fsw_init.c
489 lines
| 15.6 KiB
| text/x-c
|
CLexer
r300 | /** This is the RTEMS initialization module. | |||
* | ||||
* @file | ||||
* @author P. LEROY | ||||
* | ||||
* This module contains two very different information: | ||||
* - specific instructions to configure the compilation of the RTEMS executive | ||||
* - functions related to the fligth softwre initialization, especially the INIT RTEMS task | ||||
* | ||||
*/ | ||||
//************************* | ||||
// GPL reminder to be added | ||||
//************************* | ||||
#include <rtems.h> | ||||
/* configuration information */ | ||||
#define CONFIGURE_INIT | ||||
#include <bsp.h> /* for device driver prototypes */ | ||||
/* configuration information */ | ||||
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | ||||
#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | ||||
#define CONFIGURE_MAXIMUM_TASKS 20 | ||||
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE | ||||
#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) | ||||
#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 | ||||
#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100 | ||||
#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT) | ||||
#define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT) | ||||
#define CONFIGURE_MAXIMUM_DRIVERS 16 | ||||
#define CONFIGURE_MAXIMUM_PERIODS 5 | ||||
#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s) | ||||
#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5 | ||||
#ifdef PRINT_STACK_REPORT | ||||
#define CONFIGURE_STACK_CHECKER_ENABLED | ||||
#endif | ||||
#include <rtems/confdefs.h> | ||||
/* If --drvmgr was enabled during the configuration of the RTEMS kernel */ | ||||
#ifdef RTEMS_DRVMGR_STARTUP | ||||
#ifdef LEON3 | ||||
/* Add Timer and UART Driver */ | ||||
#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | ||||
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER | ||||
#endif | ||||
#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | ||||
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART | ||||
#endif | ||||
#endif | ||||
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ | ||||
#include <drvmgr/drvmgr_confdefs.h> | ||||
#endif | ||||
#include "fsw_init.h" | ||||
#include "fsw_config.c" | ||||
rtems_id rtems_task_id_updt; | ||||
rtems_name rtems_task_name_updt; | ||||
rtems_task Init( rtems_task_argument ignored ) | ||||
{ | ||||
/** This is the RTEMS INIT taks, it the first task launched by the system. | ||||
* | ||||
* @param unused is the starting argument of the RTEMS task | ||||
* | ||||
* The INIT task create and run all other RTEMS tasks. | ||||
* | ||||
*/ | ||||
unsigned char *vhdlVersion; | ||||
reset_local_time(); | ||||
rtems_cpu_usage_reset(); | ||||
rtems_status_code status; | ||||
rtems_status_code status_spw; | ||||
struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO; | ||||
// UART settings | ||||
send_console_outputs_on_apbuart_port(); | ||||
set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); | ||||
enable_apbuart_transmitter(); | ||||
DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n") | ||||
PRINTF("\n\n\n\n\n") | ||||
PRINTF("*************************\n") | ||||
PRINTF("** timegen for LFR **\n") | ||||
PRINTF1("** %d.", SW_VERSION_N1) | ||||
PRINTF1("%d." , SW_VERSION_N2) | ||||
PRINTF1("%d." , SW_VERSION_N3) | ||||
PRINTF1("%d **\n", SW_VERSION_N4) | ||||
vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION); | ||||
PRINTF("** VHDL **\n") | ||||
PRINTF1("** %d.", vhdlVersion[1]) | ||||
PRINTF1("%d." , vhdlVersion[2]) | ||||
PRINTF1("%d **\n", vhdlVersion[3]) | ||||
PRINTF("*************************\n") | ||||
PRINTF("\n\n") | ||||
create_names(); // create all names | ||||
status = create_message_queues(); // create message queues | ||||
if (status != RTEMS_SUCCESSFUL) | ||||
{ | ||||
PRINTF1("in INIT *** ERR in create_message_queues, code %d", status) | ||||
} | ||||
status = create_all_tasks(); // create all tasks | ||||
if (status != RTEMS_SUCCESSFUL) | ||||
{ | ||||
PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status) | ||||
} | ||||
// ************************** | ||||
// <SPACEWIRE INITIALIZATION> | ||||
grspw_timecode_callback = &timecode_irq_handler; | ||||
status_spw = spacewire_open_link(); // (1) open the link | ||||
if ( status_spw != RTEMS_SUCCESSFUL ) | ||||
{ | ||||
PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw ) | ||||
} | ||||
if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link | ||||
{ | ||||
status_spw = spacewire_configure_link( fdSPW ); | ||||
if ( status_spw != RTEMS_SUCCESSFUL ) | ||||
{ | ||||
PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw ) | ||||
} | ||||
} | ||||
if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link | ||||
{ | ||||
status_spw = spacewire_start_link( fdSPW ); | ||||
if ( status_spw != RTEMS_SUCCESSFUL ) | ||||
{ | ||||
PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw ) | ||||
