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-1,586
+1,590
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/** Functions related to the SpaceWire interface.
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/** Functions related to the SpaceWire interface.
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*
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*
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* @file
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* @file
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* @author P. LEROY
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* @author P. LEROY
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*
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*
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* A group of functions to handle SpaceWire transmissions:
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* A group of functions to handle SpaceWire transmissions:
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* - configuration of the SpaceWire link
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* - configuration of the SpaceWire link
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* - SpaceWire related interruption requests processing
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* - SpaceWire related interruption requests processing
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* - transmission of TeleMetry packets by a dedicated RTEMS task
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* - transmission of TeleMetry packets by a dedicated RTEMS task
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* - reception of TeleCommands by a dedicated RTEMS task
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* - reception of TeleCommands by a dedicated RTEMS task
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*
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*
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*/
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*/
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#include "fsw_spacewire.h"
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#include "fsw_spacewire.h"
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char *lstates[6] = {"Error-reset",
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char *lstates[6] = {"Error-reset",
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"Error-wait",
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"Error-wait",
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"Ready",
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"Ready",
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"Started",
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"Started",
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"Connecting",
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"Connecting",
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"Run"
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"Run"
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};
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};
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//***********
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//***********
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// RTEMS TASK
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// RTEMS TASK
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rtems_task spiq_task(rtems_task_argument unused)
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rtems_task spiq_task(rtems_task_argument unused)
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{
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{
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/** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
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/** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
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*
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*
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* @param unused is the starting argument of the RTEMS task
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* @param unused is the starting argument of the RTEMS task
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*
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*
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*/
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*/
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rtems_event_set event_out;
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rtems_event_set event_out;
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rtems_status_code status;
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rtems_status_code status;
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int linkStatus;
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int linkStatus;
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BOOT_PRINTF("in SPIQ *** \n")
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BOOT_PRINTF("in SPIQ *** \n")
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while(true){
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while(true){
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rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
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rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
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PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
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// [0] SUSPEND RECV ADN SEND TASKS
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// [0] SUSPEND RECV ADN SEND TASKS
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rtems_task_suspend( Task_id[ TASKID_RECV ] );
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rtems_task_suspend( Task_id[ TASKID_RECV ] );
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rtems_task_suspend( Task_id[ TASKID_SEND ] );
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rtems_task_suspend( Task_id[ TASKID_SEND ] );
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// [1] CHECK THE LINK
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// [1] CHECK THE LINK
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ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
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ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
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if ( linkStatus != 5) {
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if ( linkStatus != 5) {
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PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
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PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
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rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
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rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
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}
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}
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// [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
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// [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
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ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
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ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
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if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
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if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
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{
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{
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spacewire_compute_stats_offsets();
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spacewire_compute_stats_offsets();
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status = spacewire_reset_link( );
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status = spacewire_reset_link( );
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}
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}
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else // [2.b] in run state, start the link
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else // [2.b] in run state, start the link
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{
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{
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status = spacewire_stop_start_link( fdSPW ); // start the link
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status = spacewire_stop_start_link( fdSPW ); // start the link
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if ( status != RTEMS_SUCCESSFUL)
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if ( status != RTEMS_SUCCESSFUL)
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{
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{
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PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
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PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
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}
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}
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}
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}
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// [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
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// [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
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if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
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if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
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{
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{
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status = rtems_task_resume( Task_id[ TASKID_SEND ] );
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status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
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if ( status != RTEMS_SUCCESSFUL ) {
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF("in SPIQ *** ERR resuming SEND Task\n")
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PRINTF("in SPIQ *** ERR resuming SEND Task\n")
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}
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}
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status = rtems_task_resume( Task_id[ TASKID_RECV ] );
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status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
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if ( status != RTEMS_SUCCESSFUL ) {
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF("in SPIQ *** ERR resuming RECV Task\n")
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PRINTF("in SPIQ *** ERR resuming RECV Task\n")
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}
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}
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}
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}
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else // [3.b] the link is not in run state, go in STANDBY mode
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else // [3.b] the link is not in run state, go in STANDBY mode
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{
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{
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status = enter_mode( LFR_MODE_STANDBY, NULL ); // enter the STANDBY mode
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status = enter_mode( LFR_MODE_STANDBY, NULL ); // enter the STANDBY mode
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if ( status != RTEMS_SUCCESSFUL ) {
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if ( status != RTEMS_SUCCESSFUL ) {
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PRINTF1("in SPIQ *** ERR enter_mode *** code %d\n", status)
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PRINTF1("in SPIQ *** ERR enter_mode *** code %d\n", status)
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}
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}
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// wake the WTDG task
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// wake the WTDG task up to wait for the link recovery
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status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
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status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
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rtems_task_suspend( RTEMS_SELF );
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rtems_task_suspend( RTEMS_SELF );
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}
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}
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}
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}
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}
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}
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rtems_task recv_task( rtems_task_argument unused )
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rtems_task recv_task( rtems_task_argument unused )
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{
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{
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/** This RTEMS task is dedicated to the reception of incoming TeleCommands.
