tc_handler.c
780 lines
| 24.7 KiB
| text/x-c
|
CLexer
/ src / tc_handler.c
paul
|
r40 | /** Functions and tasks related to TeleCommand handling. | ||
| * | ||||
| * @file | ||||
| * @author P. LEROY | ||||
| * | ||||
| * A group of functions to handle TeleCommands:\n | ||||
| * action launching\n | ||||
| * TC parsing\n | ||||
| * ... | ||||
| * | ||||
| */ | ||||
| #include "tc_handler.h" | ||||
paul@pc-solar1.lab-lpp.local
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r5 | |||
|
paul@pc-solar1.lab-lpp.local
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r7 | //*********** | ||
| // RTEMS TASK | ||||
|
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 | rtems_task actn_task( rtems_task_argument unused ) | ||
| { | ||||
|
paul
|
r40 | /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands. | ||
| * | ||||
| * @param unused is the starting argument of the RTEMS task | ||||
| * | ||||
| * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending | ||||
| * on the incoming TeleCommand. | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | int result; | ||
| rtems_status_code status; // RTEMS status code | ||||
| ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task | ||||
| size_t size; // size of the incoming TC packet | ||||
| unsigned char subtype; // subtype of the current TC packet | ||||
|
paul
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r35 | rtems_id queue_rcv_id; | ||
| rtems_id queue_snd_id; | ||||
|
paul
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r42 | status = rtems_message_queue_ident( misc_name[QUEUE_RECV], 0, &queue_rcv_id ); | ||
|
paul
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r35 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in ACTN *** ERR getting queue_rcv_id %d\n", status) | ||||
| } | ||||
|
paul
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r42 | status = rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_snd_id ); | ||
|
paul
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r35 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in ACTN *** ERR getting queue_snd_id %d\n", status) | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | |||
| result = LFR_SUCCESSFUL; | ||||
| subtype = 0; // subtype of the current TC packet | ||||
|
paul@pc-solar1.lab-lpp.local
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r5 | |||
|
paul
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r35 | BOOT_PRINTF("in ACTN *** \n") | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | |||
|
paul@pc-solar1.lab-lpp.local
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r9 | while(1) | ||
| { | ||||
|
paul
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r35 | status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size, | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | RTEMS_WAIT, RTEMS_NO_TIMEOUT); | ||
|
paul@pc-solar1.lab-lpp.local
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r22 | if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status) | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | else | ||
| { | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | subtype = TC.serviceSubType; | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | switch(subtype) | ||
| { | ||||
| case TC_SUBTYPE_RESET: | ||||
|
paul
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r35 | result = action_reset( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
| case TC_SUBTYPE_LOAD_COMM: | ||||
|
paul
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r33 | result = action_load_common_par( &TC ); | ||
|
paul
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r35 | close_action( &TC, result, queue_snd_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | break; | ||
| // | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_LOAD_NORM: | ||
|
paul
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r35 | result = action_load_normal_par( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_LOAD_BURST: | ||
|
paul
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r35 | result = action_load_burst_par( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_LOAD_SBM1: | ||
|
paul
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r35 | result = action_load_sbm1_par( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_LOAD_SBM2: | ||
|
paul
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r35 | result = action_load_sbm2_par( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_DUMP: | ||
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paul
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r40 | result = action_dump_par( queue_snd_id ); | ||
|
paul
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r35 | close_action( &TC, result, queue_snd_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_ENTER: | ||
|
paul