} | ||||
} | ||||
// </SPACEWIRE INITIALIZATION> | ||||
// *************************** | ||||
status = start_all_tasks(); // start all tasks | ||||
if (status != RTEMS_SUCCESSFUL) | ||||
{ | ||||
PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status) | ||||
} | ||||
// start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization | ||||
status = start_recv_send_tasks(); | ||||
if ( status != RTEMS_SUCCESSFUL ) | ||||
{ | ||||
PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status ) | ||||
} | ||||
// suspend science tasks, they will be restarted later depending on the mode | ||||
status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY) | ||||
if (status != RTEMS_SUCCESSFUL) | ||||
{ | ||||
PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status) | ||||
} | ||||
// if the spacewire link is not up then send an event to the SPIQ task for link recovery | ||||
if ( status_spw != RTEMS_SUCCESSFUL ) | ||||
{ | ||||
status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ); | ||||
if ( status != RTEMS_SUCCESSFUL ) { | ||||
PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status ) | ||||
} | ||||
} | ||||
//********************************* | ||||
// init GPIO for trigger generation | ||||
grgpio_regs->io_port_direction_register = | ||||
grgpio_regs->io_port_direction_register | 0x04; // [0000 0100], 0 = output disabled, 1 = output enabled | ||||
grgpio_regs->io_port_direction_register = | ||||
grgpio_regs->io_port_direction_register | 0x08; // [0000 1000], 0 = output disabled, 1 = output enabled | ||||
BOOT_PRINTF("delete INIT\n") | ||||
status = rtems_task_delete(RTEMS_SELF); | ||||
} | ||||
void init_local_mode_parameters( void ) | ||||
{ | ||||
/** This function initialize the param_local global variable with default values. | ||||
* | ||||
*/ | ||||
unsigned int i; | ||||
// LOCAL PARAMETERS | ||||
BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max) | ||||
BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max) | ||||
// BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX) | ||||
// init sequence counters | ||||
for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++) | ||||
{ | ||||
sequenceCounters_TC_EXE[i] = 0x00; | ||||
} | ||||
sequenceCounters_SCIENCE_NORMAL_BURST = 0x00; | ||||
sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00; | ||||
sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8; | ||||
sequenceCounterParameterDump = TM_PACKET_SEQ_CTRL_STANDALONE << 8; | ||||
} | ||||
void reset_local_time( void ) | ||||
{ | ||||
time_management_regs->ctrl = 0x02; // software reset, coarse time = 0x80000000 | ||||
} | ||||
void create_names( void ) // create all names for tasks and queues | ||||
{ | ||||
/** This function creates all RTEMS names used in the software for tasks and queues. | ||||
* | ||||
* @return RTEMS directive status codes: | ||||
* - RTEMS_SUCCESSFUL - successful completion | ||||
* | ||||
*/ | ||||
// task names | ||||
Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); | ||||
Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); | ||||
Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | ||||
Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' ); | ||||
Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' ); | ||||
Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' ); | ||||
Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' ); | ||||
rtems_task_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' ); | ||||
misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' ); | ||||
misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' ); | ||||
} | ||||
int create_all_tasks( void ) // create all tasks which run in the software | ||||
{ | ||||
/** This function creates all RTEMS tasks used in the software. | ||||
* | ||||
* @return RTEMS directive status codes: | ||||
* - RTEMS_SUCCESSFUL - task created successfully | ||||
* - RTEMS_INVALID_ADDRESS - id is NULL | ||||
* - RTEMS_INVALID_NAME - invalid task name | ||||
* - RTEMS_INVALID_PRIORITY - invalid task priority | ||||
* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured | ||||
* - RTEMS_TOO_MANY - too many tasks created | ||||
* - RTEMS_UNSATISFIED - not enough memory for stack/FP context | ||||
* - RTEMS_TOO_MANY - too many global objects | ||||
* | ||||
*/ | ||||
rtems_status_code status; | ||||
//********** | ||||
// SPACEWIRE | ||||
// RECV | ||||
status = rtems_task_create( | ||||
Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] | ||||
); | ||||
if (status == RTEMS_SUCCESSFUL) // SEND | ||||
{ | ||||
status = rtems_task_create( | ||||
Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND] | ||||
); | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // WTDG | ||||
{ | ||||
status = rtems_task_create( | ||||
Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG] | ||||
); | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // ACTN | ||||