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/** This RTEMS task is dedicated to the reception of incoming TeleCommands.
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*
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*
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* @param unused is the starting argument of the RTEMS task
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* @param unused is the starting argument of the RTEMS task
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*
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*
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* The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
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* The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
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* 1. It reads the incoming data.
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* 1. It reads the incoming data.
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* 2. Launches the acceptance procedure.
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* 2. Launches the acceptance procedure.
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* 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
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* 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
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*
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*
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*/
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*/
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int len;
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int len;
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ccsdsTelecommandPacket_t currentTC;
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ccsdsTelecommandPacket_t currentTC;
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unsigned char computed_CRC[ 2 ];
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unsigned char computed_CRC[ 2 ];
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unsigned char currentTC_LEN_RCV[ 2 ];
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unsigned char currentTC_LEN_RCV[ 2 ];
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unsigned int currentTC_LEN_RCV_AsUnsignedInt;
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unsigned int currentTC_LEN_RCV_AsUnsignedInt;
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unsigned int parserCode;
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unsigned int parserCode;
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rtems_status_code status;
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rtems_status_code status;
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rtems_id queue_recv_id;
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rtems_id queue_recv_id;
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rtems_id queue_send_id;
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rtems_id queue_send_id;
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initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
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initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
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status = rtems_message_queue_ident( misc_name[QUEUE_RECV], 0, &queue_recv_id );
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status = rtems_message_queue_ident( misc_name[QUEUE_RECV], 0, &queue_recv_id );
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if (status != RTEMS_SUCCESSFUL)
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if (status != RTEMS_SUCCESSFUL)
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{
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{
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PRINTF1("in RECV *** ERR getting QUEUE_RECV id, %d\n", status)
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PRINTF1("in RECV *** ERR getting QUEUE_RECV id, %d\n", status)
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}
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}
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status = rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_send_id );
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status = rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_send_id );
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if (status != RTEMS_SUCCESSFUL)
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if (status != RTEMS_SUCCESSFUL)
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{
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{
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PRINTF1("in RECV *** ERR getting QUEUE_SEND id, %d\n", status)
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PRINTF1("in RECV *** ERR getting QUEUE_SEND id, %d\n", status)
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}
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}
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BOOT_PRINTF("in RECV *** \n")
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BOOT_PRINTF("in RECV *** \n")
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while(1)
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while(1)
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{
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{
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len = read( fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
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len = read( fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
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if (len == -1){ // error during the read call
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if (len == -1){ // error during the read call
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PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
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PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
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}
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}
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else {
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else {
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if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
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if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
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PRINTF("in RECV *** packet lenght too short\n")
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PRINTF("in RECV *** packet lenght too short\n")
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}
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}
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else {
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else {
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currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
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currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
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currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
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currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
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currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt );
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currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt );
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// CHECK THE TC
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// CHECK THE TC
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parserCode = tc_parser( ¤tTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
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parserCode = tc_parser( ¤tTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
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if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PACKET) || (parserCode == INCOR_CHECKSUM)
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if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PACKET) || (parserCode == INCOR_CHECKSUM)
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| (parserCode == ILL_TYPE) || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA) )
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| (parserCode == ILL_TYPE) || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA) )
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{ // send TM_LFR_TC_EXE_CORRUPTED
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{ // send TM_LFR_TC_EXE_CORRUPTED
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send_tm_lfr_tc_exe_corrupted( ¤tTC, queue_send_id, computed_CRC, currentTC_LEN_RCV );
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send_tm_lfr_tc_exe_corrupted( ¤tTC, queue_send_id, computed_CRC, currentTC_LEN_RCV );
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}
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}
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else
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else
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{ // send valid TC to the action launcher
|
|
157
|
{ // send valid TC to the action launcher
|
|
|
157
|
status = rtems_message_queue_send( queue_recv_id, ¤tTC,
|
|
158
|
status = rtems_message_queue_send( queue_recv_id, ¤tTC,
|
|
|
158
|
currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
|
|
159
|
currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
|
|
|
159
|
}
|
|
160
|
}
|
|
|
160
|
}
|
|
161
|
}
|
|
|
161
|
}
|
|
162
|
}
|
|
|
162
|
}
|
|
163
|
}
|
|
|
163
|
}
|
|
164
|
}
|
|
|
164
|
|
|
165
|
|
|
|
165
|
rtems_task send_task( rtems_task_argument argument)
|
|
166
|
rtems_task send_task( rtems_task_argument argument)
|
|
|
166
|
{
|
|
167
|
{
|
|
|
167
|
/** This RTEMS task is dedicated to the transmission of TeleMetry packets.
