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/** General usage functions and RTEMS tasks.
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*
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* @file
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* @author P. LEROY
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*
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*/
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#include "fsw_misc.h"
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void configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
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unsigned char interrupt_level, rtems_isr (*timer_isr)() )
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{
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/** This function configures a GPTIMER timer instantiated in the VHDL design.
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*
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* @param gptimer_regs points to the APB registers of the GPTIMER IP core.
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* @param timer is the number of the timer in the IP core (several timers can be instantiated).
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* @param clock_divider is the divider of the 1 MHz clock that will be configured.
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* @param interrupt_level is the interrupt level that the timer drives.
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* @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
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*
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* Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
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*
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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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gptimer_regs->timer[timer].ctrl = 0x00; // reset the control register
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status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
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if (status!=RTEMS_SUCCESSFUL)
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{
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PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
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}
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timer_set_clock_divider( gptimer_regs, timer, clock_divider);
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}
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void timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
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{
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/** This function starts a GPTIMER timer.
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*
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* @param gptimer_regs points to the APB registers of the GPTIMER IP core.
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* @param timer is the number of the timer in the IP core (several timers can be instantiated).
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*
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*/
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004; // LD load value from the reload register
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001; // EN enable the timer
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002; // RS restart
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008; // IE interrupt enable
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}
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void timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
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{
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/** This function stops a GPTIMER timer.
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*
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* @param gptimer_regs points to the APB registers of the GPTIMER IP core.
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* @param timer is the number of the timer in the IP core (several timers can be instantiated).
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*
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*/
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe; // EN enable the timer
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef; // IE interrupt enable
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gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any
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}
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void timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
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{
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/** This function sets the clock divider of a GPTIMER timer.
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*
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* @param gptimer_regs points to the APB registers of the GPTIMER IP core.
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* @param timer is the number of the timer in the IP core (several timers can be instantiated).
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* @param clock_divider is the divider of the 1 MHz clock that will be configured.
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*
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*/
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gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
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}
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int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
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{
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struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
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apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
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return 0;
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}
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int enable_apbuart_transmitter( void ) // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
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{
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struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
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apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE;
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return 0;
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}
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void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
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{
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/** This function sets the scaler reload register of the apbuart module
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*
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* @param regs is the address of the apbuart registers in memory
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* @param value is the value that will be stored in the scaler register
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*
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* The value shall be set by the software to get data on the serial interface.
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*
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*/
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struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
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apbuart_regs->scaler = value;
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BOOT_PRINTF1("OK *** apbuart port scaler reload register set to 0x%x\n", value)
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}
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//************
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// RTEMS TASKS
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rtems_task stat_task(rtems_task_argument argument)
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{
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int i;
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int j;
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i = 0;
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j = 0;
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BOOT_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", j)
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if (i == CPU_USAGE_REPORT_PERIOD) {
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// #ifdef PRINT_TASK_STATISTICS
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// rtems_cpu_usage_report();
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// rtems_cpu_usage_reset();
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// #endif
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i = 0;
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}
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else i++;
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j++;
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}
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}
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rtems_task hous_task(rtems_task_argument argument)
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{
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rtems_status_code status;
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rtems_id queue_id;
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rtems_rate_monotonic_period_status period_status;
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status = get_message_queue_id_send( &queue_id );
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
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}
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BOOT_PRINTF("in HOUS ***\n")
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if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
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status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
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if( status != RTEMS_SUCCESSFUL ) {
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PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
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}
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}
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housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
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housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
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housekeeping_packet.reserved = DEFAULT_RESERVED;
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housekeeping_packet.userApplication = CCSDS_USER_APP;
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housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
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housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK);
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housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
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housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
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housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
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housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK );
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housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
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housekeeping_packet.serviceType = TM_TYPE_HK;
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housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
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housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
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housekeeping_packet.sid = SID_HK;
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status = rtems_rate_monotonic_cancel(HK_id);
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if( status != RTEMS_SUCCESSFUL ) {
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PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
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}
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else {
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DEBUG_PRINTF("OK *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
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}
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// startup phase
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status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
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status = rtems_rate_monotonic_get_status( HK_id, &period_status );
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DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
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while(period_status.state != RATE_MONOTONIC_EXPIRED ) // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
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{
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if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization
