fsw_init.c
945 lines
| 32.2 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
|
r5 | //************************* | |
| // GPL reminder to be added | |||
| //************************* | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | #include <rtems.h> | |
| /* configuration information */ | |||
| #define CONFIGURE_INIT | |||
|
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
|
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
|
r34 | #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100 | |
| #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT) | |||
|
paul
|
r139 | #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT) | |
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paul@pc-solar1.lab-lpp.local
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r5 | #define CONFIGURE_MAXIMUM_DRIVERS 16 | |
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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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r254 | #define CONFIGURE_MAXIMUM_TIMERS 5 // [spiq] [link] [spacewire_reset_link] | |
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paul
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r124 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5 | |
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paul
|
r34 | #ifdef PRINT_STACK_REPORT | |
| #define CONFIGURE_STACK_CHECKER_ENABLED | |||
| #endif | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | ||
| #include <rtems/confdefs.h> | |||
| /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ | |||
|
paul@pc-solar1.lab-lpp.local
|
r5 | #ifdef RTEMS_DRVMGR_STARTUP | |
|
paul
|
r295 | #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> | |||
|
paul@pc-solar1.lab-lpp.local
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r5 | #endif | |
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
|
paul
|
r40 | #include "fsw_init.h" | |
| #include "fsw_config.c" | |||
|
paul
|
r197 | #include "GscMemoryLPP.hpp" | |
|
paul@pc-solar1.lab-lpp.local
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r5 | ||
|
paul
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r181 | void initCache() | |
| { | |||
|
paul
|
r251 | // ASI 2 contains a few control registers that have not been assigned as ancillary state registers. | |
| // These should only be read and written using 32-bit LDA/STA instructions. | |||
| // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2. | |||
| // The table below shows the register addresses: | |||
| // 0x00 Cache control register | |||
| // 0x04 Reserved | |||
| // 0x08 Instruction cache configuration register | |||
| // 0x0C Data cache configuration register | |||
| // Cache Control Register Leon3 / Leon3FT | |||
| // 31..30 29 28 27..24 23 22 21 20..19 18 17 16 | |||
| // RFT PS TB DS FD FI FT ST IB | |||
| // 15 14 13..12 11..10 9..8 7..6 5 4 3..2 1..0 | |||
| // IP DP ITE IDE DTE DDE DF IF DCS ICS | |||
|
paul
|
r196 | unsigned int cacheControlRegister; | |
|
paul
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r181 | ||
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paul
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r259 | CCR_resetCacheControlRegister(); | |
| ASR16_resetRegisterProtectionControlRegister(); | |||
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paul
|
r251 | cacheControlRegister = CCR_getValue(); | |
|
paul
|
r259 | PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister); | |
| PRINTF1("(0) ASR16 = %x\n", *asr16Ptr); | |||
|
paul
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r181 | ||
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paul
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r251 | CCR_enableInstructionCache(); // ICS bits | |
| CCR_enableDataCache(); // DCS bits | |||
| CCR_enableInstructionBurstFetch(); // IB bit | |||
|
paul
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r181 | ||
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paul
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r259 | faultTolerantScheme(); | |
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paul
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r251 | cacheControlRegister = CCR_getValue(); | |
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paul
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r259 | PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister); | |
| PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr); | |||
|
paul
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r251 | ||
|
paul
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r253 | PRINTF("\n"); | |
|
paul
|
r181 | } | |
|
paul@pc-solar1.lab-lpp.local
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r18 | rtems_task Init( rtems_task_argument ignored ) | |
|
paul@pc-solar1.lab-lpp.local
|
r5 | { | |
|
paul
|
r196 | /** This is the RTEMS INIT taks, it is the first task launched by the system. | |
|
paul
|
r45 | * | |
| * @param unused is the starting argument of the RTEMS task | |||
| * | |||
| * The INIT task create and run all other RTEMS tasks. | |||
| * | |||
| */ | |||
|
paul
|
r181 | //*********** | |