|
|
168
|
/** This RTEMS task is dedicated to the transmission of TeleMetry packets.
|
|
|
168
|
*
|
|
169
|
*
|
|
|
169
|
* @param unused is the starting argument of the RTEMS task
|
|
170
|
* @param unused is the starting argument of the RTEMS task
|
|
|
170
|
*
|
|
171
|
*
|
|
|
171
|
* The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
|
|
172
|
* The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
|
|
|
172
|
* - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
|
|
173
|
* - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
|
|
|
173
|
* - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
|
|
174
|
* - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
|
|
|
174
|
* analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
|
|
175
|
* analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
|
|
|
175
|
* data it contains.
|
|
176
|
* data it contains.
|
|
|
176
|
*
|
|
177
|
*
|
|
|
177
|
*/
|
|
178
|
*/
|
|
|
178
|
|
|
179
|
|
|
|
179
|
rtems_status_code status; // RTEMS status code
|
|
180
|
rtems_status_code status; // RTEMS status code
|
|
|
180
|
char incomingData[ACTION_MSG_PKTS_MAX_SIZE]; // incoming data buffer
|
|
181
|
char incomingData[ACTION_MSG_PKTS_MAX_SIZE]; // incoming data buffer
|
|
|
181
|
spw_ioctl_pkt_send *spw_ioctl_send;
|
|
182
|
spw_ioctl_pkt_send *spw_ioctl_send;
|
|
|
182
|
size_t size; // size of the incoming TC packet
|
|
183
|
size_t size; // size of the incoming TC packet
|
|
|
183
|
u_int32_t count;
|
|
184
|
u_int32_t count;
|
|
|
184
|
rtems_id queue_id;
|
|
185
|
rtems_id queue_id;
|
|
|
185
|
|
|
186
|
|
|
|
186
|
status = rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
|
|
187
|
status = rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
|
|
|
187
|
if (status != RTEMS_SUCCESSFUL)
|
|
188
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
188
|
{
|
|
189
|
{
|
|
|
189
|
PRINTF1("in SEND *** ERR getting queue id, %d\n", status)
|
|
190
|
PRINTF1("in SEND *** ERR getting queue id, %d\n", status)
|
|
|
190
|
}
|
|
191
|
}
|
|
|
191
|
|
|
192
|
|
|
|
192
|
BOOT_PRINTF("in SEND *** \n")
|
|
193
|
BOOT_PRINTF("in SEND *** \n")
|
|
|
193
|
|
|
194
|
|
|
|
194
|
while(1)
|
|
195
|
while(1)
|
|
|
195
|
{
|
|
196
|
{
|
|
|
196
|
status = rtems_message_queue_receive( queue_id, incomingData, &size,
|
|
197
|
status = rtems_message_queue_receive( queue_id, incomingData, &size,
|
|
|
197
|
RTEMS_WAIT, RTEMS_NO_TIMEOUT );
|
|
198
|
RTEMS_WAIT, RTEMS_NO_TIMEOUT );
|
|
|
198
|
|
|
199
|
|
|
|
199
|
if (status!=RTEMS_SUCCESSFUL)
|
|
200
|
if (status!=RTEMS_SUCCESSFUL)
|
|
|
200
|
{
|
|
201
|
{
|
|
|
201
|
PRINTF1("in SEND *** (1) ERR = %d\n", status)
|
|
202
|
PRINTF1("in SEND *** (1) ERR = %d\n", status)
|
|
|
202
|
}
|
|
203
|
}
|
|
|
203
|
else
|
|
204
|
else
|
|
|
204
|
{
|
|
205
|
{
|
|
|
205
|
if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet
|
|
206
|
if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet
|
|
|
206
|
{
|
|
207
|
{
|
|
|
207
|
status = write( fdSPW, incomingData, size );
|
|
208
|
status = write( fdSPW, incomingData, size );
|
|
|
208
|
if (status == -1){
|
|
209
|
