tc_handler.c
765 lines
| 24.9 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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r75 | unsigned char time[6]; | ||
|
paul
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r35 | rtems_id queue_rcv_id; | ||
| rtems_id queue_snd_id; | ||||
|
paul
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r82 | status = get_message_queue_id_recv( &queue_rcv_id ); | ||
|
paul
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r35 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
|
paul
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r82 | PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status) | ||
|
paul
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r35 | } | ||
|
paul
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r82 | status = get_message_queue_id_send( &queue_snd_id ); | ||
|
paul
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r35 | if (status != RTEMS_SUCCESSFUL) | ||
| { | ||||
|
paul
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r82 | PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status) | ||
|
paul
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r35 | } | ||
|
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 | |||
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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
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r75 | getTime( time ); // set time to the current time | ||
|
paul
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r77 | 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 | ||
| { | ||||
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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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r75 | result = action_reset( &TC, queue_snd_id, time ); | ||
|
paul
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r104 | 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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r104 | 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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r75 | result = action_load_normal_par( &TC, queue_snd_id, time ); | ||
|
paul
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r104 | 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: | ||
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paul
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r75 | result = action_load_burst_par( &TC, queue_snd_id, time ); | ||
|
paul
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r104 | 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: | ||
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paul
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r75 | result = action_load_sbm1_par( &TC, queue_snd_id, time ); | ||
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paul
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r104 | 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: | ||
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paul
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r75 | result = action_load_sbm2_par( &TC, queue_snd_id, time ); | ||
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paul
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r104 | 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 ); | ||
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paul
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r104 | 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: | ||
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paul
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r75 | result = action_enter_mode( &TC, queue_snd_id, time ); | ||
|
paul
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r104 | 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: | ||
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paul
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r35 | result = action_update_info( &TC, queue_snd_id ); | ||
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paul
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r104 | 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: | ||
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paul
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r75 | result = action_enable_calibration( &TC, queue_snd_id, time ); | ||
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paul
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r104 | 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: | ||
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paul
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r75 | result = action_disable_calibration( &TC, queue_snd_id, time ); | ||
|
paul
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r104 | 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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r104 | 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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r75 | int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time) | ||
|
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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r75 | send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time ); | ||
|
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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r75 | int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time) | ||
|
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]; | ||||
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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; | ||
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paul
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r104 | 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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r91 | printf("in action_enter_mode *** enter mode %d\n", requestedMode); | ||
|
paul
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r37 | |||
| 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") | ||||
| } | ||||
|
paul
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r77 | status = enter_mode( requestedMode ); | ||
|
paul
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r37 | } | ||
| else | ||||
| { | ||||
| PRINTF("ERR *** in action_enter *** transition rejected\n") | ||||