{ | ||||
status = rtems_task_create( | ||||
Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN] | ||||
); | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // SPIQ | ||||
{ | ||||
status = rtems_task_create( | ||||
Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] | ||||
); | ||||
} | ||||
//***** | ||||
// MISC | ||||
if (status == RTEMS_SUCCESSFUL) // STAT | ||||
{ | ||||
status = rtems_task_create( | ||||
Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] | ||||
); | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // DUMB | ||||
{ | ||||
status = rtems_task_create( | ||||
Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] | ||||
); | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // UPDT | ||||
{ | ||||
status = rtems_task_create( | ||||
rtems_task_name_updt, TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE, | ||||
RTEMS_DEFAULT_MODES, | ||||
RTEMS_DEFAULT_ATTRIBUTES, &rtems_task_id_updt | ||||
); | ||||
} | ||||
return status; | ||||
} | ||||
int start_recv_send_tasks( void ) | ||||
{ | ||||
rtems_status_code status; | ||||
status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n") | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // SEND | ||||
{ | ||||
status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n") | ||||
} | ||||
} | ||||
return status; | ||||
} | ||||
int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS | ||||
{ | ||||
/** This function starts all RTEMS tasks used in the software. | ||||
* | ||||
* @return RTEMS directive status codes: | ||||
* - RTEMS_SUCCESSFUL - ask started successfully | ||||
* - RTEMS_INVALID_ADDRESS - invalid task entry point | ||||
* - RTEMS_INVALID_ID - invalid task id | ||||
* - RTEMS_INCORRECT_STATE - task not in the dormant state | ||||
* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task | ||||
* | ||||
*/ | ||||
// starts all the tasks fot eh flight software | ||||
rtems_status_code status; | ||||
//********** | ||||
// SPACEWIRE | ||||
status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n") | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // WTDG | ||||
{ | ||||
status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n") | ||||
} | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // ACTN | ||||
{ | ||||
status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n") | ||||
} | ||||
} | ||||
//***** | ||||
// MISC | ||||
if (status == RTEMS_SUCCESSFUL) // DUMB | ||||
{ | ||||
status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n") | ||||
} | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // STAT | ||||
{ | ||||
status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n") | ||||
} | ||||
} | ||||
if (status == RTEMS_SUCCESSFUL) // UPDT | ||||
{ | ||||
status = rtems_task_start( rtems_task_id_updt, updt_task, 1 ); | ||||
if (status!=RTEMS_SUCCESSFUL) { | ||||
BOOT_PRINTF("in INIT *** Error starting TASK_UPDT\n") | ||||
} | ||||
} | ||||
return status; | ||||
} | ||||
rtems_status_code create_message_queues( void ) // create the two message queues used in the software | ||||
{ | ||||
rtems_status_code status_recv; | ||||
rtems_status_code status_send; | ||||
rtems_status_code ret; | ||||
rtems_id queue_id; | ||||
ret = LFR_SUCCESSFUL; | ||||
//**************************************** | ||||
// create the queue for handling valid TCs | ||||
status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV], | ||||
MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE, | ||||
RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); | ||||
if ( status_recv != RTEMS_SUCCESSFUL ) { | ||||
PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv) | ||||
} | ||||
//************************************************ | ||||
// create the queue for handling TM packet sending | ||||
status_send = rtems_message_queue_create( misc_name[QUEUE_SEND], | ||||
MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND, | ||||
RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); | ||||
if ( status_send != RTEMS_SUCCESSFUL ) { | ||||
PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send) | ||||
} | ||||
if ( status_recv != RTEMS_SUCCESSFUL ) | ||||
{ | ||||
ret = status_recv; | ||||
} | ||||
else if( status_send != RTEMS_SUCCESSFUL ) | ||||
{ | ||||
ret = status_send; | ||||
} | ||||
return ret; | ||||
} | ||||
rtems_status_code get_message_queue_id_send( rtems_id *queue_id ) | ||||
{ | ||||
rtems_status_code status; | ||||
rtems_name queue_name; | ||||
queue_name = rtems_build_name( 'Q', '_', 'S', 'D' ); | ||||
status = rtems_message_queue_ident( queue_name, 0, queue_id ); | ||||
return status; | ||||
} | ||||
rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ) | ||||
{ | ||||
rtems_status_code status; | ||||
rtems_name queue_name; | ||||
queue_name = rtems_build_name( 'Q', '_', 'R', 'V' ); | ||||
status = rtems_message_queue_ident( queue_name, 0, queue_id ); | ||||
return status; | ||||
} | ||||