if (status == -1){
|
|
|
209
|
PRINTF2("in SEND *** (2.a) ERR = %d, size = %d\n", status, size)
|
|
210
|
PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
|
|
|
210
|
}
|
|
211
|
}
|
|
|
211
|
}
|
|
212
|
}
|
|
|
212
|
else // the incoming message is a spw_ioctl_pkt_send structure
|
|
213
|
else // the incoming message is a spw_ioctl_pkt_send structure
|
|
|
213
|
{
|
|
214
|
{
|
|
|
214
|
spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
|
|
215
|
spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
|
|
|
215
|
if (spw_ioctl_send->hlen == 0)
|
|
216
|
if (spw_ioctl_send->hlen == 0)
|
|
|
216
|
{
|
|
217
|
{
|
|
|
217
|
status = write( fdSPW, spw_ioctl_send->data, spw_ioctl_send->dlen );
|
|
218
|
status = write( fdSPW, spw_ioctl_send->data, spw_ioctl_send->dlen );
|
|
|
218
|
if (status == -1){
|
|
219
|
if (status == -1){
|
|
|
219
|
PRINTF2("in SEND *** (2.b) ERR = %d, dlen = %d\n", status, spw_ioctl_send->dlen)
|
|
220
|
PRINTF2("in SEND *** (2.b) ERRNO = %d, dlen = %d\n", errno, spw_ioctl_send->dlen)
|
|
|
220
|
}
|
|
221
|
}
|
|
|
221
|
}
|
|
222
|
}
|
|
|
222
|
else
|
|
223
|
else
|
|
|
223
|
{
|
|
224
|
{
|
|
|
224
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
|
|
225
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
|
|
|
225
|
if (status == -1){
|
|
226
|
if (status == -1){
|
|
|
226
|
PRINTF2("in SEND *** (2.c) ERR = %d, dlen = %d\n", status, spw_ioctl_send->dlen)
|
|
227
|
PRINTF2("in SEND *** (2.c) ERRNO = %d, dlen = %d\n", errno, spw_ioctl_send->dlen)
|
|
|
227
|
PRINTF1(" hlen = %d\n", spw_ioctl_send->hlen)
|
|
228
|
PRINTF1(" hlen = %d\n", spw_ioctl_send->hlen)
|
|
|
228
|
}
|
|
229
|
}
|
|
|
229
|
}
|
|
230
|
}
|
|
|
230
|
}
|
|
231
|
}
|
|
|
231
|
}
|
|
232
|
}
|
|
|
232
|
|
|
233
|
|
|
|
233
|
status = rtems_message_queue_get_number_pending( queue_id, &count );
|
|
234
|
status = rtems_message_queue_get_number_pending( queue_id, &count );
|
|
|
234
|
if (status != RTEMS_SUCCESSFUL)
|
|
235
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
235
|
{
|
|
236
|
{
|
|
|
236
|
PRINTF1("in SEND *** (3) ERR = %d\n", status)
|
|
237
|
PRINTF1("in SEND *** (3) ERR = %d\n", status)
|
|
|
237
|
}
|
|
238
|
}
|
|
|
238
|
else
|
|
239
|
else
|
|
|
239
|
{
|
|
240
|
{
|
|
|
240
|
if (count > maxCount)
|
|
241
|
if (count > maxCount)
|
|
|
241
|
{
|
|
242
|
{
|
|
|
242
|
maxCount = count;
|
|
243
|
maxCount = count;
|
|
|
243
|
}
|
|
244
|
}
|
|
|
244
|
}
|
|
245
|
}
|
|
|
245
|
}
|
|
246
|
}
|
|
|
246
|
}
|
|
247
|
}
|
|
|
247
|
|
|
248
|
|
|
|
248
|
rtems_task wtdg_task( rtems_task_argument argument )
|
|
249
|
rtems_task wtdg_task( rtems_task_argument argument )
|
|
|
249
|
{
|
|
250
|
{
|
|
|
250
|
rtems_event_set event_out;
|
|
251
|
rtems_event_set event_out;
|
|
|
251
|
rtems_status_code status;
|
|
252
|
rtems_status_code status;
|
|
|
252
|
int linkStatus;
|
|
253
|
int linkStatus;
|
|
|
253
|
|
|
254
|
|
|
|
254
|
BOOT_PRINTF("in WTDG ***\n")
|
|
255
|
BOOT_PRINTF("in WTDG ***\n")
|
|
|
255
|
|
|
256
|
|
|
|
256
|
while(1)
|
|
257
|
while(1)
|
|
|
257
|
{
|
|
258
|
{
|
|
|
258
|
// wait for an RTEMS_EVENT
|
|
259
|
// wait for an RTEMS_EVENT