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{
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break; // break if LFR is synchronized
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}
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else
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{
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status = rtems_rate_monotonic_get_status( HK_id, &period_status );
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// sched_yield();
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status = rtems_task_wake_after( 10 ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 100 ms = 10 * 10 ms
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}
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}
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status = rtems_rate_monotonic_cancel(HK_id);
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DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
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while(1){ // launch the rate monotonic task
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status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF1( "in HOUS *** ERR period: %d\n", status);
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rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
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}
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else {
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increment_seq_counter( housekeeping_packet.packetSequenceControl );
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housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
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housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
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housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
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housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
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housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
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housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
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spacewire_update_statistics();
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get_v_e1_e2_f3(
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housekeeping_packet.hk_lfr_sc_v_f3, housekeeping_packet.hk_lfr_sc_e1_f3, housekeeping_packet.hk_lfr_sc_e2_f3,
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false );
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// SEND PACKET
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status = rtems_message_queue_urgent( queue_id, &housekeeping_packet,
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PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
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if (status != RTEMS_SUCCESSFUL) {
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PRINTF1("in HOUS *** ERR send: %d\n", status)
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}
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}
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}
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PRINTF("in HOUS *** deleting task\n")
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status = rtems_task_delete( RTEMS_SELF ); // should not return
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printf( "rtems_task_delete returned with status of %d.\n", status );
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return;
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}
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rtems_task dumb_task( rtems_task_argument unused )
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{
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/** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
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*
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* @param unused is the starting argument of the RTEMS task
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*
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* The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
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*
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*/
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unsigned int i;
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unsigned int intEventOut;
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unsigned int coarse_time = 0;
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unsigned int fine_time = 0;
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rtems_event_set event_out;
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char *DumbMessages[10] = {"in DUMB *** default", // RTEMS_EVENT_0
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"in DUMB *** timecode_irq_handler", // RTEMS_EVENT_1
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"in DUMB *** f3 buffer changed", // RTEMS_EVENT_2
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"in DUMB *** in SMIQ *** Error sending event to AVF0", // RTEMS_EVENT_3
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"in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ", // RTEMS_EVENT_4
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"in DUMB *** waveforms_simulator_isr", // RTEMS_EVENT_5
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"ERR HK", // RTEMS_EVENT_6
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"ready for dump", // RTEMS_EVENT_7
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"in DUMB *** spectral_matrices_isr", // RTEMS_EVENT_8
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"tick" // RTEMS_EVENT_9
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};
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BOOT_PRINTF("in DUMB *** \n")
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while(1){
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rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
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| RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
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| RTEMS_EVENT_8 | RTEMS_EVENT_9,
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RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
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intEventOut = (unsigned int) event_out;
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for ( i=0; i<32; i++)
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{
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if ( ((intEventOut >> i) & 0x0001) != 0)
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{
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coarse_time = time_management_regs->coarse_time;
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fine_time = time_management_regs->fine_time;
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printf("in DUMB *** coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
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}
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}
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}
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}
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//*****************************
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// init housekeeping parameters
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void init_housekeeping_parameters( void )
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{
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/** This function initialize the housekeeping_packet global variable with default values.
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*
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*/
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unsigned int i = 0;
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unsigned char *parameters;
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parameters = (unsigned char*) &housekeeping_packet.lfr_status_word;
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for(i = 0; i< SIZE_HK_PARAMETERS; i++)
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{
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parameters[i] = 0x00;
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}
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// init status word
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housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
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housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
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// init software version
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housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
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housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
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housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
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housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
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// init fpga version
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parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0);
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housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1
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housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2
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housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3
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}
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void increment_seq_counter( unsigned char *packet_sequence_control)
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{
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/** This function increment the sequence counter psased in argument.
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*
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* The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
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*
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*/
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unsigned short sequence_cnt;
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unsigned short segmentation_grouping_flag;
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unsigned short new_packet_sequence_control;
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segmentation_grouping_flag = TM_PACKET_SEQ_CTRL_STANDALONE << 8; // keep bits 7 downto 6
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sequence_cnt = (unsigned short) (
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( (packet_sequence_control[0] & 0x3f) << 8 ) // keep bits 5 downto 0
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+ packet_sequence_control[1]
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);
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if ( sequence_cnt < SEQ_CNT_MAX)
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{
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sequence_cnt = sequence_cnt + 1;
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}
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else
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{
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sequence_cnt = 0;
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}
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new_packet_sequence_control = segmentation_grouping_flag | sequence_cnt ;
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packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
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packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control );
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}
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void getTime( unsigned char *time)
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{
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/** This function write the current local time in the time buffer passed in argument.
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*
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*/
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time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
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time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
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time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
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time[3] = (unsigned char) (time_management_regs->coarse_time);
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time[4] = (unsigned char) (time_management_regs->fine_time>>8);
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time[5] = (unsigned char) (time_management_regs->fine_time);
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}
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unsigned long long int getTimeAsUnsignedLongLongInt( )
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{
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/** This function write the current local time in the time buffer passed in argument.
