#include "fsw_spacewire.h" char *lstates[6] = {"Error-reset", "Error-wait", "Ready", "Started", "Connecting", "Run" }; // RTEMS TASK rtems_task spiq_task(rtems_task_argument unused) { rtems_event_set event_out; rtems_status_code status; unsigned char lfrMode; while(true){ BOOT_PRINTF("in SPIQ *** Waiting for SPW_LINKERR_EVENT\n") rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode status = spacewire_wait_for_link(); if (status != RTEMS_SUCCESSFUL) { //**************** // STOP THE SYSTEM spacewire_compute_stats_offsets(); stop_current_mode(); if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) { // suspend RECV task PRINTF("in SPIQ *** Error suspending RECV Task\n") } if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) { // suspend HOUS task PRINTF("in SPIQ *** Error suspending HOUS Task\n") } //*************************** // RESTART THE SPACEWIRE LINK spacewire_configure_link(); //******************* // RESTART THE SYSTEM //ioctl(fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS); // clear statistics status = rtems_task_restart( Task_id[TASKID_HOUS], 1 ); if (status != RTEMS_SUCCESSFUL) { PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status) } status = rtems_task_restart(Task_id[TASKID_RECV], 1); if ( status != RTEMS_SUCCESSFUL) { PRINTF("in SPIQ *** Error restarting RECV Task\n") } enter_mode(lfrMode, NULL); // enter the mode that was running before the SpaceWire interruption } } } int spacewire_configure_link( void ) { rtems_status_code status; close(fdSPW); // close the device if it is already open BOOT_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); } BOOT_PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, 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, 1); // 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); // [Time Rx : Time Tx : Link error : Tick-out IRQ] if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") BOOT_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( void ) { /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising. * * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics * to keep the counters consistent even after a reset of the SpaceWire driver. * */ 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; } 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"); //} }