|
|
|
259
|
rtems_event_receive( RTEMS_EVENT_0,
|
|
260
|
rtems_event_receive( RTEMS_EVENT_0,
|
|
|
260
|
RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
|
|
261
|
RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
|
|
|
261
|
PRINTF("in WTDG *** wait for the link\n")
|
|
262
|
PRINTF("in WTDG *** wait for the link\n")
|
|
|
262
|
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
|
|
263
|
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
|
|
|
263
|
while( linkStatus != 5) // wait for the link
|
|
264
|
while( linkStatus != 5) // wait for the link
|
|
|
264
|
{
|
|
265
|
{
|
|
|
265
|
rtems_task_wake_after( 10 );
|
|
266
|
rtems_task_wake_after( 10 );
|
|
|
266
|
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
|
|
267
|
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
|
|
|
267
|
}
|
|
268
|
}
|
|
|
268
|
|
|
269
|
|
|
|
269
|
status = spacewire_stop_start_link( fdSPW );
|
|
270
|
status = spacewire_stop_start_link( fdSPW );
|
|
|
270
|
|
|
271
|
|
|
|
271
|
if (status != RTEMS_SUCCESSFUL)
|
|
272
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
272
|
{
|
|
273
|
{
|
|
|
273
|
PRINTF1("in WTDG *** ERR link not started %d\n", status)
|
|
274
|
PRINTF1("in WTDG *** ERR link not started %d\n", status)
|
|
|
274
|
}
|
|
275
|
}
|
|
|
275
|
else
|
|
276
|
else
|
|
|
276
|
{
|
|
277
|
{
|
|
|
277
|
PRINTF("in WTDG *** OK link started\n")
|
|
278
|
PRINTF("in WTDG *** OK link started\n")
|
|
|
278
|
}
|
|
279
|
}
|
|
|
279
|
|
|
280
|
|
|
|
280
|
// restart the SPIQ task
|
|
281
|
// restart the SPIQ task
|
|
|
281
|
rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
|
|
282
|
status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
|
|
|
|
|
|
283
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
|
|
|
|
284
|
PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
|
|
|
|
|
|
285
|
}
|
|
|
282
|
|
|
286
|
|
|
|
283
|
// resume RECV and SEND
|
|
287
|
// restart RECV and SEND
|
|
|
284
|
status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
|
|
288
|
status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
|
|
|
285
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
289
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
|
286
|
PRINTF("in SPIQ *** ERR resuming SEND Task\n")
|
|
290
|
PRINTF("in SPIQ *** ERR restarting SEND Task\n")
|
|
|
287
|
}
|
|
291
|
}
|
|
|
288
|
status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
|
|
292
|
status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
|
|
|
289
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
293
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
|
290
|
PRINTF("in SPIQ *** ERR resuming RECV Task\n")
|
|
294
|
PRINTF("in SPIQ *** ERR restarting RECV Task\n")
|
|
|
291
|
}
|
|
295
|
}
|
|
|
292
|
}
|
|
296
|
}
|
|
|
293
|
}
|
|
297
|
}
|
|
|
294
|
|
|
298
|
|
|
|
295
|
//****************
|
|
299
|
//****************
|
|
|
296
|
// OTHER FUNCTIONS
|
|
300
|
// OTHER FUNCTIONS
|
|
|
297
|
int spacewire_open_link( void )
|
|
301
|
int spacewire_open_link( void )
|
|
|
298
|
{
|
|
302
|
{
|
|
|
299
|
/** This function opens the SpaceWire link.