|
paul
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r104 | send_tm_lfr_tc_exe_not_executable( TC, queue_id ); | ||
|
paul
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r37 | } | ||
|
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; | ||||
|
paul
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r104 | unsigned int status; | ||
| unsigned char mode; | ||||
|
paul@pc-solar1.lab-lpp.local
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r18 | |||
|
paul
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r104 | // check LFR MODE | ||
| mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET5 ] & 0x1e) >> 1; | ||||
| status = check_update_info_hk_lfr_mode( mode ); | ||||
| if (status != LFR_DEFAULT) // check TDS mode | ||||
| { | ||||
| mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0xf0) >> 4; | ||||
| status = check_update_info_hk_tds_mode( mode ); | ||||
| } | ||||
| if (status != LFR_DEFAULT) // check THR mode | ||||
| { | ||||
| mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0x0f); | ||||
| status = check_update_info_hk_thr_mode( mode ); | ||||
| } | ||||
| if (status != LFR_DEFAULT) // if the parameter check is successful | ||||
| { | ||||
| 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); | ||||
| } | ||||
| result = status; | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | |||
| return result; | ||||
| } | ||||
|
paul
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r75 | int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time) | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
|
paul
|
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; | ||||
|
paul
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r104 | send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time ); | ||
| result = LFR_DEFAULT; | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | return result; | ||
| } | ||||
|
paul
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r75 | int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time) | ||
|
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
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r23 | int result; | ||
| unsigned char lfrMode; | ||||
| result = LFR_DEFAULT; | ||||
| lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; | ||||
|
paul
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r104 | send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time ); | ||
| result = LFR_DEFAULT; | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | 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
|
r23 | unsigned int val; | ||
|
paul@pc-solar1.lab-lpp.local
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r19 | |||
|
paul@pc-solar1.lab-lpp.local
|
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
|
r33 | time_management_regs->ctrl = time_management_regs->ctrl | 1; | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | |||
| return LFR_SUCCESSFUL; | ||||
| } | ||||
| //******************* | ||||
| // ENTERING THE MODES | ||||
| int transition_validation(unsigned char requestedMode) | ||||
| { | ||||
|
paul
|
r77 | /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE. | ||
| * | ||||
| * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE | ||||
| * | ||||
| * @return LFR directive status codes: | ||||
| * - LFR_SUCCESSFUL - the transition is authorized | ||||
| * - LFR_DEFAULT - the transition is not authorized | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
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r23 | int status; | ||
|
paul@pc-solar1.lab-lpp.local
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r19 | |||
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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
|
r98 | int stop_current_mode(void) | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | { | ||
|
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
|
r99 | // (1) mask interruptions | ||
|
paul
|
r31 | LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt | ||
|
paul
|
r103 | LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt | ||
|
paul
|
r99 | |||
| // (2) clear interruptions | ||||
| LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt | ||||
|
paul
|
r103 | LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt | ||
|
paul
|
r99 | |||
| // (3) reset registers | ||||
|
paul
|
r47 | reset_wfp_burst_enable(); // reset burst and enable bits | ||
| reset_wfp_status(); // reset all the status bits | ||||
|
paul
|
r103 | disable_irq_on_new_ready_matrix(); // stop the spectral matrices | ||
|
paul
|
r99 | |||
| // <Spectral Matrices simulator> | ||||
| LEON_Mask_interrupt( IRQ_SM_SIMULATOR ); // mask spectral matrix interrupt simulator | ||||
| timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR ); | ||||
| LEON_Clear_interrupt( IRQ_SM_SIMULATOR ); // clear spectral matrix interrupt simulator | ||||
| // </Spectral Matrices simulator> | ||||
|
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@pc-solar1.lab-lpp.local
|
r21 | return status; | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | } | ||
|
paul
|
r77 | int enter_mode(unsigned char mode ) | ||
|
paul@pc-solar1.lab-lpp.local
|
r20 | { | ||
|
paul
|
r77 | /** This function is launched after a mode transition validation. | ||
| * | ||||
| * @param mode is the mode in which LFR will be put. | ||||
| * | ||||
| * @return RTEMS directive status codes: | ||||
| * - RTEMS_SUCCESSFUL - the mode has been entered successfully | ||||
| * - RTEMS_NOT_SATISFIED - the mode has not been entered successfully | ||||
| * | ||||
| */ | ||||
|
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); | ||||
|
paul
|
r51 | updateLFRCurrentMode(); | ||
|
paul
|
r33 | |||
|
paul
|
r98 | if ( (mode == LFR_MODE_NORMAL) || (mode == LFR_MODE_BURST) | ||
| || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2) ) | ||||
| { | ||||
|
paul
|
r99 | #ifdef PRINT_TASK_STATISTICS | ||
| rtems_cpu_usage_reset(); | ||||
| maxCount = 0; | ||||
| #endif | ||||
|
paul
|
r98 | status = restart_science_tasks(); | ||
| launch_waveform_picker( mode ); | ||||
|
paul
|
r103 | launch_spectral_matrix( mode ); | ||
|
paul
|
r98 | } | ||
| else if ( mode == LFR_MODE_STANDBY ) | ||||
| { | ||||
| #ifdef PRINT_TASK_STATISTICS | ||||
| rtems_cpu_usage_report(); | ||||
| #endif | ||||
