fsw_init.c
644 lines
| 21.4 KiB
| text/x-c
|
CLexer
/ src / fsw_init.c
paul
|
r45 | /** 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 | |||
| * | |||
| */ | |||
paul@pc-solar1.lab-lpp.local
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r5 | //************************* | |
| // GPL reminder to be added | |||
| //************************* | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | #include <rtems.h> | |
| /* configuration information */ | |||
| #define CONFIGURE_INIT | |||
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paul@pc-solar1.lab-lpp.local
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r5 | ||
| #include <bsp.h> /* for device driver prototypes */ | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
| /* configuration information */ | |||
| #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER | |||
|
paul@pc-solar1.lab-lpp.local
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r5 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER | |
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paul@pc-solar1.lab-lpp.local
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r18 | ||
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paul
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r33 | #define CONFIGURE_MAXIMUM_TASKS 20 | |
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paul@pc-solar1.lab-lpp.local
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r18 | #define CONFIGURE_RTEMS_INIT_TASKS_TABLE | |
| #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) | |||
|
paul@pc-solar1.lab-lpp.local
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r5 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 | |
|
paul
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r34 | #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100 | |
| #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT) | |||
|
paul@pc-solar1.lab-lpp.local
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r5 | #define CONFIGURE_MAXIMUM_DRIVERS 16 | |
|
paul@pc-solar1.lab-lpp.local
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r18 | #define CONFIGURE_MAXIMUM_PERIODS 5 | |
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paul
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r35 | #define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s) | |
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paul
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r33 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2 | |
|
paul
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r34 | #ifdef PRINT_STACK_REPORT | |
| #define CONFIGURE_STACK_CHECKER_ENABLED | |||
| #endif | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
| #include <rtems/confdefs.h> | |||
| /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ | |||
|
paul@pc-solar1.lab-lpp.local
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r5 | #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 | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ | |
| #include <drvmgr/drvmgr_confdefs.h> | |||
|
paul@pc-solar1.lab-lpp.local
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r5 | #endif | |
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
|
paul
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r40 | #include "fsw_init.h" | |
| #include "fsw_config.c" | |||
|
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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r18 | rtems_task Init( rtems_task_argument ignored ) | |
|
paul@pc-solar1.lab-lpp.local
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r5 | { | |
|
paul
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r45 | /** 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. | |||
| * | |||
| */ | |||
|
paul
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r104 | reset_local_time(); | |
|
paul
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r45 | ||
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paul@pc-solar1.lab-lpp.local
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r18 | rtems_status_code status; | |
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paul
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r46 | rtems_status_code status_spw; | |
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paul
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r31 | rtems_isr_entry old_isr_handler; | |
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paul@pc-solar1.lab-lpp.local
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r18 | ||
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paul
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r92 | // UART settings | |
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paul
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r95 | send_console_outputs_on_apbuart_port(); | |
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paul
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r94 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); | |
| enable_apbuart_transmitter(); | |||
|
paul
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r98 | DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n") | |
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paul
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r92 | ||
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paul
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r98 | PRINTF("\n\n\n\n\n") | |
| PRINTF("*************************\n") | |||
| PRINTF("** LFR Flight Software **\n") | |||
| PRINTF1("** %d.", SW_VERSION_N1) | |||
| PRINTF1("%d.", SW_VERSION_N2) | |||
| PRINTF1("%d.", SW_VERSION_N3) | |||
|
paul
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r99 | PRINTF1("%d **\n", SW_VERSION_N4) | |
|
paul
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r98 | PRINTF("*************************\n") | |
| PRINTF("\n\n") | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
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paul@pc-solar1.lab-lpp.local
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r28 | init_parameter_dump(); | |
| init_local_mode_parameters(); | |||
|
paul@pc-solar1.lab-lpp.local
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r21 | init_housekeeping_parameters(); | |
|
paul
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r34 | ||