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r35 | result = action_enter_mode( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_UPDT_INFO: | ||
|
paul
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r35 | result = action_update_info( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_EN_CAL: | ||
|
paul
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r35 | result = action_enable_calibration( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_DIS_CAL: | ||
|
paul
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r35 | result = action_disable_calibration( &TC, queue_snd_id ); | ||
| close_action( &TC, result, queue_snd_id ); | ||||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | case TC_SUBTYPE_UPDT_TIME: | ||
|
paul
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r33 | result = action_update_time( &TC ); | ||
|
paul
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r35 | close_action( &TC, result, queue_snd_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | break; | ||
|
paul@pc-solar1.lab-lpp.local
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r11 | // | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | default: | ||
| break; | ||||
| } | ||||
| } | ||||
| } | ||||
| } | ||||
| //*********** | ||||
| // TC ACTIONS | ||||
|
paul@pc-solar1.lab-lpp.local
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r15 | |||
|
paul
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r35 | int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id) | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | { | ||
|
paul
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r40 | /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received. | ||
| * | ||||
| * @param TC points to the TeleCommand packet that is being processed | ||||
| * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver | ||||
| * | ||||
| */ | ||||
|
paul
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r35 | send_tm_lfr_tc_exe_not_implemented( TC, queue_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r21 | return LFR_DEFAULT; | ||
|
paul@pc-solar1.lab-lpp.local
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r9 | } | ||
|
paul
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r35 | int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id) | ||
|
paul
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r33 | { | ||
|
paul
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r40 | /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received. | ||
| * | ||||
| * @param TC points to the TeleCommand packet that is being processed | ||||
| * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver | ||||
| * | ||||
| */ | ||||
|
paul
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r33 | rtems_status_code status; | ||
| unsigned char requestedMode; | ||||
| requestedMode = TC->dataAndCRC[1]; | ||||
|
paul
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r37 | if ( (requestedMode != LFR_MODE_STANDBY) | ||
| && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST) | ||||
| && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) ) | ||||
|
paul
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r33 | { | ||
|
paul
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r37 | status = RTEMS_UNSATISFIED; | ||
| send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode ); | ||||
|
paul
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r33 | } | ||
| else | ||||
| { | ||||
|
paul
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r37 | printf("try to enter mode %d\n", requestedMode); | ||
| #ifdef PRINT_TASK_STATISTICS | ||||
| if (requestedMode != LFR_MODE_STANDBY) | ||||
| { | ||||
| rtems_cpu_usage_reset(); | ||||
| maxCount = 0; | ||||
| } | ||||
| #endif | ||||
| status = transition_validation(requestedMode); | ||||
| if ( status == LFR_SUCCESSFUL ) { | ||||
| if ( lfrCurrentMode != LFR_MODE_STANDBY) | ||||
| { | ||||
| status = stop_current_mode(); | ||||
| } | ||||
| if (status != RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF("ERR *** in action_enter *** stop_current_mode\n") | ||||
| } | ||||
| status = enter_mode(requestedMode, TC); | ||||
| } | ||||
| else | ||||
| { | ||||
| PRINTF("ERR *** in action_enter *** transition rejected\n") | ||||
| send_tm_lfr_tc_exe_not_executable( TC, queue_id ); | ||||
| } | ||||
|
paul
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r33 | } | ||
| return status; | ||||
| } | ||||
|
paul
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r40 | int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id) | ||
| { | ||||
| /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received. | ||||
| * | ||||
| * @param TC points to the TeleCommand packet that is being processed | ||||
| * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver | ||||
| * | ||||
|
paul
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r46 | * @return LFR directive status code: | ||
