#include #include char *DumbMessages[6] = {"in DUMB *** default", // RTEMS_EVENT_0 "in DUMB *** timecode_irq_handler", // RTEMS_EVENT_1 "in DUMB *** waveforms_isr", // RTEMS_EVENT_2 "in DUMB *** in SMIQ *** Error sending event to AVF0", // RTEMS_EVENT_3 "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ", // RTEMS_EVENT_4 "in DUMB *** waveforms_simulator_isr" // RTEMS_EVENT_5 }; unsigned char currentTC_LEN_RCV[2]; // SHALL be equal to the current TC packet estimated packet length field unsigned char currentTC_COMPUTED_CRC[2]; unsigned int currentTC_LEN_RCV_AsUnsignedInt; unsigned int currentTM_length; unsigned char currentTC_processedFlag; unsigned int lookUpTableForCRC[256]; //********************** // GENERAL USE FUNCTIONS unsigned int Crc_opt( unsigned char D, unsigned int Chk) { return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]); } void initLookUpTableForCRC( void ) { unsigned int i; unsigned int tmp; for (i=0; i<256; i++) { tmp = 0; if((i & 1) != 0) { tmp = tmp ^ 0x1021; } if((i & 2) != 0) { tmp = tmp ^ 0x2042; } if((i & 4) != 0) { tmp = tmp ^ 0x4084; } if((i & 8) != 0) { tmp = tmp ^ 0x8108; } if((i & 16) != 0) { tmp = tmp ^ 0x1231; } if((i & 32) != 0) { tmp = tmp ^ 0x2462; } if((i & 64) != 0) { tmp = tmp ^ 0x48c4; } if((i & 128) != 0) { tmp = tmp ^ 0x9188; } lookUpTableForCRC[i] = tmp; } } void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData) { unsigned int Chk; int j; Chk = 0xffff; // reset the syndrom to all ones for (j=0; j> 8); crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff); } //********************* // ACCEPTANCE FUNCTIONS int TC_acceptance(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv) { int ret = 0; rtems_status_code status; spw_ioctl_pkt_send spw_ioctl_send; TMHeader_t TM_header; unsigned int code = 0; unsigned char computed_CRC[2]; char data[ PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ]; GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 ); code = TC_parser( TC, tc_len_recv ) ; if ( (code == ILLEGAL_APID) | (code == WRONG_LEN_PACKET) | (code == INCOR_CHECKSUM) | (code == ILL_TYPE) | (code == ILL_SUBTYPE) | (code == WRONG_APP_DATA) ) { // generate TM_LFR_TC_EXE_CORRUPTED // BUILD HEADER TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_CORRUPTED, &TM_header, TC->sourceID); // TC source ID // BUILD DATA TM_build_data( TC, data, SID_EXE_CORR, computed_CRC); // PREPARE TM SENDING spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header spw_ioctl_send.hdr = (char*) &TM_header; spw_ioctl_send.dlen = 16; spw_ioctl_send.data = data; // SEND PACKET status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send ); } else { // send valid TC to the action launcher status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3); ret = -1; } return ret; } unsigned char TC_parser(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV) { unsigned char ret = 0; unsigned char pid = 0; unsigned char category = 0; unsigned int length = 0; unsigned char packetType = 0; unsigned char packetSubtype = 0; unsigned char * CCSDSContent = NULL; // APID check *** APID on 2 bytes pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210 length = (TMPacket->packetLength[0] * 256) + TMPacket->packetLength[1]; packetType = TMPacket->serviceType; packetSubtype = TMPacket->serviceSubType; if ( pid != CCSDS_PROCESS_ID ) { ret = ILLEGAL_APID; } else if ( category != CCSDS_PACKET_CATEGORY ) { ret = ILLEGAL_APID; } else if (length != TC_LEN_RCV ) { // packet length check ret = WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD } else if ( length >= CCSDS_TC_PKT_MAX_SIZE ) { ret = WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size } else if ( packetType == TC_TYPE_GEN ){ // service type, subtype and packet length check switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61 case TC_SUBTYPE_RESET: if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_LOAD_COMM: if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_LOAD_NORM: if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_LOAD_BURST: if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_LOAD_SBM1: if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_LOAD_SBM2: if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_DUMP: if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_ENTER: if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_UPDT_INFO: if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_EN_CAL: if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; case TC_SUBTYPE_DIS_CAL: if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } break; default: ret = ILL_SUBTYPE; break; } } else if ( packetType == TC_TYPE_TIME ){ if (packetSubtype!