| #ifdef PRINT_STACK_REPORT | ||||
| rtems_stack_checker_report_usage(); | ||||
| #endif | ||||
|
paul
|
r99 | status = stop_current_mode(); | ||
| PRINTF1("maxCount = %d\n", maxCount) | ||||
| } | ||||
| else | ||||
| { | ||||
| status = RTEMS_UNSATISFIED; | ||||
|
paul
|
r98 | } | ||
|
paul
|
r33 | if (status != RTEMS_SUCCESSFUL) | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | { | ||
|
paul
|
r98 | PRINTF1("in enter_mode *** ERR = %d\n", status) | ||
|
paul
|
r33 | 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
|
r32 | int restart_science_tasks() | ||
| { | ||||
|
paul
|
r77 | /** This function is used to restart all science tasks. | ||
| * | ||||
| * @return RTEMS directive status codes: | ||||
| * - RTEMS_SUCCESSFUL - task restarted successfully | ||||
| * - RTEMS_INVALID_ID - task id invalid | ||||
| * - RTEMS_INCORRECT_STATE - task never started | ||||
| * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task | ||||
| * | ||||
| * Science tasks are AVF0, BPF0, WFRM, CWF3, CW2, CWF1 | ||||
| * | ||||
| */ | ||||
|
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[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 | |||
|
paul
|
r102 | if ( (status[0] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) || | ||
|
paul
|
r33 | (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
|
r47 | |||
|
paul
|
r40 | 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
|
r47 | |||
|
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) | ||||
| } | ||||
| } | ||||
|
paul
|
r47 | |||
|
paul
|
r40 | 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
|
r90 | void launch_waveform_picker( unsigned char mode ) | ||
| { | ||||
|
paul
|
r91 | int startDate; | ||
|
paul
|
r90 | reset_current_ring_nodes(); | ||
|
paul
|
r97 | reset_waveform_picker_regs(); | ||
|
paul
|
r90 | set_wfp_burst_enable_register( mode ); | ||
| LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
| LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); | ||||
|
paul
|
r91 | startDate = time_management_regs->coarse_time + 2; | ||
| waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x80; // [1000 0000] | ||||
| waveform_picker_regs->start_date = startDate; | ||||
|
paul
|
r95 | } | ||
| void launch_spectral_matrix( unsigned char mode ) | ||||
| { | ||||
|
paul
|
r99 | reset_nb_sm_f0(); | ||
|
paul
|
r95 | reset_current_sm_ring_nodes(); | ||
| reset_spectral_matrix_regs(); | ||||
|
paul
|
r99 | |||
|
paul
|
r103 | enable_irq_on_new_ready_matrix(); | ||
| LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); | ||||
| LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX ); | ||||
| } | ||||
| void enable_irq_on_new_ready_matrix( void ) | ||||
| { | ||||
| spectral_matrix_regs->config = spectral_matrix_regs->config | 0x01; | ||||
| } | ||||
| void disable_irq_on_new_ready_matrix( void ) | ||||
| { | ||||
| spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe; // 1110 | ||||
| } | ||||
| void launch_spectral_matrix_simu( unsigned char mode ) | ||||
| { | ||||
| reset_nb_sm_f0(); | ||||
| reset_current_sm_ring_nodes(); | ||||
| reset_spectral_matrix_regs(); | ||||
|
paul
|
r95 | // Spectral Matrices simulator | ||
| timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR ); | ||||
|
paul
|
r99 | LEON_Clear_interrupt( IRQ_SM_SIMULATOR ); | ||
| LEON_Unmask_interrupt( IRQ_SM_SIMULATOR ); | ||||
|
paul
|
r95 | set_local_nb_interrupt_f0_MAX(); | ||
|
paul
|
r90 | } | ||
|
paul@pc-solar1.lab-lpp.local
|
r23 | //**************** | ||
| // CLOSING ACTIONS | ||||
|
paul
|
r104 | void update_last_TC_exe(ccsdsTelecommandPacket_t *TC) | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | { | ||
|
paul
|
r77 | /** This function is used to update the HK packets statistics after a successful TC execution. | ||
| * | ||||
| * @param TC points to the TC being processed | ||||
| * @param time is the time used to date the TC execution | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | 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
|
r104 | 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); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | } | ||
|
paul
|
r104 | void update_last_TC_rej(ccsdsTelecommandPacket_t *TC ) | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | { | ||
|
paul
|
r77 | /** This function is used to update the HK packets statistics after a TC rejection. | ||
| * | ||||
| * @param TC points to the TC being processed | ||||
| * @param time is the time used to date the TC rejection | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | 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
|
r104 | 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@pc-solar1.lab-lpp.local
|
r21 | } | ||
|
paul
|
r104 | void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id ) | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | { | ||
|
paul
|
r77 | /** This function is the last step of the TC execution workflow. | ||
| * | ||||
| * @param TC points to the TC being processed | ||||
| * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT) | ||||
| * @param queue_id is the id of the RTEMS message queue used to send TM packets | ||||
| * @param time is the time used to date the TC execution | ||||
| * | ||||
| */ | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | unsigned int val = 0; | ||
|
paul
|
r73 | |||
|
paul@pc-solar1.lab-lpp.local
|
r21 | 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
|
r104 | send_tm_lfr_tc_exe_success( TC, queue_id ); | ||
|
paul
|
r33 | } | ||
|
paul
|
r104 | update_last_TC_exe( TC ); | ||
|
paul
|
r92 | val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1]; | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | val++; | ||
|
paul
|
r92 | housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8); | ||
| housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | } | ||
| else | ||||
| { | ||||
|
paul
|
r104 | update_last_TC_rej( TC ); | ||
|
paul
|
r92 | val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1]; | ||
|
paul@pc-solar1.lab-lpp.local
|
r21 | val++; | ||
|
paul
|
r92 | housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8); | ||
| housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val); | ||||
|
paul@pc-solar1.lab-lpp.local
|
r21 | } | ||
| } | ||||
|
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 | |||