| // INIT CACHE | |||
|
paul
|
r144 | unsigned char *vhdlVersion; | |
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paul
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r171 | reset_lfr(); | |
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paul
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r104 | reset_local_time(); | |
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paul
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r45 | ||
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paul
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r134 | rtems_cpu_usage_reset(); | |
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paul@pc-solar1.lab-lpp.local
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r18 | rtems_status_code status; | |
|
paul
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r46 | rtems_status_code status_spw; | |
|
paul
|
r31 | rtems_isr_entry old_isr_handler; | |
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
|
paul
|
r320 | old_isr_handler = NULL; | |
|
paul
|
r92 | // UART settings | |
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paul
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r253 | enable_apbuart_transmitter(); | |
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paul
|
r94 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); | |
|
paul
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r181 | ||
|
paul
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r98 | DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n") | |
|
paul
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r92 | ||
|
paul
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r181 | ||
|
paul
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r98 | PRINTF("\n\n\n\n\n") | |
|
paul
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r181 | ||
| initCache(); | |||
|
paul
|
r98 | PRINTF("*************************\n") | |
| PRINTF("** LFR Flight Software **\n") | |||
|
paul
|
r306 | ||
|
paul
|
r298 | PRINTF1("** %d-", SW_VERSION_N1) | |
| PRINTF1("%d-" , SW_VERSION_N2) | |||
| PRINTF1("%d-" , SW_VERSION_N3) | |||
| PRINTF1("%d **\n", SW_VERSION_N4) | |||
|
paul
|
r144 | ||
| vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION); | |||
| PRINTF("** VHDL **\n") | |||
| PRINTF1("** %d.", vhdlVersion[1]) | |||
| PRINTF1("%d." , vhdlVersion[2]) | |||
| PRINTF1("%d **\n", vhdlVersion[3]) | |||
|
paul
|
r98 | PRINTF("*************************\n") | |
| PRINTF("\n\n") | |||
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
|
paul@pc-solar1.lab-lpp.local
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r28 | init_parameter_dump(); | |
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paul
|
r194 | init_kcoefficients_dump(); | |
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paul@pc-solar1.lab-lpp.local
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r28 | init_local_mode_parameters(); | |
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paul@pc-solar1.lab-lpp.local
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r21 | init_housekeeping_parameters(); | |
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paul
|
r214 | init_k_coefficients_prc0(); | |
| init_k_coefficients_prc1(); | |||
| init_k_coefficients_prc2(); | |||
|
paul
|
r318 | pa_bia_status_info = INIT_CHAR; | |
| cp_rpw_sc_rw_f_flags = INIT_CHAR; | |||
| cp_rpw_sc_rw1_f1 = INIT_FLOAT; | |||
| cp_rpw_sc_rw1_f2 = INIT_FLOAT; | |||
| cp_rpw_sc_rw2_f1 = INIT_FLOAT; | |||
| cp_rpw_sc_rw2_f2 = INIT_FLOAT; | |||
| cp_rpw_sc_rw3_f1 = INIT_FLOAT; | |||
| cp_rpw_sc_rw3_f2 = INIT_FLOAT; | |||
| cp_rpw_sc_rw4_f1 = INIT_FLOAT; | |||
| cp_rpw_sc_rw4_f2 = INIT_FLOAT; | |||
|
paul
|
r293 | // initialize filtering parameters | |
| filterPar.spare_sy_lfr_pas_filter_enabled = DEFAULT_SY_LFR_PAS_FILTER_ENABLED; | |||
| filterPar.sy_lfr_pas_filter_modulus = DEFAULT_SY_LFR_PAS_FILTER_MODULUS; | |||
| filterPar.sy_lfr_pas_filter_tbad = DEFAULT_SY_LFR_PAS_FILTER_TBAD; | |||
| filterPar.sy_lfr_pas_filter_offset = DEFAULT_SY_LFR_PAS_FILTER_OFFSET; | |||
| filterPar.sy_lfr_pas_filter_shift = DEFAULT_SY_LFR_PAS_FILTER_SHIFT; | |||
| filterPar.sy_lfr_sc_rw_delta_f = DEFAULT_SY_LFR_SC_RW_DELTA_F; | |||
|
paul
|
r240 | update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE ); | |
|
paul
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r34 | ||
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paul
|
r139 | // waveform picker initialization | |
|
paul
|
r284 | WFP_init_rings(); | |
| LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG ); // initialize the waveform rings | |||
|
paul
|
r139 | WFP_reset_current_ring_nodes(); | |
| reset_waveform_picker_regs(); | |||
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paul
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r110 | ||
|
paul
|
r139 | // spectral matrices initialization | |
| SM_init_rings(); // initialize spectral matrices rings | |||
| SM_reset_current_ring_nodes(); | |||
| reset_spectral_matrix_regs(); | |||
|
paul
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r110 | ||
|
paul
|
r187 | // configure calibration | |
