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//*************************
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// GPL reminder to be added
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//*************************
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#define PRINT_MESSAGES_ON_CONSOLE // enable or disable the printf instructions
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#ifdef PRINT_MESSAGES_ON_CONSOLE
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#define PRINTF(x) printf(x);
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#define PRINTF1(x,y) printf(x,y);
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#define PRINTF2(x,y,z) printf(x,y,z);
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#else
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#define PRINTF(x)
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#define PRINTF1(x,y)
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#define PRINTF2(x,y,z)
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#endif
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#define CCSDS_TC_PKT_MAX_SIZE 500 // 248
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#define CCSDS_TM_PKT_MAX_SIZE 4412
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#define OFFSET_COARSE_TIME 4+10-1 // -1 => the receiver suppressed the target logical address
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#define OFFSET_FINE_TIME OFFSET_COARSE_TIME+4
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#define TC_FIFO_SIZE 5
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#define ADDRESS_APBUART_REGISTERS 0x80000100
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#define ADDRESS_GRSPW_REGISTERS 0x80000500
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#define APBUART_CTRL_REG_MASK_DB 0xfffff7ff
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#define GRSPW_DEVICE_NAME "/dev/grspw0"
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#define UART_DEVICE_NAME "/dev/console"
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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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#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 <rtems.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <FSW-config.c>
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#include <grspw.h>
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#include <apbuart.h>
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#include <FSW-rtems-processing.h>
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rtems_task Init( rtems_task_argument argument); /* forward declaration needed */
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rtems_task spw_recv_task(rtems_task_argument argument);
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rtems_task spw_tcck_task(rtems_task_argument argument);
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rtems_task spw_spiq_task(rtems_task_argument argument);
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rtems_task spw_stat_task(rtems_task_argument argument);
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int configure_spw_link();
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extern int rtems_cpu_usage_report();
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extern int rtems_cpu_usage_reset();
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char *link_status(int status);
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void print_statistics(spw_stats *);
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extern int sched_yield();
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extern int errno;
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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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struct tc_fifo_str{
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struct tc_fifo_str *next;
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unsigned char *tc_pkt;
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unsigned int tc_pktlength;
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unsigned char ready;
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};
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struct tc_fifo_str tc_fifo[TC_FIFO_SIZE];
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struct tc_fifo_str *tc_being_processed;
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struct tc_fifo_str *tc_pending_reception;
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struct apbuart_regs_str{
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volatile unsigned int data;
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volatile unsigned int status;
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volatile unsigned int ctrl;
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volatile unsigned int scaler;
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volatile unsigned int fifoDebug;
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};
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int fdSPW;
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int fdUART;
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rtems_id Task_id[10]; /* array of task ids */
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rtems_name Task_name[10]; /* array of task names */
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rtems_name sem_tc_fifo_name;
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rtems_id sem_tc_fifo_id;
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rtems_task Init( rtems_task_argument ignored ) {
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rtems_status_code status;
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struct apbuart_regs_str *apbuart_regs;
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int i;
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rtems_isr_entry old_isr_handler;
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Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
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Task_name[2] = rtems_build_name( 'T', 'C', 'C', 'K' );
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Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' );
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Task_name[4] = rtems_build_name( 'B', 'P', 'P', 'R' );
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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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sem_tc_fifo_name = rtems_build_name( 'S', 'E', 'M', '0' );
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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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// TCCK
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status = rtems_task_create(
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Task_name[2], 200, 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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// BPPR
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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], 200, 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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status = rtems_semaphore_create(
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sem_tc_fifo_name,
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1,
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RTEMS_BINARY_SEMAPHORE,
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1,
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&sem_tc_fifo_id
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);
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//********************************************
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// Send the console outputs on the serial port
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apbuart_regs = (struct apbuart_regs_str *) ADDRESS_APBUART_REGISTERS;
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apbuart_regs->ctrl = apbuart_regs->ctrl & APBUART_CTRL_REG_MASK_DB;
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PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
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//
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//********************************************
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configure_spw_link();
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for (i = 0; i<TC_FIFO_SIZE; i++){
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if (i==TC_FIFO_SIZE-1) tc_fifo[i].next = &tc_fifo[0];
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else tc_fifo[i].next = &tc_fifo[i+1];
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tc_fifo[i].tc_pkt = (unsigned char *) malloc(CCSDS_TC_PKT_MAX_SIZE);
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tc_fifo[i].tc_pktlength = 0;
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tc_fifo[i].ready = 0;
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}
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status = rtems_interrupt_catch( spectral_matrices_isr, 0x1c, &old_isr_handler) ; // 0x1c comes from sparcv8.pdf p.76
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if (status==RTEMS_SUCCESSFUL) PRINTF("In INIT *** rtems_interrupt_catch successfullly configured\n")
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LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRICES );
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status = rtems_task_start( Task_id[2], spw_tcck_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_TCCK\n")
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status = rtems_task_start( Task_id[3], spw_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], spw_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[4], spw_bppr_task_rate_monotonic, 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], spw_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], spw_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], spw_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_delete(RTEMS_SELF);
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}
