fsw_init.c
255 lines
| 9.2 KiB
| text/x-c
|
CLexer
/ src / fsw_init.c
paul@pc-solar1.lab-lpp.local
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r5 | //************************* | ||
| // 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 10 | ||||
| #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 100 | ||||
| #define CONFIGURE_MAXIMUM_DRIVERS 16 | ||||
| #define CONFIGURE_MAXIMUM_PERIODS 1 | ||||
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paul@pc-solar1.lab-lpp.local
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r9 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1 | ||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
| #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> | ||||
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paul@pc-solar1.lab-lpp.local
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r9 | #include <fsw_config.c> | ||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
| char *link_status(int status); | ||||
| char *lstates[6] = {"Error-reset", | ||||
| "Error-wait", | ||||
| "Ready", | ||||
| "Started", | ||||
| "Connecting", | ||||
| "Run" | ||||
| }; | ||||
| rtems_task Init( rtems_task_argument ignored ) | ||||
| { | ||||
| rtems_status_code status; | ||||
| //send_console_outputs_on_serial_port(); | ||||
| InitLookUpTableForCRC(); // in tc_handler.h | ||||
admin@pc-p-leroy3.LAB-LPP.LOCAL
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r8 | |||
| create_message_queue(); | ||||
|
paul@pc-solar1.lab-lpp.local
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r5 | create_all_tasks(); | ||
| start_all_tasks(); | ||||
| configure_spw_link(); | ||||
| // configure timer for spectral matrices simulation | ||||
| configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, | ||||
| IRQ_SPARC_SM, spectral_matrices_isr ); | ||||
| // configure timer for waveforms simulation | ||||
| configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR, | ||||
| IRQ_SPARC_WF, waveforms_isr ); | ||||
| LEON_Unmask_interrupt( IRQ_SM ); | ||||
| LEON_Unmask_interrupt( IRQ_WF ); | ||||
| status = rtems_task_delete(RTEMS_SELF); | ||||
| } | ||||
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paul@pc-solar1.lab-lpp.local
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r9 | rtems_task spiq_task(rtems_task_argument unused) | ||
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paul@pc-solar1.lab-lpp.local
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r5 | { | ||
| rtems_event_set event_out; | ||||
| struct grspw_regs_str *grspw_regs; | ||||
| grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW; | ||||
| while(1){ | ||||
| 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 | ||||
| if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL) // suspend RECV task | ||||
| PRINTF("In SPIQ *** Error suspending RECV Task\n") | ||||
| configure_spw_link(); | ||||
| if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task | ||||
| PRINTF("In SPIQ *** Error resume RECV Task\n") | ||||
| } | ||||
| } | ||||
| int create_all_tasks() | ||||
| { | ||||
| rtems_status_code status; | ||||
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paul@pc-solar1.lab-lpp.local
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r9 | Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' ); | ||
| Task_name[2] = rtems_build_name( 'A', 'C', 'T', 'N' ); | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | ||
| Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' ); | ||||
| Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' ); | ||||
| Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' ); | ||||
| Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' ); | ||||
| Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' ); | ||||
| // RECV | ||||
| status = rtems_task_create( | ||||
| Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES, | ||||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1] | ||||
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paul@pc-solar1.lab-lpp.local
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r9 | ); | ||
| // ACTN | ||||
| status = rtems_task_create( | ||||
| Task_name[2], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES, | ||||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[2] | ||||
|
paul@pc-solar1.lab-lpp.local
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r5 | ); | ||
| // SPIQ | ||||
| status = rtems_task_create( | ||||
| Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES, | ||||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3] | ||||
| ); | ||||
| // SMIQ | ||||
| status = rtems_task_create( | ||||
| Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4] | ||||
| ); | ||||
| // STAT | ||||
| status = rtems_task_create( | ||||
| Task_name[5], 200, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES, | ||||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5] | ||||
| ); | ||||
| // AVF0 | ||||
| status = rtems_task_create( | ||||
| Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | ||||
| RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6] | ||||
| ); | ||||
| // BPF0 | ||||
| status = rtems_task_create( | ||||
| Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES, | ||||
| RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7] | ||||
| ); | ||||
| // WFRM | ||||
| status = rtems_task_create( | ||||
| Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2, | ||||
| RTEMS_DEFAULT_MODES, | ||||
| RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8] | ||||
| ); | ||||
| return 0; | ||||
| } | ||||
| int start_all_tasks() | ||||
| { | ||||
| rtems_status_code status; | ||||
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paul@pc-solar1.lab-lpp.local
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r9 | status = rtems_task_start( Task_id[3], spiq_task, 1 ); | ||
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paul@pc-solar1.lab-lpp.local
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r5 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n") | ||
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paul@pc-solar1.lab-lpp.local
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r9 | status = rtems_task_start( Task_id[1], recv_task, 1 ); | ||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n") | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | |||
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paul@pc-solar1.lab-lpp.local
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r9 | status = rtems_task_start( Task_id[2], actn_task, 1 ); | ||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_ACTN\n") | ||||
| status = rtems_task_start( Task_id[4], smiq_task, 1 ); | ||||
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paul@pc-solar1.lab-lpp.local
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r5 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n") | ||
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paul@pc-solar1.lab-lpp.local
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r9 | status = rtems_task_start( Task_id[5], stat_task, 1 ); | ||
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paul@pc-solar1.lab-lpp.local
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r5 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n") | ||
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paul@pc-solar1.lab-lpp.local
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r9 | status = rtems_task_start( Task_id[6], avf0_task, 1 ); | ||
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paul@pc-solar1.lab-lpp.local
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r5 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n") | ||
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paul@pc-solar1.lab-lpp.local
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r9 | status = rtems_task_start( Task_id[7], bpf0_task, 1 ); | ||
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paul@pc-solar1.lab-lpp.local
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r5 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n") | ||
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paul@pc-solar1.lab-lpp.local
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r9 | status = rtems_task_start( Task_id[8], wfrm_task, 1 ); | ||
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paul@pc-solar1.lab-lpp.local
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r5 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n") | ||
| return 0; | ||||
| } | ||||
| int configure_spw_link() | ||||
| { | ||||
| rtems_status_code status; | ||||
| close(fdSPW); // close the device if it is already open | ||||
| fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware | ||||
| if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") | ||||
| while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){ | ||||
| PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n") | ||||
| 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("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") | ||||
| rtems_task_wake_after(100); | ||||
| } | ||||
| PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") | ||||
| // sets a few parameters of the link | ||||
| status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit | ||||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n") | ||||
| // | ||||
| status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception | ||||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") | ||||
| // | ||||
| status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]); // sets the task ID to which an event is sent when a | ||||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs | ||||
| // | ||||
| status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts | ||||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** 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 RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||||
| status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit | ||||
| if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||||
| // | ||||
| //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key | ||||
| //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | ||||
| // | ||||
| PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") | ||||
| return RTEMS_SUCCESSFUL; | ||||
| } | ||||
| char *link_status(int status){ | ||||
| return lstates[status]; | ||||
| } | ||||
| 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) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n"); | ||||
| return status; | ||||
| } | ||||