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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 15
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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
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#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
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#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
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#define CONFIGURE_INIT_TASK_PRIORITY 100
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#define CONFIGURE_MAXIMUM_DRIVERS 16
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#define CONFIGURE_MAXIMUM_PERIODS 5
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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
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#include <rtems/confdefs.h>
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/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
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#ifdef RTEMS_DRVMGR_STARTUP
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#ifdef LEON3
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/* Add Timer and UART Driver */
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#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
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#endif
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#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
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#endif
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#endif
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
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#include <drvmgr/drvmgr_confdefs.h>
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#endif
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#include <fsw_init.h>
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#include <fsw_config.c>
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char *lstates[6] = {"Error-reset",
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"Error-wait",
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"Ready",
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"Started",
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"Connecting",
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"Run"
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};
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rtems_task Init( rtems_task_argument ignored )
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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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PRINTF("\n\n\n\n\n")
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PRINTF("***************************\n")
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PRINTF("** START Flight Software **\n")
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PRINTF("***************************\n")
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PRINTF("\n\n")
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//send_console_outputs_on_serial_port();
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set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
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initLookUpTableForCRC(); // in tc_handler.h
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init_default_mode_parameters();
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create_message_queue();
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create_names();
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create_all_tasks();
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start_all_tasks();
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grspw_timecode_callback = &timecode_irq_handler;
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configure_spw_link();
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//****************************
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// Spectral Matrices simulator
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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
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IRQ_SPARC_SM, spectral_matrices_isr );
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//**********
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// WAVEFORMS
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// simulator
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#ifdef GSA
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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
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IRQ_SPARC_WF, waveforms_simulator_isr );
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#else
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// configure the registers of the waveform picker
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init_waveform_picker_regs();
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// configure the waveform picker interrupt service routine
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status = rtems_interrupt_catch( waveforms_isr,
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IRQ_SPARC_WAVEFORM_PICKER,
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&old_isr_handler) ;
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LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
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#endif
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//**********
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//*****************************************
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// irq handling of the time management unit
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status = rtems_interrupt_catch( commutation_isr1,
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IRQ_SPARC_TIME1,
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&old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
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if (status==RTEMS_SUCCESSFUL) {
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PRINTF("OK *** commutation_isr1 *** rtems_interrupt_catch successfullly configured\n")
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}
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status = rtems_interrupt_catch( commutation_isr2,
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IRQ_SPARC_TIME2,
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&old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
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if (status==RTEMS_SUCCESSFUL) {
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PRINTF("OK *** commutation_isr2 *** rtems_interrupt_catch successfullly configured\n")
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}
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LEON_Unmask_interrupt( IRQ_TIME1 );
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LEON_Unmask_interrupt( IRQ_TIME2 );
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#ifdef GSA
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//if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
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// printf("in INIT *** Error sending event to WFRM\n");
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//}
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#endif
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status = rtems_task_delete(RTEMS_SELF);
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}
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rtems_task spiq_task(rtems_task_argument unused)
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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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while(true){
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PRINTF("in SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
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rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
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if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) { // suspend RECV task
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PRINTF("in SPIQ *** Error suspending RECV Task\n")
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}
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if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) { // suspend HOUS task
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PRINTF("in SPIQ *** Error suspending HOUS Task\n")
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}
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configure_spw_link();
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status = rtems_task_restart( Task_id[TASKID_HOUS], 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status)
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}
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if (rtems_task_restart(Task_id[TASKID_RECV], 1)!=RTEMS_SUCCESSFUL) { // restart RECV task
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PRINTF("in SPIQ *** Error restarting RECV Task\n")
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}
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}
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}
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void init_default_mode_parameters()
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{
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// COMMON PARAMETERS
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param_common[0] = 0x00;
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param_common[1] = 0x10; // default value 0 0 0 1 0 0 0 0
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// NORMAL MODE
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param_norm.sy_lfr_n_swf_l = 2048; // nb sample
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param_norm.sy_lfr_n_swf_p = 300; // sec
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param_norm.sy_lfr_n_asm_p = 3600; // sec
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param_norm.sy_lfr_n_bp_p0 = 4; // sec
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param_norm.sy_lfr_n_bp_p1 = 20; // sec
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// BURST MODE
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param_burst.sy_lfr_b_bp_p0 = 1; // sec
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param_burst.sy_lfr_b_bp_p1 = 5; // sec
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// SBM1 MODE
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param_sbm1.sy_lfr_s1_bp_p0 = 1; // sec
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param_sbm1.sy_lfr_s1_bp_p1 = 1; // sec
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// SBM2 MODE
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param_sbm2.sy_lfr_s2_bp_p0 = 1; // sec
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param_sbm2.sy_lfr_s2_bp_p0 = 5; // sec
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}
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int create_names( void )
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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_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