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rtems_task spw_recv_task( rtems_task_argument unused ) {
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rtems_status_code status;
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int len = 0;
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unsigned int i;
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PRINTF("In RECV *** \n")
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status = rtems_semaphore_obtain( sem_tc_fifo_id, RTEMS_WAIT, RTEMS_NO_TIMEOUT );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error: rtems_semaphore_obtain\n")
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for (i = 0; i<TC_FIFO_SIZE; i++){ // initialize the tc fifo ring
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tc_fifo[i].tc_pktlength = 0;
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tc_fifo[i].ready = 0;
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}
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status = rtems_semaphore_release( sem_tc_fifo_id );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error: rtems_semaphore_release\n")
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tc_being_processed = tc_fifo;
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tc_pending_reception = tc_fifo;
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while(1){
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if (tc_pending_reception->ready == 0){
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PRINTF("In RECV *** Just before read\n")
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len = read(fdSPW, tc_pending_reception->tc_pkt, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
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PRINTF("In RECV *** Just after read\n")
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if (len == -1) { // error during the read call
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PRINTF("In RECV *** last read call returned -1\n")
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if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL)
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PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
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if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL)
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PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
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}
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else {
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tc_pending_reception->tc_pktlength = len;
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tc_pending_reception->ready = 1;
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PRINTF1("In RECV *** Got Message of length %d\n",tc_pending_reception->tc_pktlength)
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status = rtems_event_send( Task_id[2], RTEMS_EVENT_0 ); // sending an event to the task TCCK
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if (status == RTEMS_INVALID_ID) PRINTF("IN TASK RECV *** invalid task id when sending RTEMS_EVENT_0\n")
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tc_pending_reception = tc_pending_reception->next;
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sched_yield();
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}
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}
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else {
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status = rtems_event_send( Task_id[2], RTEMS_EVENT_0 ); // sending an event to the task TCCK
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if (status == RTEMS_INVALID_ID) PRINTF("IN TASK RECV *** invalid task id when sending RTEMS_EVENT_0\n")
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sched_yield(); // if not executed, the system blocks when the packets arrive faster than the processing
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// this call gives back the hand to the scheduler and allows TCCK to process the TC packets
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}
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}
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close(fdSPW);
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}
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rtems_task spw_tcck_task( rtems_task_argument unused ) {
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rtems_status_code status;
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rtems_event_set event_out;
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PRINTF("In TCCK ***\n")
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while(1){
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status = rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out);
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if (status == RTEMS_SUCCESSFUL)
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{
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while(tc_being_processed->ready==1){
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printf("In TCCK *** COARSE TIME 0x%x 0x%x 0x%x 0x%x FINE_TIME 0x%x 0x%x\n",
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tc_being_processed->tc_pkt[OFFSET_COARSE_TIME],
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tc_being_processed->tc_pkt[OFFSET_COARSE_TIME+1],
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tc_being_processed->tc_pkt[OFFSET_COARSE_TIME+2],
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tc_being_processed->tc_pkt[OFFSET_COARSE_TIME+3],
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tc_being_processed->tc_pkt[OFFSET_FINE_TIME],
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tc_being_processed->tc_pkt[OFFSET_FINE_TIME+1]);
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tc_being_processed->ready = 0;
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tc_being_processed = tc_being_processed->next;
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}
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}
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}
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}
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rtems_task spw_spiq_task(rtems_task_argument unused){
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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 *) ADDRESS_GRSPW_REGISTERS;
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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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char *link_status(int status){
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return lstates[status];
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}
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void print_statistics(spw_stats *stats)
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{
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//printf(" ******** STATISTICS ******** \n");
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printf("Transmit link errors: %i\n", stats->tx_link_err);
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printf("Receiver RMAP header CRC errors: %i\n", stats->rx_rmap_header_crc_err);
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printf("Receiver RMAP data CRC errors: %i\n", stats->rx_rmap_data_crc_err);
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printf("Receiver EEP errors: %i\n", stats->rx_eep_err);
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printf("Receiver truncation errors: %i\n", stats->rx_truncated);
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printf("Parity errors: %i\n", stats->parity_err);
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printf("Escape errors: %i\n", stats->escape_err);
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printf("Credit errors: %i\n", stats->credit_err);
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printf("Disconnect errors: %i\n", stats->disconnect_err);
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printf("Write synchronization errors: %i\n", stats->write_sync_err);
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printf("Early EOP/EEP: %i\n", stats->early_ep);
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printf("Invalid Node Address: %i\n", stats->invalid_address);
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printf("Packets transmitted: %i\n", stats->packets_sent);
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printf("Packets received: %i\n", stats->packets_received);
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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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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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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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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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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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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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rtems_task spw_stat_task(rtems_task_argument argument){
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int i;
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i = 0;
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PRINTF("In STAT *** \n")
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while(1){
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rtems_task_wake_after(1000);
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PRINTF1("%d\n", i)
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if (i == 2) {
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rtems_cpu_usage_report();
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rtems_cpu_usage_reset();
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i = 0;
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}
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else i++;
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}
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}
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