| * - LFR_DEFAULT | ||||
| * - LFR_SUCCESSFUL | ||||
| * | ||||
|
paul
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r40 | */ | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | unsigned int val; | ||
| int result; | ||||
| result = LFR_DEFAULT; | ||||
|
paul@pc-solar1.lab-lpp.local
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r18 | |||
|
paul
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r46 | val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256 | ||
| + housekeeping_packet.hk_lfr_update_info_tc_cnt[1]; | ||||
| val++; | ||||
| housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8); | ||||
| housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val); | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | |||
| return result; | ||||
| } | ||||
|
paul
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r35 | int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id) | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | { | ||
|
paul
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r40 | /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received. | ||
| * | ||||
| * @param TC points to the TeleCommand packet that is being processed | ||||
| * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | int result; | ||
| unsigned char lfrMode; | ||||
| result = LFR_DEFAULT; | ||||
| lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; | ||||
| if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) { | ||||
|
paul
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r35 | send_tm_lfr_tc_exe_not_executable( TC, queue_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | result = LFR_DEFAULT; | ||
| } | ||||
| else { | ||||
|
paul
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r35 | send_tm_lfr_tc_exe_not_implemented( TC, queue_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | result = LFR_DEFAULT; | ||
| } | ||||
| return result; | ||||
| } | ||||
|
paul
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r35 | int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id) | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
|
paul
|
r40 | /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received. | ||
| * | ||||
| * @param TC points to the TeleCommand packet that is being processed | ||||
| * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | int result; | ||
| unsigned char lfrMode; | ||||
| result = LFR_DEFAULT; | ||||
| lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; | ||||
| if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) { | ||||
|
paul
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r35 | send_tm_lfr_tc_exe_not_executable( TC, queue_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | result = LFR_DEFAULT; | ||
| } | ||||
| else { | ||||
|
paul
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r35 | send_tm_lfr_tc_exe_not_implemented( TC, queue_id ); | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | result = LFR_DEFAULT; | ||
| } | ||||
| return result; | ||||
| } | ||||
|
paul
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r33 | int action_update_time(ccsdsTelecommandPacket_t *TC) | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
|
paul
|
r40 | /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received. | ||
| * | ||||
| * @param TC points to the TeleCommand packet that is being processed | ||||
| * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver | ||||
| * | ||||
|
paul
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r46 | * @return LFR_SUCCESSFUL | ||
| * | ||||
|
paul
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r40 | */ | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | unsigned int val; | ||
|
paul@pc-solar1.lab-lpp.local
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r19 | |||
|
paul@pc-solar1.lab-lpp.local
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r23 | time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24) | ||
| + (TC->dataAndCRC[1] << 16) | ||||
| + (TC->dataAndCRC[2] << 8) | ||||
| + TC->dataAndCRC[3]; | ||||
| val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256 | ||||
| + housekeeping_packet.hk_lfr_update_time_tc_cnt[1]; | ||||
| val++; | ||||
| housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8); | ||||
| housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val); | ||||
|
paul
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r33 | time_management_regs->ctrl = time_management_regs->ctrl | 1; | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | |||
| return LFR_SUCCESSFUL; | ||||
| } | ||||
| //******************* | ||||
| // ENTERING THE MODES | ||||
| int transition_validation(unsigned char requestedMode) | ||||
| { | ||||
| int status; | ||||
|
paul@pc-solar1.lab-lpp.local
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r19 | |||