|
|
303
|
/** This function opens the SpaceWire link.
|
|
|
300
|
*
|
|
304
|
*
|
|
|
301
|
* @return a valid file descriptor in case of success, -1 in case of a failure
|
|
305
|
* @return a valid file descriptor in case of success, -1 in case of a failure
|
|
|
302
|
*
|
|
306
|
*
|
|
|
303
|
*/
|
|
307
|
*/
|
|
|
304
|
rtems_status_code status;
|
|
308
|
rtems_status_code status;
|
|
|
305
|
|
|
309
|
|
|
|
306
|
fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
|
|
310
|
fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
|
|
|
307
|
if ( fdSPW < 0 ) {
|
|
311
|
if ( fdSPW < 0 ) {
|
|
|
308
|
PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
|
|
312
|
PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
|
|
|
309
|
}
|
|
313
|
}
|
|
|
310
|
else
|
|
314
|
else
|
|
|
311
|
{
|
|
315
|
{
|
|
|
312
|
status = RTEMS_SUCCESSFUL;
|
|
316
|
status = RTEMS_SUCCESSFUL;
|
|
|
313
|
}
|
|
317
|
}
|
|
|
314
|
|
|
318
|
|
|
|
315
|
return status;
|
|
319
|
return status;
|
|
|
316
|
}
|
|
320
|
}
|
|
|
317
|
|
|
321
|
|
|
|
318
|
int spacewire_start_link( int fd )
|
|
322
|
int spacewire_start_link( int fd )
|
|
|
319
|
{
|
|
323
|
{
|
|
|
320
|
rtems_status_code status;
|
|
324
|
rtems_status_code status;
|
|
|
321
|
|
|
325
|
|
|
|
322
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
|
|
326
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
|
|
|
323
|
// -1 default hardcoded driver timeout
|
|
327
|
// -1 default hardcoded driver timeout
|
|
|
324
|
|
|
328
|
|
|
|
325
|
return status;
|
|
329
|
return status;
|
|
|
326
|
}
|
|
330
|
}
|
|
|
327
|
|
|
331
|
|
|
|
328
|
int spacewire_stop_start_link( int fd )
|
|
332
|
int spacewire_stop_start_link( int fd )
|
|
|
329
|
{
|
|
333
|
{
|
|
|
330
|
rtems_status_code status;
|
|
334
|
rtems_status_code status;
|
|
|
331
|
|
|
335
|
|
|
|
332
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
|
|
336
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
|
|
|
333
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
|
|
337
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
|
|
|
334
|
// -1 default hardcoded driver timeout
|
|
338
|
// -1 default hardcoded driver timeout
|
|
|
335
|
|
|
339
|
|
|
|
336
|
return status;
|
|
340
|
return status;
|
|
|
337
|
}
|
|
341
|
}
|
|
|
338
|
|
|
342
|
|
|
|
339
|
int spacewire_configure_link( int fd )
|
|
343
|
int spacewire_configure_link( int fd )
|
|
|
340
|
{
|
|
344
|
{
|
|
|
341
|
/** This function configures the SpaceWire link.
|
|
345
|
/** This function configures the SpaceWire link.
|
|
|
342
|
*
|
|
346
|
*
|
|
|
343
|
* @return GR-RTEMS-DRIVER directive status codes:
|
|
347
|
* @return GR-RTEMS-DRIVER directive status codes:
|
|
|
344
|
* - 22 EINVAL - Null pointer or an out of range value was given as the argument.
|
|
348
|
* - 22 EINVAL - Null pointer or an out of range value was given as the argument.
|
|
|
345
|
* - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
|
|
349
|
* - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
|
|
|
346
|
* - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
|
|
350
|
* - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
|
|
|
347
|
* - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
|
|
351
|
* - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
|
|
|
348
|
* - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
|
|
352
|
* - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
|
|
|
349
|
* - 5 EIO - Error when writing to grswp hardware registers.
