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/** This is the RTEMS initialization module.
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*
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* @file
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* @author P. LEROY
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*
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* This module contains two very different information:
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* - specific instructions to configure the compilation of the RTEMS executive
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* - functions related to the fligth softwre initialization, especially the INIT RTEMS task
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*
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*/
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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 20
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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 1 // instead of 100
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#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
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#define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
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#define CONFIGURE_MAXIMUM_DRIVERS 16
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#define CONFIGURE_MAXIMUM_PERIODS 5
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#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
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#ifdef PRINT_STACK_REPORT
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#define CONFIGURE_STACK_CHECKER_ENABLED
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#endif
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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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rtems_id rtems_task_id_updt;
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rtems_name rtems_task_name_updt;
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rtems_task Init( rtems_task_argument ignored )
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{
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/** This is the RTEMS INIT taks, it the first task launched by the system.
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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 INIT task create and run all other RTEMS tasks.
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*
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*/
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unsigned char *vhdlVersion;
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reset_local_time();
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rtems_cpu_usage_reset();
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rtems_status_code status;
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rtems_status_code status_spw;
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struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
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// UART settings
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send_console_outputs_on_apbuart_port();
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set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
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enable_apbuart_transmitter();
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DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
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PRINTF("\n\n\n\n\n")
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PRINTF("*************************\n")
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PRINTF("** timegen for LFR **\n")
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PRINTF1("** %d.", SW_VERSION_N1)
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PRINTF1("%d." , SW_VERSION_N2)
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PRINTF1("%d." , SW_VERSION_N3)
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PRINTF1("%d **\n", SW_VERSION_N4)
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vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
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PRINTF("** VHDL **\n")
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PRINTF1("** %d.", vhdlVersion[1])
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PRINTF1("%d." , vhdlVersion[2])
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PRINTF1("%d **\n", vhdlVersion[3])
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PRINTF("*************************\n")
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PRINTF("\n\n")
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create_names(); // create all names
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status = create_message_queues(); // create message queues
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
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}
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status = create_all_tasks(); // create all tasks
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
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}
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// **************************
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// <SPACEWIRE INITIALIZATION>
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grspw_timecode_callback = &timecode_irq_handler;
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status_spw = spacewire_open_link(); // (1) open the link
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if ( status_spw != RTEMS_SUCCESSFUL )
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{
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PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
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}
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if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
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{
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status_spw = spacewire_configure_link( fdSPW );
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if ( status_spw != RTEMS_SUCCESSFUL )
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{
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PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
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}
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}
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if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
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{
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status_spw = spacewire_start_link( fdSPW );
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if ( status_spw != RTEMS_SUCCESSFUL )
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{
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PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
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}
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}
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// </SPACEWIRE INITIALIZATION>
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// ***************************
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status = start_all_tasks(); // start all tasks
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
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}
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// start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
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status = start_recv_send_tasks();
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if ( status != RTEMS_SUCCESSFUL )
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{
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PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
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}
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// suspend science tasks, they will be restarted later depending on the mode
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status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
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}
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// if the spacewire link is not up then send an event to the SPIQ task for link recovery
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if ( status_spw != RTEMS_SUCCESSFUL )
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{
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status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
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}
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}
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//*********************************
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// init GPIO for trigger generation
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grgpio_regs->io_port_direction_register =
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grgpio_regs->io_port_direction_register | 0x04; // [0000 0100], 0 = output disabled, 1 = output enabled
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grgpio_regs->io_port_direction_register =
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grgpio_regs->io_port_direction_register | 0x08; // [0000 1000], 0 = output disabled, 1 = output enabled
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BOOT_PRINTF("delete INIT\n")
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status = rtems_task_delete(RTEMS_SELF);
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}
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void init_local_mode_parameters( void )
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{
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/** This function initialize the param_local global variable with default values.