|
paul@pc-solar1.lab-lpp.local
|
r23 | switch (requestedMode) | ||
| { | ||||
| case LFR_MODE_STANDBY: | ||||
|
paul
|
r33 | if ( lfrCurrentMode == LFR_MODE_STANDBY ) { | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | status = LFR_DEFAULT; | ||
| } | ||||
| else | ||||
| { | ||||
| status = LFR_SUCCESSFUL; | ||||
| } | ||||
| break; | ||||
| case LFR_MODE_NORMAL: | ||||
|
paul
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r33 | if ( lfrCurrentMode == LFR_MODE_NORMAL ) { | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | status = LFR_DEFAULT; | ||
| } | ||||
| else { | ||||
| status = LFR_SUCCESSFUL; | ||||
| } | ||||
| break; | ||||
| case LFR_MODE_BURST: | ||||
|
paul
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r33 | if ( lfrCurrentMode == LFR_MODE_BURST ) { | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | status = LFR_DEFAULT; | ||
| } | ||||
| else { | ||||
| status = LFR_SUCCESSFUL; | ||||
| } | ||||
| break; | ||||
| case LFR_MODE_SBM1: | ||||
|
paul
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r33 | if ( lfrCurrentMode == LFR_MODE_SBM1 ) { | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | status = LFR_DEFAULT; | ||
| } | ||||
| else { | ||||
| status = LFR_SUCCESSFUL; | ||||
| } | ||||
| break; | ||||
| case LFR_MODE_SBM2: | ||||
|
paul
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r33 | if ( lfrCurrentMode == LFR_MODE_SBM2 ) { | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | status = LFR_DEFAULT; | ||
| } | ||||
| else { | ||||
| status = LFR_SUCCESSFUL; | ||||
| } | ||||
| break; | ||||
| default: | ||||
| status = LFR_DEFAULT; | ||||
| break; | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
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r19 | |||
|
paul@pc-solar1.lab-lpp.local
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r21 | return status; | ||
admin@pc-p-leroy3.LAB-LPP.LOCAL
|
r10 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | int stop_current_mode() | ||
| { | ||||
|
paul
|
r40 | /** This function stops the current mode by masking interrupt lines and suspending science tasks. | ||
| * | ||||
| * @return RTEMS directive status codes: | ||||
| * - RTEMS_SUCCESSFUL - task restarted successfully | ||||
| * - RTEMS_INVALID_ID - task id invalid | ||||
| * - RTEMS_ALREADY_SUSPENDED - task already suspended | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | rtems_status_code status; | ||
|
paul@pc-solar1.lab-lpp.local
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r23 | |||
| status = RTEMS_SUCCESSFUL; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r22 | |||
|
paul@pc-solar1.lab-lpp.local
|
r20 | // mask all IRQ lines related to signal processing | ||
| LEON_Mask_interrupt( IRQ_SM ); // mask spectral matrices interrupt (coming from the timer VHDL IP) | ||||
|
paul
|
r35 | LEON_Clear_interrupt( IRQ_SM ); // clear spectral matrices interrupt (coming from the timer VHDL IP) | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | |||
|
paul
|
r31 | #ifdef GSA | ||
| LEON_Mask_interrupt( IRQ_WF ); // mask waveform interrupt (coming from the timer VHDL IP) | ||||
|
paul@pc-solar1.lab-lpp.local
|
r20 | LEON_Clear_interrupt( IRQ_WF ); // clear waveform interrupt (coming from the timer VHDL IP) | ||
|
paul
|
r31 | timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR ); | ||
| #else | ||||
| LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt | ||||
|
paul
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r35 | LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt | ||
|
paul
|
r33 | LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX ); // mask spectral matrix interrupt | ||
|
paul
|
r35 | LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt | ||
| LEON_Mask_interrupt( IRQ_SM ); // for SM simulation | ||||
| LEON_Clear_interrupt( IRQ_SM ); // for SM simulation | ||||
|
paul
|
r31 | #endif | ||
|
paul
|
r33 | //********************** | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | // suspend several tasks | ||
|
paul
|
r35 | if (lfrCurrentMode != LFR_MODE_STANDBY) { | ||
|
paul
|
r40 | status = suspend_science_tasks(); | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | |||
|
paul@pc-solar1.lab-lpp.local
|
r22 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
|
paul
|
r40 | PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status) | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | } | ||
|
paul
|
r33 | //************************* | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | // initialize the registers | ||
|
paul
|
r31 | #ifdef GSA | ||
| #else | ||||
|
paul
|
r33 | reset_wfp_burst_enable(); // reset burst and enable bits | ||
| reset_wfp_status(); // reset all the status bits | ||||
|
paul
|
r31 | #endif | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | |||
|
paul@pc-solar1.lab-lpp.local