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Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
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Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
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Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
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Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
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Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
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Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
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// rate monotonic period name
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HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
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return 0;
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}
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int create_all_tasks( void )
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{
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rtems_status_code status;
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// RECV
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status = rtems_task_create(
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Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
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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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// ACTN
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status = rtems_task_create(
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Task_name[TASKID_ACTN], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN]
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);
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// SPIQ
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status = rtems_task_create(
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Task_name[TASKID_SPIQ], 5, RTEMS_MINIMUM_STACK_SIZE * 2,
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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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// SMIQ
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status = rtems_task_create(
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Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
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);
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// STAT
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status = rtems_task_create(
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Task_name[TASKID_STAT], 150, RTEMS_MINIMUM_STACK_SIZE * 2,
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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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// AVF0
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status = rtems_task_create(
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Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
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);
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// BPF0
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status = rtems_task_create(
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Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
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);
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// WFRM
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status = rtems_task_create(
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Task_name[TASKID_WFRM], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
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);
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// DUMB
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status = rtems_task_create(
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Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
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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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// HOUS
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status = rtems_task_create(
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Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
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);
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return 0;
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}
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int start_all_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_SPIQ], spiq_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_SPIQ\n")
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}
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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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PRINTF("In INIT *** Error starting TASK_RECV\n")
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}
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status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_ACTN\n")
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}
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status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_BPPR\n")
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}
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status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_STAT\n")
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}
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status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_AVF0\n")
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}
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status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_BPF0\n")
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}
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status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_WFRM\n")
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}
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status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_DUMB\n")
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}
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status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
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if (status!=RTEMS_SUCCESSFUL) {
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PRINTF("In INIT *** Error starting TASK_HOUS\n")
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}
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return 0;
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}
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int configure_spw_link( void )
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{
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rtems_status_code status;
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close(fdSPW); // close the device if it is already open
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PRINTF("OK *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n")
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fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
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if (fdSPW<0) PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
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while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){
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PRINTF(".")
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fflush(stdout);
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close(fdSPW); // close the device
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fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
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if (fdSPW<0) PRINTF("ERR *** In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
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rtems_task_wake_after(100);
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}
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PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
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configure_spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force
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configure_spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to break the no port force configuration
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
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if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
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if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts
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if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
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if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0); // transmission blocks on full
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if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
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//
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status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909);
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if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
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PRINTF("OK *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
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|
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return RTEMS_SUCCESSFUL;
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}
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|
|
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void configure_spacewire_set_NP(unsigned char val, unsigned int regAddr) // [N]o [P]ort force
|
|
|
{
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|
|
unsigned int *spwptr = (unsigned int*) regAddr;
|
|
|
|
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|
if (val == 1) {
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|
*spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
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|
|
}
|
|
|
if (val== 0) {
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|
*spwptr = *spwptr & 0xffdfffff;
|
|
|
}
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|
}
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|
|
|
|
void configure_spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable
|
|
|
{
|
|
|
unsigned int *spwptr = (unsigned int*) regAddr;
|
|
|
|
|
|
if (val == 1)
|
|
|
{
|
|
|
*spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
|
|
|
}
|
|
|
if (val== 0)
|
|
|
{
|
|
|
*spwptr = *spwptr & 0xfffdffff;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
|
|
|
{
|
|
|
rtems_status_code status;
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|
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
|
|
|
return status;
|
|
|
}
|
|
|
|
|
|
void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc)
|
|
|
{
|
|
|
if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
|
|
|
printf("In timecode_irq_handler *** Error sending event to DUMB\n");
|
|
|
}
|
|
|
}
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