|
|
353
|
* - 5 EIO - Error when writing to grswp hardware registers.
|
|
|
350
|
* - 2 ENOENT - No such file or directory
|
|
354
|
* - 2 ENOENT - No such file or directory
|
|
|
351
|
*/
|
|
355
|
*/
|
|
|
352
|
|
|
356
|
|
|
|
353
|
rtems_status_code status;
|
|
357
|
rtems_status_code status;
|
|
|
354
|
|
|
358
|
|
|
|
355
|
spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
|
|
359
|
spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
|
|
|
356
|
spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
|
|
360
|
spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
|
|
|
357
|
|
|
361
|
|
|
|
358
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
|
|
362
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
|
|
|
359
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
|
|
363
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
|
|
|
360
|
//
|
|
364
|
//
|
|
|
361
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
|
|
365
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
|
|
|
362
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
|
|
366
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
|
|
|
363
|
//
|
|
367
|
//
|
|
|
364
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
|
|
368
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
|
|
|
365
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
|
|
369
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
|
|
|
366
|
//
|
|
370
|
//
|
|
|
367
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
|
|
371
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
|
|
|
368
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
|
|
372
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
|
|
|
369
|
//
|
|
373
|
//
|
|
|
370
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
|
|
374
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
|
|
|
371
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
|
|
375
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
|
|
|
372
|
//
|
|
376
|
//
|
|
|
373
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0); // transmission blocks on full
|
|
377
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available
|
|
|
374
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
|
|
378
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
|
|
|
375
|
//
|
|
379
|
//
|
|
|
376
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
|
|
380
|
status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
|
|
|
377
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
|
|
381
|
if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
|
|
|
378
|
|
|
382
|
|
|
|
379
|
return status;
|
|
383
|
return status;
|
|
|
380
|
}
|
|
384
|
}
|
|
|
381
|
|
|
385
|
|
|
|
382
|
int spacewire_reset_link( void )
|
|
386
|
int spacewire_reset_link( void )
|
|
|
383
|
{
|
|
387
|
{
|
|
|
384
|
/** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
|
|
388
|
/** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
|
|
|
385
|
*
|
|
389
|
*
|
|
|
386
|
* @return RTEMS directive status code:
|
|
390
|
* @return RTEMS directive status code:
|
|
|
387
|
* - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
|
|
391
|
* - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
|
|
|
388
|
* - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
|
|
392
|
* - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
|
|
|
389
|
*
|
|
393
|
*
|
|
|
390
|
*/
|
|
394
|
*/
|
|
|
391
|
|
|
395
|
|
|
|
392
|
rtems_status_code status_spw;
|
|
396
|
rtems_status_code status_spw;
|
|
|
393
|
int i;
|
|
397
|
int i;
|
|
|
394
|
|
|
398
|
|
|
|
395
|
for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
|
|
399
|
for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
|
|
|
396
|
{
|
|
400
|
{
|
|
|
397
|
PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
|
|
401
|
PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
|
|
|
398
|
|
|
402
|
|
|
|
399
|
// CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
|
|
403
|
// CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
|
|
|
400
|
|
|
404
|
|
|
|
401
|
status_spw = spacewire_stop_start_link( fdSPW );
|
|
405
|
status_spw = spacewire_stop_start_link( fdSPW );
|
|
|
402
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
406
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
|
403
|
{
|
|
407
|
{
|
|
|
404
|
PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
|
|
408
|
PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
|
|
|
405
|
}
|
|
409
|
}
|
|
|
406
|
|
|
410
|
|
|
|
407
|
if ( status_spw == RTEMS_SUCCESSFUL)
|
|
411
|
if ( status_spw == RTEMS_SUCCESSFUL)
|
|
|
408
|
{
|
|
412
|
{
|
|
|
409
|
break;
|
|
413
|
break;
|
|
|
410
|
}
|
|
414
|
}
|
|
|
411
|
}
|
|
415
|
}
|
|
|
412
|
|
|
416
|
|
|
|
413
|
return status_spw;
|
|
417
|
return status_spw;
|
|
|
414
|
}
|
|
418
|
}
|
|
|
415
|
|
|
419
|
|
|
|
416
|
void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
|
|
420
|
void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
|
|
|
417
|
{
|
|
421
|
{
|
|
|
418
|
/** This function sets the [N]o [P]ort force bit of the GRSPW control register.