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paul
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r110 | init_waveform_rings(); // initialize the waveform rings | |
| init_sm_rings(); // initialize spectral matrices rings | |||
| reset_wfp_burst_enable(); | |||
| reset_wfp_status(); | |||
| set_wfp_data_shaping(); | |||
|
paul
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r47 | updateLFRCurrentMode(); | |
| BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode) | |||
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paul
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r46 | create_names(); // create all names | |
|
paul
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r47 | ||
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paul
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r46 | status = create_message_queues(); // create message queues | |
| if (status != RTEMS_SUCCESSFUL) | |||
| { | |||
| PRINTF1("in INIT *** ERR in create_message_queues, code %d", status) | |||
| } | |||
|
paul
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r34 | ||
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paul
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r46 | status = create_all_tasks(); // create all tasks | |
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paul
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r40 | if (status != RTEMS_SUCCESSFUL) | |
| { | |||
| PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status) | |||
| } | |||
|
paul
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r33 | ||
|
paul
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r46 | // ************************** | |
| // <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> | |||
| // *************************** | |||
|
paul
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r40 | status = start_all_tasks(); // start all tasks | |
| if (status != RTEMS_SUCCESSFUL) | |||
| { | |||
| PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status) | |||
| } | |||
|
paul
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r34 | ||
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paul
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r47 | // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization | |
|
paul
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r46 | status = start_recv_send_tasks(); | |
| if ( status != RTEMS_SUCCESSFUL ) | |||
| { | |||
| PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status ) | |||
| } | |||
|
paul
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r110 | // suspend science tasks, they will be restarted later depending on the mode | |
|
paul
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r47 | 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) | |||
| } | |||
|
paul
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r92 | //****************************** | |
| // <SPECTRAL MATRICES SIMULATOR> | |||
|
paul
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r99 | LEON_Mask_interrupt( IRQ_SM_SIMULATOR ); | |
|
paul@pc-solar1.lab-lpp.local
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r18 | configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, | |
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paul
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r99 | IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu ); | |
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paul
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r92 | // </SPECTRAL MATRICES SIMULATOR> | |
| //******************************* | |||
|
paul
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r32 | // configure IRQ handling for the waveform picker unit | |
|
paul@pc-solar1.lab-lpp.local
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r18 | status = rtems_interrupt_catch( waveforms_isr, | |
| IRQ_SPARC_WAVEFORM_PICKER, | |||
| &old_isr_handler) ; | |||
|
paul
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r103 | // configure IRQ handling for the spectral matrices unit | |
| status = rtems_interrupt_catch( spectral_matrices_isr, | |||
| IRQ_SPARC_SPECTRAL_MATRIX, | |||
| &old_isr_handler) ; | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
|
paul
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r47 | // if the spacewire link is not up then send an event to the SPIQ task for link recovery | |
|
paul
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r46 | 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 ) | |||
| } | |||
| } | |||
|
paul
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r35 | BOOT_PRINTF("delete INIT\n") | |
|
paul
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r34 | ||
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paul
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r110 | send_dumb_hk(); | |
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paul@pc-solar1.lab-lpp.local
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r5 | status = rtems_task_delete(RTEMS_SELF); | |
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paul@pc-solar1.lab-lpp.local
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r18 | ||
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paul@pc-solar1.lab-lpp.local
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r5 | } | |
|
paul
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r34 | void init_local_mode_parameters( void ) | |
|
paul@pc-solar1.lab-lpp.local
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r28 | { | |
|
paul
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r45 | /** This function initialize the param_local global variable with default values. | |
| * | |||
| */ | |||
|
paul
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r46 | unsigned int i; | |
|
paul@pc-solar1.lab-lpp.local
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r23 | // LOCAL PARAMETERS | |
|
paul
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r32 | set_local_nb_interrupt_f0_MAX(); | |
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paul@pc-solar1.lab-lpp.local
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r23 | ||
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paul
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r35 | 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) | |||
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paul@pc-solar1.lab-lpp.local
