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The HK packet contains v, e1 and e2 valid data at f3....
The HK packet contains v, e1 and e2 valid data at f3. The ACTN task mode is set to NO_PREEMPT In BURST, f3 flow is enabled to allow the v, e1 and e2 data pick-up for HK
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r107:c303d2da6108 VHDLib206
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timegen_init.c
476 lines | 15.6 KiB | text/x-c | CLexer
/ TimeGenerator-qt / src / timegen_init.c
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/** This is the RTEMS initialization module.
*
* @file
* @author P. LEROY
*
* This module contains two very different information:
* - specific instructions to configure the compilation of the RTEMS executive
* - functions related to the fligth softwre initialization, especially the INIT RTEMS task
*
*/
//*************************
// GPL reminder to be added
//*************************
#include <rtems.h>
/* configuration information */
#define CONFIGURE_INIT
#include <bsp.h> /* for device driver prototypes */
/* configuration information */
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
#define CONFIGURE_MAXIMUM_TASKS 20
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
#define CONFIGURE_MAXIMUM_DRIVERS 16
#define CONFIGURE_MAXIMUM_PERIODS 5
#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
#ifdef PRINT_STACK_REPORT
#define CONFIGURE_STACK_CHECKER_ENABLED
#endif
#include <rtems/confdefs.h>
/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
#ifdef RTEMS_DRVMGR_STARTUP
#ifdef LEON3
/* Add Timer and UART Driver */
#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
#endif
#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
#endif
#endif
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
#include <drvmgr/drvmgr_confdefs.h>
#endif
#include "timegen_init.h"
#include "fsw_config.c"
rtems_task Init( rtems_task_argument ignored )
{
/** This is the RTEMS INIT taks, it the first task launched by the system.
*
* @param unused is the starting argument of the RTEMS task
*
* The INIT task create and run all other RTEMS tasks.
*
*/
rtems_status_code status;
rtems_status_code status_spw;
// initCoarseTime();
// UART settings
send_console_outputs_on_apbuart_port();
set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
enable_apbuart_transmitter();
DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
PRINTF("\n\n\n\n\n")
PRINTF("*************************\n")
PRINTF("** Time Generator **\n")
PRINTF1("** %d.", SW_VERSION_N1)
PRINTF1("%d.", SW_VERSION_N2)
PRINTF1("%d.", SW_VERSION_N3)
PRINTF1("%d **\n", SW_VERSION_N4)
PRINTF("*************************\n")
PRINTF("\n\n")
// init_local_mode_parameters();
// init_housekeeping_parameters();
// updateLFRCurrentMode();
// BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
create_names(); // create all names
status = create_message_queues(); // create message queues
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
}
status = create_all_tasks(); // create all tasks
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
}
// **************************
// <SPACEWIRE INITIALIZATION>
grspw_timecode_callback = &timegen_timecode_irq_handler;
status_spw = spacewire_open_link(); // (1) open the link
if ( status_spw != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
}
if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
{
status_spw = spacewire_configure_link( fdSPW );
if ( status_spw != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
}
}
if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
{
status_spw = spacewire_start_link( fdSPW );
if ( status_spw != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
}
}
// </SPACEWIRE INITIALIZATION>
// ***************************
status = start_all_tasks(); // start all tasks
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
}
// start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
status = start_recv_send_tasks();
if ( status != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
}
// suspend science tasks. they will be restarted later depending on the mode
status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
}
// if the spacewire link is not up then send an event to the SPIQ task for link recovery
if ( status_spw != RTEMS_SUCCESSFUL )
{
status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
}
}
BOOT_PRINTF("delete INIT\n")
status = rtems_task_delete(RTEMS_SELF);
}
void init_local_mode_parameters( void )
{
/** This function initialize the param_local global variable with default values.
*
*/
unsigned int i;
// LOCAL PARAMETERS
// set_local_nb_interrupt_f0_MAX();
BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
// init sequence counters
for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
{
sequenceCounters_TC_EXE[i] = 0x00;
}
sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
}
void create_names( void ) // create all names for tasks and queues
{
/** This function creates all RTEMS names used in the software for tasks and queues.
