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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_apbuart_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_parameter_dump();
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init_local_mode_parameters();
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init_housekeeping_parameters();
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create_message_queue();
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create_names(); // create all names
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create_all_tasks(); // create all tasks
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start_all_tasks(); // start all tasks
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stop_current_mode(); // go in STANDBY mode
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grspw_timecode_callback = &timecode_irq_handler;
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spacewire_configure_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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reset_wfp_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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unsigned char lfrMode;
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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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lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode
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status = spacewire_wait_for_link();
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if (status != RTEMS_SUCCESSFUL)
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{
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//****************
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// STOP THE SYSTEM
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spacewire_compute_stats_offsets();
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stop_current_mode();
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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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//***************************
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// RESTART THE SPACEWIRE LINK
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spacewire_configure_link();
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//*******************
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// RESTART THE SYSTEM
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//ioctl(fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS); // clear statistics
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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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//enter_mode(lfrMode, NULL); // enter the mode that was running before the SpaceWire interruption
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}
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}
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}
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void init_parameter_dump(void)
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{
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parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
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parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
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parameter_dump_packet.reserved = CCSDS_RESERVED;
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parameter_dump_packet.userApplication = CCSDS_USER_APP;
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parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
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parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
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parameter_dump_packet.packetSequenceControl[0] = (unsigned char) (TM_PACKET_SEQ_CTRL_STANDALONE << 6);
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parameter_dump_packet.packetSequenceControl[1] = 0x00;
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parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
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parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
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// DATA FIELD HEADER
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parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
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parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
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parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
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parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
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parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
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parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
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parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
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parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
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parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
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parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
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parameter_dump_packet.sid = SID_PARAMETER_DUMP;
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//******************
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// COMMON PARAMETERS
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parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
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parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
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//******************
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// NORMAL PARAMETERS
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parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8);
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parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_L;
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parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8);
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parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_P;
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parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8);
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parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) DEFAULT_SY_LFR_N_ASM_P;
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parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0;
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parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1;
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//*****************
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// BURST PARAMETERS
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parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
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parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
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//****************
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// SBM1 PARAMETERS
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parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0;
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parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0;
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//****************
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// SBM2 PARAMETERS
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parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
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parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
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}
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void init_local_mode_parameters(void)
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{
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// LOCAL PARAMETERS
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// (2 snapshots of 2048 points per seconds) * (period of the NORM snashots)
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param_local.local_sbm1_nb_cwf_max = 2 * (
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parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
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+ parameter_dump_packet.sy_lfr_n_swf_p[1]
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);
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// (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz)
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param_local.local_sbm2_nb_cwf_max = (
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parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
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+ parameter_dump_packet.sy_lfr_n_swf_p[1]
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)/ 8;
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PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
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PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
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param_local.local_sbm1_nb_cwf_sent = 0;
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param_local.local_sbm2_nb_cwf_sent = 0;
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}
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void init_housekeeping_parameters(void)
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{
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unsigned int i = 0;
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unsigned int j = 0;
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unsigned int k = 0;
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char *parameters;
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parameters = (char*) &housekeeping_packet.lfr_status_word;
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for(i = 0; i< SIZE_HK_PARAMETERS; i++)
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{
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parameters[i] = 0x00;
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}
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// init status word
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housekeeping_packet.lfr_status_word[0] = 0x00;
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housekeeping_packet.lfr_status_word[1] = 0x00;
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// init software version
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housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
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housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
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housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
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housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
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// init sequence counters
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for (i = 0; i<SEQ_CNT_NB_PID; i++)
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{
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for(j = 0; j<SEQ_CNT_NB_CAT; j++)
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{
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for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
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{
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sequenceCounters[i][j][k] = 0x00;
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}
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}
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}
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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], 100, 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,
|
|
|
RTEMS_DEFAULT_MODES,
|
|
|
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
|
|
|
);
|
|
|
// WFRM
|
|
|
status = rtems_task_create(
|
|
|
Task_name[TASKID_WFRM], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
|
|
|
RTEMS_DEFAULT_MODES,
|
|
|
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
|
|
|
);
|
|
|
// DUMB
|
|
|
status = rtems_task_create(
|
|
|
Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
|
|
|
RTEMS_DEFAULT_MODES,
|
|
|
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
|
|
|
);
|
|
|
// HOUS
|
|
|
status = rtems_task_create(
|
|
|
Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2,
|
|
|
RTEMS_DEFAULT_MODES,
|
|
|
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
|
|
|
);
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int start_all_tasks( void )
|
|
|
{
|
|
|
rtems_status_code status;
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_SPIQ\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_RECV\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_ACTN\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_BPPR\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_STAT\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_AVF0\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_BPF0\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_WFRM\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_DUMB\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
PRINTF("In INIT *** Error starting TASK_HOUS\n")
|
|
|
}
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int spacewire_configure_link( void )
|
|
|
{
|
|
|
rtems_status_code status;
|
|
|
|
|
|
close(fdSPW); // close the device if it is already open
|
|
|
PRINTF("OK *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n")
|
|
|
fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
|
|
|
if ( fdSPW<0 ) {
|
|
|
PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
|
|
|
}
|
|
|
|
|
|
while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, -1) != RTEMS_SUCCESSFUL){
|
|
|
PRINTF(".")