|
r21 | return status; | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC ) | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | { | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | rtems_status_code status; | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | |||
|
paul
|
r33 | status = RTEMS_UNSATISFIED; | ||
| housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d); | ||||
| lfrCurrentMode = mode; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | switch(mode){ | ||
| case LFR_MODE_STANDBY: | ||||
| status = enter_standby_mode( TC ); | ||||
| break; | ||||
| case LFR_MODE_NORMAL: | ||||
| status = enter_normal_mode( TC ); | ||||
| break; | ||||
| case LFR_MODE_BURST: | ||||
| status = enter_burst_mode( TC ); | ||||
| break; | ||||
| case LFR_MODE_SBM1: | ||||
| status = enter_sbm1_mode( TC ); | ||||
| break; | ||||
| case LFR_MODE_SBM2: | ||||
| status = enter_sbm2_mode( TC ); | ||||
| break; | ||||
| default: | ||||
| status = RTEMS_UNSATISFIED; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | |||
|
paul
|
r33 | if (status != RTEMS_SUCCESSFUL) | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
|
paul
|
r33 | PRINTF("in enter_mode *** ERR\n") | ||
| status = RTEMS_UNSATISFIED; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | |||
| return status; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r20 | } | ||
|
paul
|
r33 | int enter_standby_mode() | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | { | ||
|
paul
|
r33 | reset_waveform_picker_regs(); | ||
|
paul
|
r34 | |||
| PRINTF1("maxCount = %d\n", maxCount) | ||||
|
paul
|
r33 | #ifdef PRINT_TASK_STATISTICS | ||
| rtems_cpu_usage_report(); | ||||
| #endif | ||||
|
paul
|
r34 | |||
| #ifdef PRINT_STACK_REPORT | ||||
| rtems_stack_checker_report_usage(); | ||||
| #endif | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | return LFR_SUCCESSFUL; | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | } | ||
|
paul
|
r33 | int enter_normal_mode() | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | { | ||
| rtems_status_code status; | ||||
|
paul
|
r32 | status = restart_science_tasks(); | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | |||
| #ifdef GSA | ||||
|
paul
|
r31 | timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR ); | ||
| timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR ); | ||||
|
paul
|
r30 | LEON_Clear_interrupt( IRQ_WF ); | ||
| LEON_Unmask_interrupt( IRQ_WF ); | ||||
|
paul
|
r32 | // | ||
| set_local_nb_interrupt_f0_MAX(); | ||||
|
paul
|
r31 | LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board | ||
| LEON_Unmask_interrupt( IRQ_SM ); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r22 | #else | ||
|
paul
|
r33 | //**************** | ||
|
paul
|
r32 | // waveform picker | ||
|
paul
|
r30 | LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); | ||
| LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
|
paul
|
r32 | reset_waveform_picker_regs(); | ||
| set_wfp_burst_enable_register(LFR_MODE_NORMAL); | ||||
|
paul
|
r33 | //**************** | ||
|
paul
|
r32 | // spectral matrix | ||
|
paul
|
r35 | // set_local_nb_interrupt_f0_MAX(); | ||
| // LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board | ||||
| // LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX ); | ||||
| // spectral_matrix_regs->config = 0x01; | ||||
| // spectral_matrix_regs->status = 0x00; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | #endif | ||
| return status; | ||||
| } | ||||
|
paul
|
r33 | int enter_burst_mode() | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
| rtems_status_code status; | ||||
|
paul
|
r32 | status = restart_science_tasks(); | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | |||
| #ifdef GSA | ||||
|
paul
|
r33 | LEON_Unmask_interrupt( IRQ_SM ); | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | #else | ||
|
paul
|
r33 | LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); | ||
| LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
| reset_waveform_picker_regs(); | ||||
| set_wfp_burst_enable_register(LFR_MODE_BURST); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r20 | #endif | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | |||
| return status; | ||||
| } | ||||
|
paul
|
r33 | int enter_sbm1_mode() | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | { | ||
| rtems_status_code status; | ||||
|
paul
|
r32 | status = restart_science_tasks(); | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | |||
|
paul
|
r32 | set_local_sbm1_nb_cwf_max(); | ||
| reset_local_sbm1_nb_cwf_sent(); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | |||
| #ifdef GSA | ||||
|
paul
|
r33 | LEON_Unmask_interrupt( IRQ_SM ); | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | #else | ||
| LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
| LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