| configureCalibration( false ); // true means interleaved mode, false is for normal mode | |||
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paul
|
r254 | updateLFRCurrentMode( LFR_MODE_STANDBY ); | |
|
paul
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r47 | ||
| BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode) | |||
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paul
|
r46 | create_names(); // create all names | |
|
paul
|
r47 | ||
|
paul
|
r248 | status = create_timecode_timer(); // create the timer used by timecode_irq_handler | |
| if (status != RTEMS_SUCCESSFUL) | |||
| { | |||
| PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status) | |||
| } | |||
|
paul
|
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
|
r46 | status = create_all_tasks(); // create all tasks | |
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paul
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r40 | if (status != RTEMS_SUCCESSFUL) | |
| { | |||
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paul
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r124 | PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status) | |
|
paul
|
r40 | } | |
|
paul
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r33 | ||
|
paul
|
r46 | // ************************** | |
| // <SPACEWIRE INITIALIZATION> | |||
| 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
|
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
|
r47 | // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization | |
|
paul
|
r46 | status = start_recv_send_tasks(); | |
| if ( status != RTEMS_SUCCESSFUL ) | |||
| { | |||
| PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status ) | |||
| } | |||
|
paul
|
r110 | // suspend science tasks, they will be restarted later depending on the mode | |
|
paul
|
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
|
r32 | // configure IRQ handling for the waveform picker unit | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | status = rtems_interrupt_catch( waveforms_isr, | |
| IRQ_SPARC_WAVEFORM_PICKER, | |||
| &old_isr_handler) ; | |||
|
paul
|
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 | ||
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paul
|
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
|
r35 | BOOT_PRINTF("delete INIT\n") | |
|
paul
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r34 | ||
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paul
|
r224 | set_hk_lfr_sc_potential_flag( true ); | |
|
paul
|
r259 | // start the timer to detect a missing spacewire timecode | |
| // the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout | |||
| // if a tickout is generated, the timer is restarted | |||
| status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL ); | |||
|
paul
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r267 | ||
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paul
|
r259 | grspw_timecode_callback = &timecode_irq_handler; | |
|
paul
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r257 | ||
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paul@pc-solar1.lab-lpp.local
|
r5 | status = rtems_task_delete(RTEMS_SELF); | |
|
paul@pc-solar1.lab-lpp.local
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r18 | ||
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paul@pc-solar1.lab-lpp.local
|
r5 | } | |
|
paul
|
r34 | void init_local_mode_parameters( void ) | |
|
paul@pc-solar1.lab-lpp.local
|
r28 | { | |
|
paul
|
r45 | /** This function initialize the param_local global variable with default values. | |
| * | |||
| */ | |||
|
paul
|
r46 | unsigned int i; | |
|
paul@pc-solar1.lab-lpp.local
|
r23 | // LOCAL PARAMETERS | |
|
paul
|
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) | |||
|
paul@pc-solar1.lab-lpp.local
|
r23 | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | // init sequence counters | |
|
paul
|
r56 | ||
| for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++) | |||
|
paul@pc-solar1.lab-lpp.local
|
r21 | { | |
|
paul
|
r318 | sequenceCounters_TC_EXE[i] = INIT_CHAR; | |
| sequenceCounters_TM_DUMP[i] = INIT_CHAR; | |||
|
paul@pc-solar1.lab-lpp.local
|
r21 | } | |
|
paul
|
r318 | sequenceCounters_SCIENCE_NORMAL_BURST = INIT_CHAR; | |
| sequenceCounters_SCIENCE_SBM1_SBM2 = INIT_CHAR; | |||
| sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << TM_PACKET_SEQ_SHIFT; | |||
|
paul@pc-solar1.lab-lpp.local
|
r21 | } | |
|
paul
|
r104 | void reset_local_time( void ) | |
| { | |||
|
paul
|
r318 | time_management_regs->ctrl = time_management_regs->ctrl | VAL_SOFTWARE_RESET; // [0010] software reset, coarse time = 0x80000000 | |
|
paul
|
r104 | } | |
|
paul
|
r46 | void create_names( void ) // create all names for tasks and queues | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | { | |
|
paul
|
r40 | /** This function creates all RTEMS names used in the software for tasks and queues. | |
| * | |||
| * @return RTEMS directive status codes: | |||
|
paul
|
r45 | * - RTEMS_SUCCESSFUL - successful completion | |
|
paul
|
r40 | * | |
| */ | |||
|
paul@pc-solar1.lab-lpp.local
|
r18 | // task names | |
| Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); | |||
|
paul@pc-solar1.lab-lpp.local
|
r16 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); | |
|
paul
|
r239 | Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' ); | |
|
paul@pc-solar1.lab-lpp.local
|
r16 | Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' ); | |
|
paul
|
r105 | Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' ); | |
|
paul@pc-solar1.lab-lpp.local
|
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' ); | |||
|
paul
|
r119 | Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' ); | |
|
paul
|
r32 | Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' ); | |
|
paul
|
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
|
r254 | Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' ); | |
|
paul
|
r121 | Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' ); | |
| Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' ); | |||
|
paul
|
r124 | Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' ); | |
| Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' ); | |||
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paul@pc-solar1.lab-lpp.local
|
r18 | ||
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paul
|
r46 | // rate monotonic period names | |
| name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' ); | |||
|
paul
|
r34 | ||
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paul
|
r46 | misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' ); | |
| misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' ); | |||
|
paul
|
r119 | misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' ); | |
| misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' ); | |||
|
paul
|
r124 | misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' ); | |
|
paul
|
r248 | ||
| timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' ); | |||
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paul@pc-solar1.lab-lpp.local
|
r18 | } | |
|
paul
|
r40 | int create_all_tasks( void ) // create all tasks which run in the software | |
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paul@pc-solar1.lab-lpp.local
|
r18 | { | |
|
paul
|
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 | |||
| * | |||
| */ | |||
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paul@pc-solar1.lab-lpp.local
|
r18 | rtems_status_code status; | |
|
paul@pc-solar1.lab-lpp.local
|
r5 | ||
|
paul
|
r105 | //********** | |
| // SPACEWIRE | |||
|
paul@pc-solar1.lab-lpp.local
|
r5 | // RECV | |
| status = rtems_task_create( | |||
|
paul
|
r34 | Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE, | |
|
paul@pc-solar1.lab-lpp.local
|
r5 | RTEMS_DEFAULT_MODES, | |
|
paul@pc-solar1.lab-lpp.local
|
r16 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] | |
|
paul@pc-solar1.lab-lpp.local
|
r18 | ); | |
|
paul
|
r105 | if (status == RTEMS_SUCCESSFUL) // SEND | |
| { | |||
| status = rtems_task_create( | |||
|
paul
|
r318 | Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT, | |
|
paul
|
r181 | RTEMS_DEFAULT_MODES, | |
|
paul
|
r172 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND] | |
|
paul
|
r105 | ); | |
| } | |||
|
paul
|
r254 | if (status == RTEMS_SUCCESSFUL) // LINK | |
|
paul
|
r105 | { | |
| status = rtems_task_create( | |||
|
paul
|
r254 | Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE, | |
|
paul
|
r105 | RTEMS_DEFAULT_MODES, | |
|
paul
|
r254 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LINK] | |
|
paul
|
r105 | ); | |
| } | |||
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // ACTN | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE, | |||
|
paul
|
r129 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |
|
paul
|
r40 | 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
|
r40 | if (status == RTEMS_SUCCESSFUL) // AVF0 | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE, | |||
|
paul
|
r181 | RTEMS_DEFAULT_MODES, | |
|
paul
|
r40 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] | |
| ); | |||
| } | |||
|
paul
|
r121 | if (status == RTEMS_SUCCESSFUL) // PRC0 | |
|
paul
|
r105 | { | |
| status = rtems_task_create( | |||
|
paul
|
r318 | Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT, | |
|
paul
|
r182 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |
|
paul
|
r119 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0] | |
|
paul
|
r105 | ); | |
| } | |||
|
paul
|
r121 | if (status == RTEMS_SUCCESSFUL) // AVF1 | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE, | |||
|
paul
|
r181 | RTEMS_DEFAULT_MODES, | |
|
paul
|
r121 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1] | |
| ); | |||
| } | |||
| if (status == RTEMS_SUCCESSFUL) // PRC1 | |||
| { | |||
| status = rtems_task_create( | |||
|
paul
|
r318 | Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT, | |
|
paul
|
r182 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, | |
|
paul
|
r121 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1] | |
| ); | |||
| } | |||
|
paul
|
r124 | if (status == RTEMS_SUCCESSFUL) // AVF2 | |
| { | |||
| status = rtems_task_create( | |||
| Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE, | |||
|
|