=TC_SUBTYPE_UPDT_TIME) { ret = ILL_SUBTYPE; } else if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) { ret = WRONG_LEN_PACKET; } else { ret = CCSDS_TM_VALID; } } else { ret = ILL_TYPE; } // source ID check // Source ID not documented in the ICD // packet error control, CRC check if ( ret == CCSDS_TM_VALID ) { CCSDSContent = (unsigned char*) TMPacket->packetID; GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) { ret = INCOR_CHECKSUM; } else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) { ret = INCOR_CHECKSUM; } else { ret = CCSDS_TM_VALID; } } return ret; } unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength, TMHeader_t *TMHeader, unsigned char tc_sid) { TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID; TMHeader->protocolIdentifier = CCSDS_PROTOCOLE_ID; TMHeader->reserved = 0x00; TMHeader->userApplication = 0x00; TMHeader->packetID[0] = 0x0c; TMHeader->packetSequenceControl[0] = 0xc0; TMHeader->packetSequenceControl[1] = 0x00; TMHeader->packetLength[0] = (unsigned char) (packetLength>>8); TMHeader->packetLength[1] = (unsigned char) packetLength; TMHeader->spare1_pusVersion_spare2 = 0x10; TMHeader->destinationID = TM_DESTINATION_ID_GROUND; // default destination id switch (tm_type){ case(TM_LFR_TC_EXE_OK): TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE; TMHeader->serviceType = TM_TYPE_TC_EXE; // type TMHeader->serviceSubType = TM_SUBTYPE_EXE_OK; // subtype TMHeader->destinationID = tc_sid; // destination id break; case(TM_LFR_TC_EXE_ERR): TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE; TMHeader->serviceType = TM_TYPE_TC_EXE; // type TMHeader->serviceSubType = TM_SUBTYPE_EXE_NOK; // subtype TMHeader->destinationID = tc_sid; break; case(TM_LFR_HK): TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_HK; TMHeader->serviceType = TM_TYPE_HK; // type TMHeader->serviceSubType = TM_SUBTYPE_HK; // subtype break; case(TM_LFR_SCI): TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_NORMAL; TMHeader->serviceType = TM_TYPE_LFR_SCIENCE; // type TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE; // subtype break; case(TM_LFR_SCI_SBM): TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2; TMHeader->serviceType = TM_TYPE_LFR_SCIENCE; // type TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE; // subtype break; case(TM_LFR_PAR_DUMP): TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP; TMHeader->serviceType = TM_TYPE_HK; // type TMHeader->serviceSubType = TM_SUBTYPE_HK; // subtype break; default: return 0; } TMHeader->time[0] = (unsigned char) (time_management_regs->coarse_time>>24); TMHeader->time[1] = (unsigned char) (time_management_regs->coarse_time>>16); TMHeader->time[2] = (unsigned char) (time_management_regs->coarse_time>>8); TMHeader->time[3] = (unsigned char) (time_management_regs->coarse_time); TMHeader->time[4] = (unsigned char) (time_management_regs->fine_time>>8); TMHeader->time[5] = (unsigned char) (time_management_regs->fine_time); return LFR_SUCCESSFUL; } unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC) { unsigned int packetLength; packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1]; switch (SID){ case (SID_NOT_EXE): break; case (SID_NOT_IMP): data[0] = (unsigned char) (SID_NOT_IMP >> 8); data[1] = (unsigned char) SID_NOT_IMP; data[2] = TC->packetID[0]; data[3] = TC->packetID[1]; data[4] = TC->packetSequenceControl[0]; data[5] = TC->packetSequenceControl[1]; data[6] = TC->serviceType; // type data[7] = TC->serviceSubType; // subtype break; case (SID_EXE_ERR): break; case (SID_EXE_CORR): data[0] = (unsigned char) (SID_EXE_CORR >> 8); data[1] = (unsigned char) SID_EXE_CORR; data[2] = TC->packetID[0]; data[3] = TC->packetID[1]; data[4] = TC->packetSequenceControl[0]; data[5] = TC->packetSequenceControl[1]; data[6] = TC->serviceType; // type data[7] = TC->serviceSubType; // subtype data[8] = currentTC_LEN_RCV[0]; data[9] = currentTC_LEN_RCV[1]; data[10] = TC->packetLength[0]; data[11] = TC->packetLength[1]; data[12] = TC->dataAndCRC[packetLength]; data[13] = TC->dataAndCRC[packetLength+1]; data[14] = computed_CRC[0]; data[15] = computed_CRC[1]; break; default: return 0; } return 1; } int create_message_queue( void ) { rtems_status_code status; misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' ); status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE, RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] ); if (status!