|
|
|
fflush( stdout );
|
|
|
close( fdSPW ); // close the device
|
|
|
fdSPW = open( GRSPW_DEVICE_NAME, O_RDWR ); // open the device. the open call reset the hardware
|
|
|
if (fdSPW<0) {
|
|
|
PRINTF("ERR *** In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
|
|
|
}
|
|
|
rtems_task_wake_after(100);
|
|
|
}
|
|
|
|
|
|
PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
|
|
|
|
|
|
spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force
|
|
|
spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to break the no port force configuration
|
|
|
|
|
|
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
|
|
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
|
|
|
//
|
|
|
//status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
|
|
|
//if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
|
|
|
//
|
|
|
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
|
|
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
|
|
|
//
|
|
|
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 0); // sets the link-error interrupt bit
|
|
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
|
|
|
//
|
|
|
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
|
|
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
|
|
|
//
|
|
|
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0); // transmission blocks on full
|
|
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
|
|
|
//
|
|
|
status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909);
|
|
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
|
|
|
|
|
|
PRINTF("OK *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
|
|
|
|
|
|
return RTEMS_SUCCESSFUL;
|
|
|
}
|
|
|
|
|
|
int spacewire_wait_for_link(void)
|
|
|
{
|
|
|
unsigned int i;
|
|
|
int linkStatus;
|
|
|
rtems_status_code status = RTEMS_UNSATISFIED;
|
|
|
|
|
|
for(i = 0; i< 10; i++){
|
|
|
PRINTF(".")
|
|
|
fflush( stdout );
|
|
|
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
|
|
|
PRINTF1("in spacewire_wait_for_link *** link status is: %s\n", lstates[linkStatus])
|
|
|
if ( linkStatus == 5) {
|
|
|
PRINTF("in spacewire_wait_for_link *** link is running\n")
|
|
|
status = RTEMS_SUCCESSFUL;
|
|
|
break;
|
|
|
}
|
|
|
rtems_task_wake_after(100);
|
|
|
}
|
|
|
|
|
|
return status;
|
|
|
}
|
|
|
|
|
|
void spacewire_set_NP(unsigned char val, unsigned int regAddr) // [N]o [P]ort force
|
|
|
{
|
|
|
unsigned int *spwptr = (unsigned int*) regAddr;
|
|
|
|
|
|
if (val == 1) {
|
|
|
*spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
|
|
|
}
|
|
|
if (val== 0) {
|
|
|
*spwptr = *spwptr & 0xffdfffff;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
void 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;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
void spacewire_compute_stats_offsets()
|
|
|
{
|
|
|
spw_stats spacewire_stats_grspw;
|
|
|
rtems_status_code status;
|
|
|
|
|
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
|
|
|
|
|
|
spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
|
|
|
+ spacewire_stats.packets_received;
|
|
|
spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
|
|
|
+ spacewire_stats.packets_sent;
|
|
|
spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
|
|
|
+ spacewire_stats.parity_err;
|
|
|
spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
|
|
|
+ spacewire_stats.disconnect_err;
|
|
|
spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
|
|
|
+ spacewire_stats.escape_err;
|
|
|
spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
|
|
|
+ spacewire_stats.credit_err;
|
|
|
spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
|
|
|
+ spacewire_stats.write_sync_err;
|
|
|
spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
|
|
|
+ spacewire_stats.rx_rmap_header_crc_err;
|
|
|
spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
|
|
|
+ spacewire_stats.rx_rmap_data_crc_err;
|
|
|
spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
|
|
|
+ spacewire_stats.early_ep;
|
|
|
spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
|
|
|
+ spacewire_stats.invalid_address;
|
|
|
spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
|
|
|
+ spacewire_stats.rx_eep_err;
|
|
|
spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
|
|
|
+ spacewire_stats.rx_truncated;
|
|
|
}
|
|
|
|
|
|
rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
|
|
|
{
|
|
|
rtems_status_code status;
|
|
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
|
|
|
if (status != RTEMS_SUCCESSFUL){
|
|
|
//PRINTF1("ERR *** in write_spw *** write operation failed with code: %d\n", status)
|
|
|
}
|
|
|
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");
|
|
|
}
|
|
|
}
|
|
|
|