusVersion_ack = 0x19;
update_time_packet.serviceType = TC_TYPE_LFR_UPDATE_TIME;
update_time_packet.serviceSubType = TC_SUBTYPE_UPDATE_TIME;
update_time_packet.sourceID = SID_TC_RPW_INTERNAL;
BOOT_PRINTF("in UPDT *** \n")
while(true){
rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
coarseTimeToSend = getLocalCoarseTime() + 1;
updateTimePacket( coarseTimeToSend, &update_time_packet);
printf("UPDT will send %x as coarse time in 700 ms\n", coarseTimeToSend);
rtems_task_wake_after( 70 ); // 70 => 700 ms
status = rtems_message_queue_urgent( queue_id, &update_time_packet,
PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES
+ 0); // 1 is for the star dundee extra byte
if (status != RTEMS_SUCCESSFUL) {
PRINTF1("in HOUS *** ERR send: %d\n", status)
}
}
}
void updateTimePacket(unsigned int time, Packet_TC_LFR_UPDATE_TIME_WITH_HEADER_t *packet)
{
unsigned char crcAsTwoBytes[2];
packet->cp_rpw_time[0] = (unsigned char) (time >> 24);
packet->cp_rpw_time[1] = (unsigned char) (time >> 16);
packet->cp_rpw_time[2] = (unsigned char) (time >> 8);
packet->cp_rpw_time[3] = (unsigned char) (time);
packet->cp_rpw_time[4] = 0; // fine time MSB
packet->cp_rpw_time[5] = 0; // fine time LSB
GetCRCAsTwoBytes((unsigned char*) &packet->packetID, crcAsTwoBytes,
PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET - 2);
packet->crc[0] = crcAsTwoBytes[0];
packet->crc[1] = crcAsTwoBytes[1];
}