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*
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*/
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unsigned int i;
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// LOCAL PARAMETERS
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BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
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BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
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// BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
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// init sequence counters
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for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
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{
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sequenceCounters_TC_EXE[i] = 0x00;
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}
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sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
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sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
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sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
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sequenceCounterParameterDump = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
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}
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void reset_local_time( void )
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{
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time_management_regs->ctrl = 0x02; // software reset, coarse time = 0x80000000
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}
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void create_names( void ) // create all names for tasks and queues
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{
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/** This function creates all RTEMS names used in the software for tasks and queues.
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*
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* @return RTEMS directive status codes:
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* - RTEMS_SUCCESSFUL - successful completion
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*
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*/
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// task names
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Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
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Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
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Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
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Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
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Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
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Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
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Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
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rtems_task_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' );
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misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
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misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
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}
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int create_all_tasks( void ) // create all tasks which run in the software
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{
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/** This function creates all RTEMS tasks used in the software.
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*
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* @return RTEMS directive status codes:
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* - RTEMS_SUCCESSFUL - task created successfully
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* - RTEMS_INVALID_ADDRESS - id is NULL
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* - RTEMS_INVALID_NAME - invalid task name
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* - RTEMS_INVALID_PRIORITY - invalid task priority
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* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
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* - RTEMS_TOO_MANY - too many tasks created
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* - RTEMS_UNSATISFIED - not enough memory for stack/FP context
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* - RTEMS_TOO_MANY - too many global objects
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*
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*/
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rtems_status_code status;
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//**********
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// SPACEWIRE
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// RECV
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status = rtems_task_create(
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Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
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);
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if (status == RTEMS_SUCCESSFUL) // SEND
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{
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status = rtems_task_create(
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Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
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);
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}
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if (status == RTEMS_SUCCESSFUL) // WTDG
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{
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status = rtems_task_create(
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Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
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);
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}
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if (status == RTEMS_SUCCESSFUL) // ACTN
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{
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status = rtems_task_create(
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Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
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);
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}
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if (status == RTEMS_SUCCESSFUL) // SPIQ
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{
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status = rtems_task_create(
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Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
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);
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}
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//*****
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// MISC
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if (status == RTEMS_SUCCESSFUL) // STAT
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{
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status = rtems_task_create(
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Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
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);
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}
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if (status == RTEMS_SUCCESSFUL) // DUMB
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{
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status = rtems_task_create(
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Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
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);
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}
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if (status == RTEMS_SUCCESSFUL) // UPDT
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{
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status = rtems_task_create(
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rtems_task_name_updt, TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &rtems_task_id_updt
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);
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}
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return status;
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}
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int start_recv_send_tasks( void )
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{
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rtems_status_code status;
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status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
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}
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if (status == RTEMS_SUCCESSFUL) // SEND
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{
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status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
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}
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}
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return status;
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}
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int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
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{
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/** This function starts all RTEMS tasks used in the software.
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*
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* @return RTEMS directive status codes:
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* - RTEMS_SUCCESSFUL - ask started successfully
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* - RTEMS_INVALID_ADDRESS - invalid task entry point
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* - RTEMS_INVALID_ID - invalid task id
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* - RTEMS_INCORRECT_STATE - task not in the dormant state
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* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
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*
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*/
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// starts all the tasks fot eh flight software
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rtems_status_code status;
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//**********
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// SPACEWIRE
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status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
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}
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if (status == RTEMS_SUCCESSFUL) // WTDG
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{
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status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
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}
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}
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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_task_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;
|
|
|
|
|
|
ret = LFR_SUCCESSFUL;
|
|
|
|
|
|
//****************************************
|
|
|
// create the queue for handling valid TCs
|
|
|
status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
|
|
|
MSG_QUEUE_COUNT_RECV, 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],
|
|
|
MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
|
|
|
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 if( status_send != RTEMS_SUCCESSFUL )
|
|
|
{
|
|
|
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;
|
|
|
}
|
|
|
|