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*
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*/
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unsigned long long int time;
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time = ( (unsigned long long int) (time_management_regs->coarse_time & 0x7fffffff) << 16 )
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+ time_management_regs->fine_time;
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return time;
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}
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void send_dumb_hk( void )
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{
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Packet_TM_LFR_HK_t dummy_hk_packet;
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unsigned char *parameters;
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unsigned int i;
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rtems_id queue_id;
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dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
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dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
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dummy_hk_packet.reserved = DEFAULT_RESERVED;
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dummy_hk_packet.userApplication = CCSDS_USER_APP;
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dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
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dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK);
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dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
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dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
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dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
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dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK );
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dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
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dummy_hk_packet.serviceType = TM_TYPE_HK;
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dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK;
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dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND;
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dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
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dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
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dummy_hk_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
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dummy_hk_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
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dummy_hk_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
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dummy_hk_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
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dummy_hk_packet.sid = SID_HK;
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// init status word
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dummy_hk_packet.lfr_status_word[0] = 0xff;
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dummy_hk_packet.lfr_status_word[1] = 0xff;
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// init software version
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dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1;
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dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2;
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dummy_hk_packet.lfr_sw_version[2] = SW_VERSION_N3;
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dummy_hk_packet.lfr_sw_version[3] = SW_VERSION_N4;
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// init fpga version
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parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0);
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dummy_hk_packet.lfr_fpga_version[0] = parameters[1]; // n1
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dummy_hk_packet.lfr_fpga_version[1] = parameters[2]; // n2
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dummy_hk_packet.lfr_fpga_version[2] = parameters[3]; // n3
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parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load;
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for (i=0; i<100; i++)
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{
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parameters[i] = 0xff;
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}
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get_message_queue_id_send( &queue_id );
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rtems_message_queue_urgent( queue_id, &dummy_hk_packet,
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PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
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}
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void get_v_e1_e2_f3( unsigned char *v, unsigned char *e1, unsigned char *e2, bool init_buffer_addr )
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{
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unsigned int coarseTime;
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unsigned int acquisitionTime;
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unsigned int deltaT = 0;
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unsigned char *bufferPtr;
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unsigned int offset_in_samples;
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unsigned int offset_in_bytes;
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unsigned char f3 = 16; // v, e1 and e2 will be picked up each second, f3 = 16 Hz
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if (lfrCurrentMode == LFR_MODE_STANDBY)
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{
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v[0] = 0x00;
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v[1] = 0x00;
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e1[0] = 0x00;
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e1[1] = 0x00;
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e2[0] = 0x00;
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e2[1] = 0x00;
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}
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else
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{
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coarseTime = time_management_regs->coarse_time & 0x7fffffff;
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bufferPtr = (unsigned char*) waveform_picker_regs->addr_data_f3;
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acquisitionTime = (unsigned int) ( ( bufferPtr[2] & 0x7f ) << 24 )
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+ (unsigned int) ( bufferPtr[3] << 16 )
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+ (unsigned int) ( bufferPtr[0] << 8 )
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+ (unsigned int) ( bufferPtr[1] );
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if ( coarseTime > acquisitionTime )
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{
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deltaT = coarseTime - acquisitionTime;
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offset_in_samples = (deltaT-1) * f3 ;
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}
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else if( coarseTime == acquisitionTime )
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{
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offset_in_samples = 0;
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}
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else
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{
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offset_in_samples = 0;
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PRINTF2("ERR *** in get_v_e1_e2_f3 *** coarseTime = %x, acquisitionTime = %x\n", coarseTime, acquisitionTime)
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}
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if ( offset_in_samples > (NB_SAMPLES_PER_SNAPSHOT - 1) )
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{
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PRINTF1("ERR *** in get_v_e1_e2_f3 *** trying to read out the buffer, counter = %d\n", offset_in_samples)
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offset_in_samples = NB_SAMPLES_PER_SNAPSHOT -1;
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}
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PRINTF1("f3 data @ %x *** ", waveform_picker_regs->addr_data_f3 )
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|
PRINTF2("deltaT = %d, offset_in_samples = %d\n", deltaT, offset_in_samples )
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|
offset_in_bytes = TIME_OFFSET_IN_BYTES + offset_in_samples * NB_WORDS_SWF_BLK * 4;
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|
v[0] = bufferPtr[ offset_in_bytes + 0];
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v[1] = bufferPtr[ offset_in_bytes + 1];
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e1[0] = bufferPtr[ offset_in_bytes + 2];
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e1[1] = bufferPtr[ offset_in_bytes + 3];
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e2[0] = bufferPtr[ offset_in_bytes + 4];
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|
e2[1] = bufferPtr[ offset_in_bytes + 5];
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|
|
}
|
|
|
}
|
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