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#include <fsw_misc.h>
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#include <fsw_params.h>
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int 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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{ // configure the timer for the waveforms simulation
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rtems_status_code status;
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rtems_isr_entry old_isr_handler;
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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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return 1;
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}
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int timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
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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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return 1;
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}
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int timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
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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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return 1;
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}
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int timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
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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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return 1;
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}
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void update_spacewire_statistics()
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{
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rtems_status_code status;
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spw_stats spacewire_stats_grspw;
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status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
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spacewire_stats.packets_received = spacewire_stats_backup.packets_received
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+ spacewire_stats_grspw.packets_received;
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spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
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+ spacewire_stats_grspw.packets_sent;
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spacewire_stats.parity_err = spacewire_stats_backup.parity_err
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+ spacewire_stats_grspw.parity_err;
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spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
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+ spacewire_stats_grspw.disconnect_err;
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spacewire_stats.escape_err = spacewire_stats_backup.escape_err
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+ spacewire_stats_grspw.escape_err;
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spacewire_stats.credit_err = spacewire_stats_backup.credit_err
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+ spacewire_stats_grspw.credit_err;
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spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
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+ spacewire_stats_grspw.write_sync_err;
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spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
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+ spacewire_stats_grspw.rx_rmap_header_crc_err;
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spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
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+ spacewire_stats_grspw.rx_rmap_data_crc_err;
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spacewire_stats.early_ep = spacewire_stats_backup.early_ep
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+ spacewire_stats_grspw.early_ep;
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spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
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+ spacewire_stats_grspw.invalid_address;
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spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
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+ spacewire_stats_grspw.rx_eep_err;
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spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
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+ spacewire_stats_grspw.rx_truncated;
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//spacewire_stats.tx_link_err;
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//****************************
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// DPU_SPACEWIRE_IF_STATISTICS
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housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
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housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
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housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
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housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
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//housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
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//housekeeping_packet.hk_lfr_dpu_spw_last_timc;
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//******************************************
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// ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
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housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
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housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
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housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
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housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
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housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
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// housekeeping_packet.hk_lfr_dpu_spw_rx_ahb;
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// housekeeping_packet.hk_lfr_dpu_spw_tx_ahb;
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housekeeping_packet.hk_lfr_dpu_spw_header_crc = (unsigned char) spacewire_stats.rx_rmap_header_crc_err;
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housekeeping_packet.hk_lfr_dpu_spw_data_crc = (unsigned char) spacewire_stats.rx_rmap_data_crc_err;
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//*********************************************
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// ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
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housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
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housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
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housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
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housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
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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_regs->ctrl & APBUART_CTRL_REG_MASK_DB;
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PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
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return 0;
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}
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int set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
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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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return 0;
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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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spw_ioctl_pkt_send spw_ioctl_send;
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rtems_id queue_id;
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spw_ioctl_send.hlen = 0;
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spw_ioctl_send.hdr = NULL;
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spw_ioctl_send.dlen = PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
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spw_ioctl_send.data = (char*) &housekeeping_packet;
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spw_ioctl_send.options = 0;
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status = rtems_message_queue_ident( misc_name[QUEUE_PKTS], 0, &queue_id );
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in HOUS *** ERR %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( HK_name, &HK_id) != RTEMS_SUCCESSFUL) {
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status = rtems_rate_monotonic_create( HK_name, &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) (TM_PACKET_ID_HK >> 8);
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housekeeping_packet.packetID[1] = (unsigned char) (TM_PACKET_ID_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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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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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( "ERR *** in HOUS *** rtems_rate_monotonic_period *** code %d\n", status);
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}
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else {
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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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housekeeping_packet.sid = SID_HK;
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update_spacewire_statistics();
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// SEND PACKET
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status = rtems_message_queue_send( queue_id, &spw_ioctl_send, ACTION_MSG_PKTS_SIZE);
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if (status != RTEMS_SUCCESSFUL) {
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PRINTF1("in HOUS *** ERR %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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exit( 1 );
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}
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rtems_task send_task( rtems_task_argument argument)
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{
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rtems_status_code status; // RTEMS status code
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spw_ioctl_pkt_send spw_ioctl_send; // incoming spw_ioctl_pkt_send structure
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size_t size; // size of the incoming TC packet
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u_int32_t count;
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rtems_id queue_id;
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status = rtems_message_queue_ident( misc_name[QUEUE_PKTS], 0, &queue_id );
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in SEND *** ERR getting queue id, %d\n", status)
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}
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BOOT_PRINTF("in SEND *** \n")
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while(1)
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{
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status = rtems_message_queue_receive( queue_id, (char*) &spw_ioctl_send, &size,
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RTEMS_WAIT, RTEMS_NO_TIMEOUT );
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if (status!=RTEMS_SUCCESSFUL)
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{
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PRINTF1("in SEND *** (1) ERR = %d\n", status)
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}
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else
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{
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if (spw_ioctl_send.hlen == 0)
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{
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status = write( fdSPW, spw_ioctl_send.data, spw_ioctl_send.dlen );
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if (status == -1){
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PRINTF2("in SEND *** (2.a) ERR = %d, dlen = %d\n", status, spw_ioctl_send.dlen)
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}
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}
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else
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{
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status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
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if (status == -1){
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PRINTF2("in SEND *** (2.b) ERR = %d, dlen = %d\n", status, spw_ioctl_send.dlen)
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PRINTF1(" hlen = %d\n", spw_ioctl_send.hlen)
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}
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}
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}
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status = rtems_message_queue_get_number_pending( queue_id, &count );
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in SEND *** (3) ERR = %d\n", status)
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}
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else
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{
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if (count > maxCount)
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{
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maxCount = count;
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}
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}
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}
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}
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rtems_id get_pkts_queue_id( void )
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{
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rtems_id queue_id;
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rtems_status_code status;
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status = rtems_message_queue_ident( misc_name[QUEUE_PKTS], 0, &queue_id );
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if (status != RTEMS_SUCCESSFUL)
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{
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PRINTF1("in get_pkts_queue_id *** ERR %d\n", status)
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}
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return queue_id;
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}
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