=RTEMS_SUCCESSFUL) { PRINTF("in create_message_queue *** error creating message queue\n") } return 0; } //*********** // RTEMS TASK rtems_task recv_task( rtems_task_argument unused ) { int len = 0; unsigned int i = 0; unsigned int data_length = 0; ccsdsTelecommandPacket_t currentTC; char data[100]; for(i=0; i<100; i++) data[i] = 0; PRINTF("in RECV *** \n") while(1) { len = read(fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking if (len == -1){ // error during the read call PRINTF("In RECV *** last read call returned -1\n") //if (rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) { // PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n") //} //if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) { // PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n") //} } else { PRINTF1("Got pck of length %d\n", len+1) if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) { PRINTF("In RECV *** packet lenght too short\n") } else { currentTC_LEN_RCV[0] = 0x00; currentTC_LEN_RCV[1] = (unsigned char) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // build the corresponding packet size field currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes // CHECK THE TC AND BUILD THE APPROPRIATE TM data_length = TC_acceptance(¤tTC, currentTC_LEN_RCV_AsUnsignedInt); if (data_length!=-1) { } } } } } rtems_task actn_task( rtems_task_argument unused ) { int result; rtems_status_code status; // RTEMS status code ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task size_t size; // size of the incoming TC packet unsigned char subtype; // subtype of the current TC packet result = LFR_SUCCESSFUL; subtype = 0; // subtype of the current TC packet PRINTF("in ACTN *** \n") while(1) { status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size, RTEMS_WAIT, RTEMS_NO_TIMEOUT); if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status) else { subtype = TC.serviceSubType; switch(subtype) { case TC_SUBTYPE_RESET: result = action_default( &TC ); break; // case TC_SUBTYPE_LOAD_COMM: result = action_load_comm( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_LOAD_NORM: result = action_load_norm( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_LOAD_BURST: result = action_load_burst( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_LOAD_SBM1: result = action_load_sbm1( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_LOAD_SBM2: result = action_load_sbm2( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_DUMP: result = action_dump( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_ENTER: result = action_enter( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_UPDT_INFO: result = action_updt_info( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_EN_CAL: result = action_enable_calibration( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_DIS_CAL: result = action_disable_calibration( &TC ); close_action( &TC, result ); break; // case TC_SUBTYPE_UPDT_TIME: result = action_updt_time( &TC ); break; // default: break; } } } } rtems_task dumb_task( rtems_task_argument unused ) { unsigned int i; unsigned int intEventOut; unsigned int coarse_time = 0; unsigned int fine_time = 0; rtems_event_set event_out; PRINTF("in DUMB *** \n") while(1){ rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4 | RTEMS_EVENT_5, RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT intEventOut = (unsigned int) event_out; for ( i=0; i<32; i++) { if ( ((intEventOut >> i) & 0x0001) != 0) { coarse_time = time_management_regs->coarse_time; fine_time = time_management_regs->fine_time; printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]); } } } } //*********** // TC ACTIONS int action_default(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; TMHeader_t header; spw_ioctl_pkt_send spw_ioctl_send; unsigned char data[10]; TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED, &header, TC->sourceID); spw_ioctl_send.hlen = TM_HEADER_LEN + 4; spw_ioctl_send.hdr = (char *) &header; spw_ioctl_send.dlen = 8; spw_ioctl_send.data = (char *) data; spw_ioctl_send.options = 0; data[0] = (char) (FAILURE_CODE_NOT_IMPLEMENTED >> 8); data[1] = (char) FAILURE_CODE_NOT_IMPLEMENTED; data[2] = TC->packetID[0]; data[3] = TC->packetID[1]; data[4] = TC->packetSequenceControl[0]; data[5] = TC->packetSequenceControl[1]; data[6] = TC->serviceType; // type data[7] = TC->serviceSubType; // subtype // SEND DATA status = write_spw(&spw_ioctl_send); if (status != RTEMS_SUCCESSFUL) { PRINTF("ERR *** in action_default *** send TM packet\n") } return LFR_DEFAULT; } int action_enter(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; unsigned char requestedMode; requestedMode = TC->dataAndCRC[1]; printf("try to enter mode %d\n", requestedMode); status = transition_validation(requestedMode); if ( status == LFR_SUCCESSFUL ) { if ( (housekeeping_packet.lfr_status_word[0] & 0xf0) != LFR_MODE_STANDBY) { status = stop_current_mode(); } if (status != RTEMS_SUCCESSFUL) { PRINTF("ERR *** in action_enter *** stop_current_mode\n") } status = enter_mode(requestedMode, TC); } else { PRINTF("ERR *** in action_enter *** transition rejected\n") send_tm_lfr_tc_exe_not_executable( TC ); } return status; } int action_load_comm(ccsdsTelecommandPacket_t *TC) { parameter_dump_packet.unused0 = TC->dataAndCRC[0]; parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1]; set_wfp_data_shaping(parameter_dump_packet.bw_sp0_sp1_r0_r1); return LFR_SUCCESSFUL; } int action_load_norm(ccsdsTelecommandPacket_t *TC) { int result; unsigned char lfrMode; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; if ( lfrMode == LFR_MODE_NORMAL ) { send_tm_lfr_tc_exe_not_executable( TC ); result = LFR_DEFAULT; } else { parameter_dump_packet.sy_lfr_n_swf_l[0] = TC->dataAndCRC[0]; parameter_dump_packet.sy_lfr_n_swf_l[1] = TC->dataAndCRC[1]; parameter_dump_packet.sy_lfr_n_swf_p[0] = TC->dataAndCRC[2]; parameter_dump_packet.sy_lfr_n_swf_p[1] = TC->dataAndCRC[3]; parameter_dump_packet.sy_lfr_n_asm_p[0] = TC->dataAndCRC[4]; parameter_dump_packet.sy_lfr_n_asm_p[1] = TC->dataAndCRC[5]; parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[6]; parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[7]; result = LFR_SUCCESSFUL; } return result; } int action_load_burst(ccsdsTelecommandPacket_t *TC) { int result; unsigned char lfrMode; result = LFR_DEFAULT; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; if ( lfrMode == LFR_MODE_BURST ) { send_tm_lfr_tc_exe_not_executable( TC ); result = LFR_DEFAULT; } else { parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[0]; parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[1]; result = LFR_SUCCESSFUL; } return result; } int action_load_sbm1(ccsdsTelecommandPacket_t *TC) { int result; unsigned char lfrMode; result = LFR_DEFAULT; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; if ( lfrMode == LFR_MODE_SBM1 ) { send_tm_lfr_tc_exe_not_executable( TC ); result = LFR_DEFAULT; } else { parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[0]; parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[1]; result = LFR_SUCCESSFUL; } return result; } int action_load_sbm2(ccsdsTelecommandPacket_t *TC) { int result; unsigned char lfrMode; result = LFR_DEFAULT; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; if ( lfrMode == LFR_MODE_SBM2 ) { send_tm_lfr_tc_exe_not_executable( TC ); result = LFR_DEFAULT; } else { parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[0]; parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[1]; result = LFR_SUCCESSFUL; } return result; } int action_dump(ccsdsTelecommandPacket_t *TC) { int status; // send parameter dump packet status = write(fdSPW, (char *) ¶meter_dump_packet, PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + 4); if (status == -1) { PRINTF1("in action_dump *** ERR sending packet, code %d", status) status = RTEMS_UNSATISFIED; } else { status = RTEMS_SUCCESSFUL; } return status; } int action_updt_info(ccsdsTelecommandPacket_t *TC) { unsigned int val; int result; unsigned char lfrMode; result = LFR_DEFAULT; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; if ( (lfrMode == LFR_MODE_STANDBY) ) { send_tm_lfr_tc_exe_not_executable( TC ); result = LFR_DEFAULT; } else { val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_update_info_tc_cnt[1]; val++; housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8); housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val); result = LFR_SUCCESSFUL; } return