*
* @return RTEMS directive status codes:
* - RTEMS_SUCCESSFUL - successful completion
*
*/
// task names
Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
// TIMEGEN
rtems_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' );
// rate monotonic period names
name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
}
int create_all_tasks( void ) // create all tasks which run in the software
{
/** This function creates all RTEMS tasks used in the software.
*
* @return RTEMS directive status codes:
* - RTEMS_SUCCESSFUL - task created successfully
* - RTEMS_INVALID_ADDRESS - id is NULL
* - RTEMS_INVALID_NAME - invalid task name
* - RTEMS_INVALID_PRIORITY - invalid task priority
* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
* - RTEMS_TOO_MANY - too many tasks created
* - RTEMS_UNSATISFIED - not enough memory for stack/FP context
* - RTEMS_TOO_MANY - too many global objects
*
*/
rtems_status_code status;
//**********
// SPACEWIRE
// RECV
status = rtems_task_create(
Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
);
if (status == RTEMS_SUCCESSFUL) // SEND
{
status = rtems_task_create(
Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
);
}
if (status == RTEMS_SUCCESSFUL) // WTDG
{
status = rtems_task_create(
Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
);
}
if (status == RTEMS_SUCCESSFUL) // ACTN
{
status = rtems_task_create(
Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
);
}
if (status == RTEMS_SUCCESSFUL) // SPIQ
{
status = rtems_task_create(
Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
);
}
//*****
// MISC
if (status == RTEMS_SUCCESSFUL) // STAT
{
status = rtems_task_create(
Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
);
}
if (status == RTEMS_SUCCESSFUL) // DUMB
{
status = rtems_task_create(
Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
);
}
if (status == RTEMS_SUCCESSFUL) // UPDT
{
status = rtems_task_create(
rtems_name_updt, TASK_PRIORITY_UPDT, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &rtems_id_updt
);
}
return status;
}
int start_recv_send_tasks( void )
{
rtems_status_code status;
status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
}
if (status == RTEMS_SUCCESSFUL) // SEND
{
status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
}
}
return status;
}
int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
{
/** This function starts all RTEMS tasks used in the software.
*
* @return RTEMS directive status codes:
* - RTEMS_SUCCESSFUL - ask started successfully
* - RTEMS_INVALID_ADDRESS - invalid task entry point
* - RTEMS_INVALID_ID - invalid task id
* - RTEMS_INCORRECT_STATE - task not in the dormant state
* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
*
*/
// starts all the tasks fot eh flight software
rtems_status_code status;
//**********
// SPACEWIRE
status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
}
if (status == RTEMS_SUCCESSFUL) // WTDG
{
status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
}
}
if (status == RTEMS_SUCCESSFUL) // ACTN
{
status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
}
}
//*****
// MISC
if (status == RTEMS_SUCCESSFUL) // DUMB
{
status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
}
}
if (status == RTEMS_SUCCESSFUL) // STAT
{
status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
}
}
if (status == RTEMS_SUCCESSFUL) // UPDT
{
status = rtems_task_start( rtems_id_updt, updt_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_UPDT\n")
}
}
return status;
}
rtems_status_code create_message_queues( void ) // create the two message queues used in the software
{
rtems_status_code status_recv;
rtems_status_code status_send;
rtems_status_code ret;
rtems_id queue_id;
// create the queue for handling valid TCs
status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
if ( status_recv != RTEMS_SUCCESSFUL ) {
PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
}
// create the queue for handling TM packet sending
status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE,
RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
if ( status_send != RTEMS_SUCCESSFUL ) {
PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
}
if ( status_recv != RTEMS_SUCCESSFUL )
{
ret = status_recv;
}
else
{
ret = status_send;
}
return ret;
}
rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
{
rtems_status_code status;
rtems_name queue_name;
queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
status = rtems_message_queue_ident( queue_name, 0, queue_id );
return status;
}
rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
{
rtems_status_code status;
rtems_name queue_name;
queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
status = rtems_message_queue_ident( queue_name, 0, queue_id );
return status;
}