|
paul
|
r32 | reset_waveform_picker_regs(); | ||
| set_wfp_burst_enable_register(LFR_MODE_SBM1); | ||||
|
paul
|
r34 | // SM simulation | ||
|
paul
|
r35 | // timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR ); | ||
| // LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board | ||||
| // LEON_Unmask_interrupt( IRQ_SM ); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | #endif | ||
| return status; | ||||
| } | ||||
|
paul
|
r33 | int enter_sbm2_mode() | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
| rtems_status_code status; | ||||
|
paul
|
r32 | status = restart_science_tasks(); | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | |||
|
paul
|
r32 | set_local_sbm2_nb_cwf_max(); | ||
| reset_local_sbm2_nb_cwf_sent(); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | |||
|
paul@pc-solar1.lab-lpp.local
|
r22 | #ifdef GSA | ||
|
paul
|
r33 | LEON_Unmask_interrupt( IRQ_SM ); | ||
|
paul@pc-solar1.lab-lpp.local
|
r22 | #else | ||
| LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
| LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
|
paul
|
r32 | reset_waveform_picker_regs(); | ||
| set_wfp_burst_enable_register(LFR_MODE_SBM2); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r22 | #endif | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | return status; | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | } | ||
|
paul
|
r32 | int restart_science_tasks() | ||
| { | ||||
|
paul
|
r33 | rtems_status_code status[6]; | ||
| rtems_status_code ret; | ||||
|
paul
|
r32 | |||
|
paul
|
r33 | ret = RTEMS_SUCCESSFUL; | ||
|
paul
|
r32 | |||
|
paul
|
r33 | status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 ); | ||
|
paul
|
r35 | if (status[0] != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0]) | ||||
| } | ||||
|
paul
|
r33 | status[1] = rtems_task_restart( Task_id[TASKID_BPF0],1 ); | ||
|
paul
|
r35 | if (status[1] != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in restart_science_task *** 1 ERR %d\n", status[1]) | ||||
| } | ||||
|
paul
|
r33 | status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 ); | ||
|
paul
|
r35 | if (status[2] != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2]) | ||||
| } | ||||
|
paul
|
r33 | status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 ); | ||
|
paul
|
r35 | if (status[3] != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3]) | ||||
| } | ||||
|
paul
|
r33 | status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 ); | ||
|
paul
|
r35 | if (status[4] != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4]) | ||||
| } | ||||
|
paul
|
r33 | status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 ); | ||
|
paul
|
r35 | if (status[5] != RTEMS_SUCCESSFUL) | ||
| { | ||||
| PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5]) | ||||
| } | ||||
|
paul
|
r33 | |||
| if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) || | ||||
| (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) ) | ||||
| { | ||||
| ret = RTEMS_UNSATISFIED; | ||||
|
paul
|
r32 | } | ||
|
paul
|
r33 | return ret; | ||
|
paul
|
r32 | } | ||
| int suspend_science_tasks() | ||||
| { | ||||
|
paul
|
r40 | /** This function suspends the science tasks. | ||
| * | ||||
| * @return RTEMS directive status codes: | ||||
| * - RTEMS_SUCCESSFUL - task restarted successfully | ||||
| * - RTEMS_INVALID_ID - task id invalid | ||||
| * - RTEMS_ALREADY_SUSPENDED - task already suspended | ||||
| * | ||||
| */ | ||||
|
paul
|
r32 | |||
|
paul
|
r40 | rtems_status_code status; | ||
|
paul
|
r35 | |||
|
paul
|
r40 | status = rtems_task_suspend( Task_id[TASKID_AVF0] ); | ||
| if (status != RTEMS_SUCCESSFUL) | ||||
|
paul
|
r35 | { | ||
|
paul
|
r40 | PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status) | ||
|
paul
|
r35 | } | ||
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // suspend BPF0 | ||
|
paul
|
r35 | { | ||
|
paul
|
r40 | status = rtems_task_suspend( Task_id[TASKID_BPF0] ); | ||
| if (status != RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF1("in suspend_science_task *** BPF0 ERR %d\n", status) | ||||
| } | ||||
| } | ||||
| if (status == RTEMS_SUCCESSFUL) // suspend WFRM | ||||
| { | ||||
| status = rtems_task_suspend( Task_id[TASKID_WFRM] ); | ||||
| if (status != RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status) | ||||
| } | ||||
|
paul
|
r35 | } | ||
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // suspend CWF3 | ||
|
paul
|
r35 | { | ||
|
paul
|
r40 | status = rtems_task_suspend( Task_id[TASKID_CWF3] ); | ||
| if (status != RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status) | ||||
| } | ||||
|
paul
|
r35 | } | ||
|
paul
|
r40 | if (status == RTEMS_SUCCESSFUL) // suspend CWF2 | ||
|
paul
|
r35 | { | ||
|
paul
|
r40 | status = rtems_task_suspend( Task_id[TASKID_CWF2] ); | ||