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r23 | ||
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paul@pc-solar1.lab-lpp.local
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r21 | // init sequence counters | |
|
paul
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r56 | ||
| for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++) | |||
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paul@pc-solar1.lab-lpp.local
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r21 | { | |
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paul
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r56 | sequenceCounters_TC_EXE[i] = 0x00; | |
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paul@pc-solar1.lab-lpp.local
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r21 | } | |
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paul
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r56 | sequenceCounters_SCIENCE_NORMAL_BURST = 0x00; | |
| sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00; | |||
|
paul@pc-solar1.lab-lpp.local
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r21 | } | |
|
paul
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r104 | void reset_local_time( void ) | |
| { | |||
|
paul
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r112 | time_management_regs->coarse_time_load = 0x80000000; | |
|
paul
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r104 | } | |
|
paul
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r46 | void create_names( void ) // create all names for tasks and queues | |
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paul@pc-solar1.lab-lpp.local
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r18 | { | |
|
paul
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r40 | /** This function creates all RTEMS names used in the software for tasks and queues. | |
| * | |||
| * @return RTEMS directive status codes: | |||
|
paul
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r45 | * - RTEMS_SUCCESSFUL - successful completion | |
|
paul
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r40 | * | |
| */ | |||
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paul@pc-solar1.lab-lpp.local
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r18 | // task names | |
| Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); | |||
|
paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); | |
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paul@pc-solar1.lab-lpp.local
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r18 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | |
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paul@pc-solar1.lab-lpp.local
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r16 | Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' ); | |
| Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' ); | |||
| Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' ); | |||
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paul
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r105 | Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' ); | |
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paul@pc-solar1.lab-lpp.local
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r18 | Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' ); | |
| Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' ); | |||
| Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' ); | |||
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paul
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r31 | Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' ); | |
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paul
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r32 | Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' ); | |
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paul
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r33 | Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' ); | |
| Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' ); | |||
| Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' ); | |||
|
paul
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r46 | Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' ); | |
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paul@pc-solar1.lab-lpp.local
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r18 | ||
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paul
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r46 | // rate monotonic period names | |
| name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' ); | |||
|
paul
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r34 | ||
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paul
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r46 | misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' ); | |
| misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' ); | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | } | |
|
paul
|
r40 | int create_all_tasks( void ) // create all tasks which run in the software | |
|
paul@pc-solar1.lab-lpp.local
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r18 | { | |
|
paul
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r40 | /** 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 | |||
| * | |||
| */ | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | rtems_status_code status; | |
|
paul@pc-solar1.lab-lpp.local
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r5 | ||
|
paul
|
r105 | //********** | |
| // SPACEWIRE | |||
|
paul@pc-solar1.lab-lpp.local
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r5 | // RECV | |
| status = rtems_task_create( | |||
|
paul
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r34 | Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE, | |
|
paul@pc-solar1.lab-lpp.local
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r5 | RTEMS_DEFAULT_MODES, | |
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paul@pc-solar1.lab-lpp.local
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r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] | |
|
paul@pc-solar1.lab-lpp.local
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r18 | ); | |
|
paul
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r105 | 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] | |||