result; } int action_enable_calibration(ccsdsTelecommandPacket_t *TC) { int result; unsigned char lfrMode; result = LFR_DEFAULT; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) { send_tm_lfr_tc_exe_not_executable( TC ); result = LFR_DEFAULT; } else { send_tm_lfr_tc_exe_not_implemented( TC ); result = LFR_DEFAULT; } return result; } int action_disable_calibration(ccsdsTelecommandPacket_t *TC) { int result; unsigned char lfrMode; result = LFR_DEFAULT; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) { send_tm_lfr_tc_exe_not_executable( TC ); result = LFR_DEFAULT; } else { send_tm_lfr_tc_exe_not_implemented( TC ); result = LFR_DEFAULT; } return result; } int action_updt_time(ccsdsTelecommandPacket_t *TC) { unsigned int val; time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24) + (TC->dataAndCRC[1] << 16) + (TC->dataAndCRC[2] << 8) + TC->dataAndCRC[3]; val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_update_time_tc_cnt[1]; val++; housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8); housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val); //time_management_regs->ctrl = time_management_regs->ctrl | 1; return LFR_SUCCESSFUL; } //******************* // ENTERING THE MODES int transition_validation(unsigned char requestedMode) { int status; unsigned char lfrMode; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; switch (requestedMode) { case LFR_MODE_STANDBY: if ( lfrMode == LFR_MODE_STANDBY ) { status = LFR_DEFAULT; } else { status = LFR_SUCCESSFUL; } break; case LFR_MODE_NORMAL: if ( lfrMode == LFR_MODE_NORMAL ) { status = LFR_DEFAULT; } else { status = LFR_SUCCESSFUL; } break; case LFR_MODE_BURST: if ( lfrMode == LFR_MODE_BURST ) { status = LFR_DEFAULT; } else { status = LFR_SUCCESSFUL; } break; case LFR_MODE_SBM1: if ( lfrMode == LFR_MODE_SBM1 ) { status = LFR_DEFAULT; } else { status = LFR_SUCCESSFUL; } break; case LFR_MODE_SBM2: if ( lfrMode == LFR_MODE_SBM2 ) { status = LFR_DEFAULT; } else { status = LFR_SUCCESSFUL; } break; default: status = LFR_DEFAULT; break; } return status; } int stop_current_mode() { rtems_status_code status; unsigned char lfrMode; status = RTEMS_SUCCESSFUL; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode // mask all IRQ lines related to signal processing LEON_Mask_interrupt( IRQ_SM ); // mask spectral matrices interrupt (coming from the timer VHDL IP) LEON_Clear_interrupt( IRQ_SM ); // clear spectral matrices interrupt (coming from the timer VHDL IP) #ifdef GSA LEON_Mask_interrupt( IRQ_WF ); // mask waveform interrupt (coming from the timer VHDL IP) LEON_Clear_interrupt( IRQ_WF ); // clear waveform interrupt (coming from the timer VHDL IP) timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR ); #else LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt #endif // suspend several tasks if (lfrMode != LFR_MODE_STANDBY) { suspend_science_tasks(); } if (status != RTEMS_SUCCESSFUL) { PRINTF("ERR *** in stop_current_mode *** suspending tasks\n") } // initialize the registers #ifdef GSA #else waveform_picker_regs->burst_enable = 0x00; // initialize #endif return status; } int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC ) { rtems_status_code status; switch(mode){ case LFR_MODE_STANDBY: status = enter_standby_mode( TC ); break; case LFR_MODE_NORMAL: status = enter_normal_mode( TC ); break; case LFR_MODE_BURST: status = enter_burst_mode( TC ); break; case LFR_MODE_SBM1: status = enter_sbm1_mode( TC ); break; case LFR_MODE_SBM2: status = enter_sbm2_mode( TC ); break; default: status = RTEMS_UNSATISFIED; } if (status == RTEMS_SUCCESSFUL) { housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d); } return status; } int enter_standby_mode(ccsdsTelecommandPacket_t *TC) { return LFR_SUCCESSFUL; } int enter_normal_mode( ccsdsTelecommandPacket_t *TC ) { rtems_status_code status; status = restart_science_tasks(); #ifdef GSA timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR ); timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR ); LEON_Clear_interrupt( IRQ_WF ); LEON_Unmask_interrupt( IRQ_WF ); // set_local_nb_interrupt_f0_MAX(); LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board LEON_Unmask_interrupt( IRQ_SM ); #else // waveform picker LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); reset_waveform_picker_regs(); set_wfp_burst_enable_register(LFR_MODE_NORMAL); // spectral matrix // set_local_nb_interrupt_f0_MAX(); LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX ); spectral_matrix_regs->config = 0x01; spectral_matrix_regs->status = 0x00; #endif return status; } int enter_burst_mode(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; unsigned char lfrMode; lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; status = restart_science_tasks(); #ifdef GSA #else LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); reset_waveform_picker_regs(); set_wfp_burst_enable_register(LFR_MODE_BURST); waveform_picker_regs->burst_enable = 0x40; // [0100 0000] burst f2, f1, f0 enable f3 f2 f1 f0 waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x04; waveform_picker_regs->status = 0x00; #endif LEON_Unmask_interrupt( IRQ_SM ); return status; } int enter_sbm1_mode(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; status = restart_science_tasks(); set_local_sbm1_nb_cwf_max(); reset_local_sbm1_nb_cwf_sent(); #ifdef GSA #else LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); reset_waveform_picker_regs(); set_wfp_burst_enable_register(LFR_MODE_SBM1); waveform_picker_regs->status = 0x00; #endif LEON_Unmask_interrupt( IRQ_SM ); return status; } int enter_sbm2_mode(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; status = restart_science_tasks(); set_local_sbm2_nb_cwf_max(); reset_local_sbm2_nb_cwf_sent(); #ifdef GSA #else LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); reset_waveform_picker_regs(); set_wfp_burst_enable_register(LFR_MODE_SBM2); waveform_picker_regs->status = 0x00; #endif LEON_Unmask_interrupt( IRQ_SM ); return status; } int restart_science_tasks() { rtems_status_code status; status = rtems_task_restart( Task_id[TASKID_AVF0], 0 ); if (status == RTEMS_SUCCESSFUL) { status = rtems_task_restart( Task_id[TASKID_BPF0], 0 ); if (status == RTEMS_SUCCESSFUL) { status = rtems_task_restart( Task_id[TASKID_WFRM], 0 ); if (status == RTEMS_SUCCESSFUL) { status = rtems_task_restart( Task_id[TASKID_CWF3], 0 ); } } } return status; } int suspend_science_tasks() { rtems_status_code status; status = rtems_task_suspend( Task_id[TASKID_AVF0] ); if (status == RTEMS_SUCCESSFUL) { status = rtems_task_suspend( Task_id[TASKID_BPF0] ); if (status == RTEMS_SUCCESSFUL) { status = rtems_task_suspend( Task_id[TASKID_WFRM] ); if (status == RTEMS_SUCCESSFUL) { status = rtems_task_suspend( Task_id[TASKID_CWF3] ); } } } return status; } //**************** // CLOSING ACTIONS int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; TMHeader_t TM_header; char data[4]; spw_ioctl_pkt_send spw_ioctl_send; TM_build_header( TM_LFR_TC_EXE_OK, PACKET_LENGTH_TC_EXE_SUCCESS, &TM_header, TC->sourceID); // TC source ID data[0] = TC->packetID[0]; data[1] = TC->packetID[1]; data[2] = TC->packetSequenceControl[0]; data[3] = TC->packetSequenceControl[1]; // filling the structure for the spacewire transmission spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header spw_ioctl_send.hdr = (char*) &TM_header; spw_ioctl_send.dlen = 4; spw_ioctl_send.data = data; spw_ioctl_send.options = 0; // SEND DATA status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send ); return LFR_SUCCESSFUL; } int send_tm_lfr_tc_exe_not_executable(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; TMHeader_t TM_header; char data[10]; spw_ioctl_pkt_send spw_ioctl_send; TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE, &TM_header, TC->sourceID); // TC source ID data[0] = (char) (FAILURE_CODE_NOT_EXECUTABLE >> 8); data[1] = (char) FAILURE_CODE_NOT_EXECUTABLE; data[2] = TC->packetID[0]; data[3] = TC->packetID[1]; data[4] = TC->packetSequenceControl[0]; data[5] = TC->packetSequenceControl[1]; data[6] = TC->serviceType; // type of the rejected TC data[7] = TC->serviceSubType; // subtype of the rejected TC data[8] = housekeeping_packet.lfr_status_word[0]; data[6] = housekeeping_packet.lfr_status_word[1]; // filling the structure for the spacewire transmission spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header spw_ioctl_send.hdr = (char*) &TM_header; spw_ioctl_send.dlen = 10; spw_ioctl_send.data = data; spw_ioctl_send.options = 0; // SEND DATA status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send ); return LFR_SUCCESSFUL; } int send_tm_lfr_tc_exe_not_implemented(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; TMHeader_t TM_header; char data[8]; spw_ioctl_pkt_send