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//*************************
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// GPL reminder to be added
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//*************************
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#include <rtems.h>
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/* configuration information */
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#define CONFIGURE_INIT
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#include <bsp.h> /* for device driver prototypes */
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/* configuration information */
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#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#define CONFIGURE_MAXIMUM_TASKS 10
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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
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#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
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#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
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#define CONFIGURE_INIT_TASK_PRIORITY 100
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#define CONFIGURE_MAXIMUM_DRIVERS 16
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#define CONFIGURE_MAXIMUM_PERIODS 1
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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
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#include <rtems/confdefs.h>
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/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
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#ifdef RTEMS_DRVMGR_STARTUP
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#ifdef LEON3
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/* Add Timer and UART Driver */
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#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
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#endif
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#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
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#endif
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#endif
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
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#include <drvmgr/drvmgr_confdefs.h>
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#endif
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#include <fsw_init.h>
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#include <fsw_config.c>
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char *link_status(int status);
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char *lstates[6] = {"Error-reset",
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"Error-wait",
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"Ready",
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"Started",
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"Connecting",
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"Run"
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};
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rtems_task Init( rtems_task_argument ignored )
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{
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rtems_status_code status;
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rtems_isr_entry old_isr_handler;
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//send_console_outputs_on_serial_port();
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initLookUpTableForCRC(); // in tc_handler.h
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init_default_mode_parameters();
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create_message_queue();
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create_all_tasks();
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start_all_tasks();
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configure_spw_link();
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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
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IRQ_SPARC_SM, spectral_matrices_isr );
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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
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IRQ_SPARC_WF, waveforms_isr );
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// irq handling of the time management unit
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/*status = rtems_interrupt_catch( commutation_isr1,
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IRQ_SPARC_TIME1,
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&old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
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if (status==RTEMS_SUCCESSFUL)
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PRINTF("commutation_isr1 *** rtems_interrupt_catch successfullly configured\n")
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status = rtems_interrupt_catch( commutation_isr2,
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IRQ_SPARC_TIME2,
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&old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
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if (status==RTEMS_SUCCESSFUL)
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PRINTF("commutation_isr2 *** rtems_interrupt_catch successfullly configured\n")
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LEON_Unmask_interrupt( IRQ_TIME1 );
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LEON_Unmask_interrupt( IRQ_TIME2 );*/
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status = rtems_task_delete(RTEMS_SELF);
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}
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rtems_task spiq_task(rtems_task_argument unused)
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{
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rtems_event_set event_out;
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struct grspw_regs_str *grspw_regs;
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grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW;
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while(1){
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PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
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rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
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if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL) // suspend RECV task
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PRINTF("In SPIQ *** Error suspending RECV Task\n")
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configure_spw_link();
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if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task
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PRINTF("In SPIQ *** Error resume RECV Task\n")
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}
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}
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void init_default_mode_parameters()
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{
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// COMMON PARAMETERS
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param_common[0] = 0x00;
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param_common[1] = 0x10; // default value 0 0 0 1 0 0 0 0
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// NORMAL MODE
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param_norm.sy_lfr_n_swf_l = 2048; // nb sample
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param_norm.sy_lfr_n_swf_p = 300; // sec
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param_norm.sy_lfr_n_asm_p = 3600; // sec
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param_norm.sy_lfr_n_bp_p0 = 4; // sec
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param_norm.sy_lfr_n_bp_p1 = 20; // sec
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// BURST MODE
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param_burst.sy_lfr_b_bp_p0 = 1; // sec
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param_burst.sy_lfr_b_bp_p1 = 5; // sec
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// SBM1 MODE
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param_sbm1.sy_lfr_s1_bp_p0 = 1; // sec
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param_sbm1.sy_lfr_s1_bp_p1 = 1; // sec
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// SBM2 MODE
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param_sbm2.sy_lfr_s2_bp_p0 = 1; // sec
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param_sbm2.sy_lfr_s2_bp_p0 = 5; // sec
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}
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int create_all_tasks()
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{
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rtems_status_code status;
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Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
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Task_name[2] = rtems_build_name( 'A', 'C', 'T', 'N' );
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Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' );
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Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' );
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Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' );
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Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' );
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Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' );
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Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' );
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//Task_name[9] = rtems_build_name( 'D', 'U', 'M', 'B' );
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// RECV
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status = rtems_task_create(
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Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1]
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);
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// ACTN
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status = rtems_task_create(
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Task_name[2], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[2]
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);
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// SPIQ
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status = rtems_task_create(
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Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3]
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);
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// SMIQ
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status = rtems_task_create(
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Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4]
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);
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// STAT
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status = rtems_task_create(
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Task_name[5], 150, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5]
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);
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// AVF0
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status = rtems_task_create(
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Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6]
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);
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// BPF0
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status = rtems_task_create(
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Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7]
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);
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// WFRM
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status = rtems_task_create(
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Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8]
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);
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// DUMB
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/*status = rtems_task_create(
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Task_name[9], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[9]
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);*/
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return 0;
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}
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int start_all_tasks()
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{
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rtems_status_code status;
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status = rtems_task_start( Task_id[3], spiq_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n")
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status = rtems_task_start( Task_id[1], recv_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n")
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status = rtems_task_start( Task_id[2], actn_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_ACTN\n")
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status = rtems_task_start( Task_id[4], smiq_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n")
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status = rtems_task_start( Task_id[5], stat_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n")
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status = rtems_task_start( Task_id[6], avf0_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n")
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status = rtems_task_start( Task_id[7], bpf0_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n")
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status = rtems_task_start( Task_id[8], wfrm_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n")
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/*status = rtems_task_start( Task_id[9], dumb_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_DUMB\n")*/
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return 0;
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}
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int configure_spw_link()
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{
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rtems_status_code status;
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close(fdSPW); // close the device if it is already open
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fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
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if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
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while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){
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PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n")
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close(fdSPW); // close the device
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fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
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if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
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rtems_task_wake_after(100);
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}
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PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
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// sets a few parameters of the link
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n")
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]); // sets the task ID to which an event is sent when a
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
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//
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//status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key
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//if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
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//
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PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
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return RTEMS_SUCCESSFUL;
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}
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char *link_status(int status){
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return lstates[status];
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}
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rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
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{
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rtems_status_code status;
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status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
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if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n");
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return status;
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}
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