| ); | |||
| } | |||
|
paul
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r40 | if (status == RTEMS_SUCCESSFUL) // ACTN | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES, | |||
| 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] | |||
| ); | |||
| } | |||
|
paul
|
r105 | ||
| //****************** | |||
| // SPECTRAL MATRICES | |||
|
paul
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r40 | if (status == RTEMS_SUCCESSFUL) // SMIQ | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ] | |||
| ); | |||
| } | |||
| if (status == RTEMS_SUCCESSFUL) // AVF0 | |||
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |||
| RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] | |||
| ); | |||
| } | |||
|
paul
|
r105 | if (status == RTEMS_SUCCESSFUL) // MATR | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES, | |||
| RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR] | |||
| ); | |||
| } | |||
| //**************** | |||
| // WAVEFORM PICKER | |||
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // WFRM | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES, | |||
| RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM] | |||
| ); | |||
| } | |||
| if (status == RTEMS_SUCCESSFUL) // CWF3 | |||
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES, | |||
|
paul
|
r98 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3] | |
|
paul
|
r40 | ); | |
| } | |||
| if (status == RTEMS_SUCCESSFUL) // CWF2 | |||
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES, | |||
|
paul
|
r98 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2] | |
|
paul
|
r40 | ); | |
| } | |||
| if (status == RTEMS_SUCCESSFUL) // CWF1 | |||
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES, | |||
|
paul
|
r98 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1] | |
|
paul
|
r40 | ); | |
| } | |||
|
paul
|
r105 | if (status == RTEMS_SUCCESSFUL) // SWBD | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES, | |||
| RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD] | |||
| ); | |||
| } | |||
| //***** | |||
| // MISC | |||
| if (status == RTEMS_SUCCESSFUL) // STAT | |||
|
paul
|
r40 | { | |
| status = rtems_task_create( | |||
|
paul
|
r105 | Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE, | |
| RTEMS_DEFAULT_MODES, | |||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] | |||
|
paul
|
r40 | ); | |
| } | |||
|
paul
|
r105 | if (status == RTEMS_SUCCESSFUL) // DUMB | |
|
paul
|
r46 | { | |
| status = rtems_task_create( | |||
|
paul
|
r105 | Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE, | |
|
paul
|
r46 | RTEMS_DEFAULT_MODES, | |
|
paul
|
r105 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] | |
| ); | |||
| } | |||
| if (status == RTEMS_SUCCESSFUL) // HOUS | |||
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE, | |||
| RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |||
| RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS] | |||
|
paul
|
r46 | ); | |
| } | |||
|
paul
|
r40 | ||
| return status; | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul@pc-solar1.lab-lpp.local
|
r5 | ||
|
paul
|
r46 | 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 | |||
|
paul@pc-solar1.lab-lpp.local
|
r5 | { | |
|
paul
|
r40 | /** 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 | |||
|
paul@pc-solar1.lab-lpp.local
|
r5 | rtems_status_code status; | |
|
paul
|
r105 | //********** | |
| // SPACEWIRE | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); | |
| if (status!=RTEMS_SUCCESSFUL) { | |||
|
paul
|
r35 | BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n") | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul
|
r46 | 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") | |||
| } | |||
| } | |||
|
paul
|
r40 | 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") | |||
| } | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul
|
r105 | //****************** | |
| // SPECTRAL MATRICES | |||
| if (status == RTEMS_SUCCESSFUL) // SMIQ | |||
|
paul
|
r40 | { | |
|
paul
|
r105 | status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 ); | |
|
paul
|
r40 | if (status!=RTEMS_SUCCESSFUL) { | |
|
paul
|
r105 | BOOT_PRINTF("in INIT *** Error starting TASK_BPPR\n") | |
|
paul
|
r40 | } | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // AVF0 | |
| { | |||
| status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n") | |||
| } | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul
|
r105 | if (status == RTEMS_SUCCESSFUL) // MATR | |
| { | |||
| status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_MATR\n") | |||
| } | |||
| } | |||
| //**************** | |||
| // WAVEFORM PICKER | |||
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // WFRM | |
| { | |||
| status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n") | |||
| } | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // CWF3 | |
| { | |||
| status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n") | |||
| } | |||
|
paul
|
r33 | } | |
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // CWF2 | |
| { | |||
| status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n") | |||
| } | |||
|
paul
|
r33 | } | |
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // CWF1 | |
| { | |||
| status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n") | |||
| } | |||
| } | |||
|
paul
|
r105 | ||
| if (status == RTEMS_SUCCESSFUL) // SWBD | |||
| { | |||
| status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n") | |||
| } | |||
| } | |||
| //***** | |||
| // MISC | |||
| if (status == RTEMS_SUCCESSFUL) // HOUS | |||
| { | |||
| status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 ); | |||
| if (status!=RTEMS_SUCCESSFUL) { | |||
| BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n") | |||
| } | |||
| } | |||
| 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") | |||
| } | |||
| } | |||
|
paul
|
r40 | return status; | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul
|
r40 | rtems_status_code create_message_queues( void ) // create the two message queues used in the software | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | { | |
|
paul
|
r46 | rtems_status_code status_recv; | |
| rtems_status_code status_send; | |||
|
paul
|
r35 | rtems_status_code ret; | |
| rtems_id queue_id; | |||
|
paul
|