| if (status != RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status) | ||||
| } | ||||
| } | ||||
| if (status == RTEMS_SUCCESSFUL) // suspend CWF1 | ||||
| { | ||||
| status = rtems_task_suspend( Task_id[TASKID_CWF1] ); | ||||
| if (status != RTEMS_SUCCESSFUL) | ||||
| { | ||||
| PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status) | ||||
| } | ||||
|
paul
|
r35 | } | ||
|
paul
|
r40 | return status; | ||
|
paul
|
r32 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | //**************** | ||
| // CLOSING ACTIONS | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | void update_last_TC_exe(ccsdsTelecommandPacket_t *TC) | ||
| { | ||||
| housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0]; | ||||
| housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1]; | ||||
| housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType; | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00; | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType; | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24); | ||
| housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16); | ||||
| housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8); | ||||
| housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time); | ||||
| housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8); | ||||
| housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time); | ||||
| } | ||||
| void update_last_TC_rej(ccsdsTelecommandPacket_t *TC) | ||||
| { | ||||
| housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0]; | ||||
| housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1]; | ||||
| housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00; | ||||
|
paul@pc-solar1.lab-lpp.local
|
r23 | housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType; | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00; | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType; | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24); | ||
| housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16); | ||||
| housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8); | ||||
| housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time); | ||||
| housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8); | ||||
| housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time); | ||||
| } | ||||
|
paul
|
r35 | void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id) | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | { | ||
| unsigned int val = 0; | ||||
| if (result == LFR_SUCCESSFUL) | ||||
| { | ||||
|
paul
|
r46 | if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) ) | ||
| && | ||||
| !( (TC->serviceType==TC_TYPE_GEN) && (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO)) | ||||
| ) | ||||
|
paul
|
r33 | { | ||
|
paul
|
r35 | send_tm_lfr_tc_exe_success( TC, queue_id ); | ||
|
paul
|
r33 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | update_last_TC_exe( TC ); | ||
| val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1]; | ||||
| val++; | ||||
| housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8); | ||||
| housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val); | ||||
| } | ||||
| else | ||||
| { | ||||
| update_last_TC_rej( TC ); | ||||
| val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1]; | ||||
| val++; | ||||
| housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8); | ||||
| housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val); | ||||
| } | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r12 | //*************************** | ||
| // Interrupt Service Routines | ||||
| rtems_isr commutation_isr1( rtems_vector_number vector ) | ||||
| { | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { | ||
|
paul@pc-solar1.lab-lpp.local
|
r15 | printf("In commutation_isr1 *** Error sending event to DUMB\n"); | ||
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r12 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r9 | |||
|
paul@pc-solar1.lab-lpp.local
|
r12 | rtems_isr commutation_isr2( rtems_vector_number vector ) | ||
| { | ||||
|
paul@pc-solar1.lab-lpp.local
|
r18 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { | ||
|
paul@pc-solar1.lab-lpp.local
|
r15 | printf("In commutation_isr2 *** Error sending event to DUMB\n"); | ||
|
paul@pc-solar1.lab-lpp.local
|
r18 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r12 | } | ||
|
paul
|
r45 | //**************** | ||
| // OTHER FUNCTIONS | ||||
| void updateLFRCurrentMode() | ||||
| { | ||||
| /** This function updates the value of the global variable lfrCurrentMode. | ||||
| * | ||||
| * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running. | ||||
| * | ||||
| */ | ||||
| // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure | ||||
| lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; | ||||
| } | ||||
|
paul@pc-solar1.lab-lpp.local
|
r12 | |||