spw_ioctl_send; TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED, &TM_header, TC->sourceID); // TC source ID data[0] = (char) (FAILURE_CODE_NOT_IMPLEMENTED >> 8); data[1] = (char) FAILURE_CODE_NOT_IMPLEMENTED; data[2] = TC->packetID[0]; data[3] = TC->packetID[1]; data[4] = TC->packetSequenceControl[0]; data[5] = TC->packetSequenceControl[1]; data[6] = TC->serviceType; // type of the rejected TC data[7] = TC->serviceSubType; // subtype of the rejected TC // filling the structure for the spacewire transmission spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header spw_ioctl_send.hdr = (char*) &TM_header; spw_ioctl_send.dlen = 8; spw_ioctl_send.data = data; spw_ioctl_send.options = 0; // SEND DATA status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send ); return LFR_SUCCESSFUL; } int send_tm_lfr_tc_exe_error(ccsdsTelecommandPacket_t *TC) { rtems_status_code status; TMHeader_t TM_header; char data[8]; spw_ioctl_pkt_send spw_ioctl_send; TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_ERROR, &TM_header, TC->sourceID); // TC source ID data[0] = (char) (FAILURE_CODE_ERROR >> 8); data[1] = (char) FAILURE_CODE_ERROR; data[2] = TC->packetID[0]; data[3] = TC->packetID[1]; data[4] = TC->packetSequenceControl[0]; data[5] = TC->packetSequenceControl[1]; data[6] = TC->serviceType; // type of the rejected TC data[7] = TC->serviceSubType; // subtype of the rejected TC // filling the structure for the spacewire transmission spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header spw_ioctl_send.hdr = (char*) &TM_header; spw_ioctl_send.dlen = 8; spw_ioctl_send.data = data; spw_ioctl_send.options = 0; // SEND DATA status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send ); return LFR_SUCCESSFUL; } void update_last_TC_exe(ccsdsTelecommandPacket_t *TC) { housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0]; housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1]; housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00; housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType; housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00; housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType; housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24); housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16); housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8); housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time); housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8); housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time); } void update_last_TC_rej(ccsdsTelecommandPacket_t *TC) { housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0]; housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1]; housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00; housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType; housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00; housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType; housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24); housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16); housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8); housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time); housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8); housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time); } void close_action(ccsdsTelecommandPacket_t *TC, int result) { unsigned int val = 0; if (result == LFR_SUCCESSFUL) { send_tm_lfr_tc_exe_success( TC ); update_last_TC_exe( TC ); val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1]; val++; housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8); housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val); } else { update_last_TC_rej( TC ); val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1]; val++; housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8); housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val); } } //*************************** // Interrupt Service Routines rtems_isr commutation_isr1( rtems_vector_number vector ) { if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { printf("In commutation_isr1 *** Error sending event to DUMB\n"); } } rtems_isr commutation_isr2( rtems_vector_number vector ) { if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { printf("In commutation_isr2 *** Error sending event to DUMB\n"); } }