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/** Functions related to the SpaceWire interface.
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*
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* @file
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* @author P. LEROY
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*
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* A group of functions to handle SpaceWire transmissions:
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* - configuration of the SpaceWire link
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* - SpaceWire related interruption requests processing
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* - transmission of TeleMetry packets by a dedicated RTEMS task
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* - reception of TeleCommands by a dedicated RTEMS task
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*
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*/
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#include "timegen_spacewire.h"
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rtems_name semq_name;
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rtems_id semq_id;
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//***********
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// RTEMS TASK
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rtems_task spiq_task(rtems_task_argument unused)
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{
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/** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
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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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*/
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rtems_event_set event_out;
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rtems_status_code status;
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int linkStatus;
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BOOT_PRINTF("in SPIQ *** \n")
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while(true){
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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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PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
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// [0] SUSPEND RECV AND SEND TASKS
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status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF("in SPIQ *** ERR suspending RECV Task\n")
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}
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status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF("in SPIQ *** ERR suspending SEND Task\n")
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}
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// [1] CHECK THE LINK
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
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if ( linkStatus != 5) {
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PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
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status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
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}
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// [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
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if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
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{
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spacewire_compute_stats_offsets();
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status = spacewire_reset_link( );
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}
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else // [2.b] in run state, start the link
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{
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status = spacewire_stop_start_link( fdSPW ); // start the link
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if ( status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
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}
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}
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// [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
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if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
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{
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status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF("in SPIQ *** ERR resuming SEND Task\n")
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}
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status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF("in SPIQ *** ERR resuming RECV Task\n")
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}
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}
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else // [3.b] the link is not in run state, go in STANDBY mode
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{
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// wake the WTDG task up to wait for the link recovery
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status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
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status = rtems_task_suspend( RTEMS_SELF );
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}
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}
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}
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void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
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{
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// rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 );
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struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
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grgpio_regs->io_port_direction_register =
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grgpio_regs->io_port_direction_register | 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
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if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
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{
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grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
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}
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else
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{
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grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x08;
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}
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}
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rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
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{
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int linkStatus;
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rtems_status_code status;
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
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if ( linkStatus == 5) {
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PRINTF("in spacewire_reset_link *** link is running\n")
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status = RTEMS_SUCCESSFUL;
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}
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}
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