|
|
422
|
/** This function sets the [N]o [P]ort force bit of the GRSPW control register.
|
|
|
419
|
*
|
|
423
|
*
|
|
|
420
|
* @param val is the value, 0 or 1, used to set the value of the NP bit.
|
|
424
|
* @param val is the value, 0 or 1, used to set the value of the NP bit.
|
|
|
421
|
* @param regAddr is the address of the GRSPW control register.
|
|
425
|
* @param regAddr is the address of the GRSPW control register.
|
|
|
422
|
*
|
|
426
|
*
|
|
|
423
|
* NP is the bit 20 of the GRSPW control register.
|
|
427
|
* NP is the bit 20 of the GRSPW control register.
|
|
|
424
|
*
|
|
428
|
*
|
|
|
425
|
*/
|
|
429
|
*/
|
|
|
426
|
|
|
430
|
|
|
|
427
|
unsigned int *spwptr = (unsigned int*) regAddr;
|
|
431
|
unsigned int *spwptr = (unsigned int*) regAddr;
|
|
|
428
|
|
|
432
|
|
|
|
429
|
if (val == 1) {
|
|
433
|
if (val == 1) {
|
|
|
430
|
*spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
|
|
434
|
*spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
|
|
|
431
|
}
|
|
435
|
}
|
|
|
432
|
if (val== 0) {
|
|
436
|
if (val== 0) {
|
|
|
433
|
*spwptr = *spwptr & 0xffdfffff;
|
|
437
|
*spwptr = *spwptr & 0xffdfffff;
|
|
|
434
|
}
|
|
438
|
}
|
|
|
435
|
}
|
|
439
|
}
|
|
|
436
|
|
|
440
|
|
|
|
437
|
void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
|
|
441
|
void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
|
|
|
438
|
{
|
|
442
|
{
|
|
|
439
|
/** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
|
|
443
|
/** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
|
|
|
440
|
*
|
|
444
|
*
|
|
|
441
|
* @param val is the value, 0 or 1, used to set the value of the RE bit.
|
|
445
|
* @param val is the value, 0 or 1, used to set the value of the RE bit.
|
|
|
442
|
* @param regAddr is the address of the GRSPW control register.
|
|
446
|
* @param regAddr is the address of the GRSPW control register.
|
|
|
443
|
*
|
|
447
|
*
|
|
|
444
|
* RE is the bit 16 of the GRSPW control register.
|
|
448
|
* RE is the bit 16 of the GRSPW control register.
|
|
|
445
|
*
|
|
449
|
*
|
|
|
446
|
*/
|
|
450
|
*/
|
|
|
447
|
|
|
451
|
|
|
|
448
|
unsigned int *spwptr = (unsigned int*) regAddr;
|
|
452
|
unsigned int *spwptr = (unsigned int*) regAddr;
|
|
|
449
|
|
|
453
|
|
|
|
450
|
if (val == 1)
|
|
454
|
if (val == 1)
|
|
|
451
|
{
|
|
455
|
{
|
|
|
452
|
*spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
|
|
456
|
*spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
|
|
|
453
|
}
|
|
457
|
}
|
|
|
454
|
if (val== 0)
|
|
458
|
if (val== 0)
|
|
|
455
|
{
|
|
459
|
{
|
|
|
456
|
*spwptr = *spwptr & 0xfffdffff;
|
|
460
|
*spwptr = *spwptr & 0xfffdffff;
|
|
|
457
|
}
|
|
461
|
}
|
|
|
458
|
}
|
|
462
|
}
|
|
|
459
|
|
|
463
|
|
|
|
460
|
void spacewire_compute_stats_offsets( void )
|
|
464
|
void spacewire_compute_stats_offsets( void )
|
|
|
461
|
{
|
|
465
|
{
|
|
|
462
|
/** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
|
|
466
|
/** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
|
|
|
463
|
*
|
|
467
|
*
|
|
|
464
|
* The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
|
|
468
|
* The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
|
|
|
465
|
* to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
|
|
469
|
* to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
|
|
|
466
|
* during the open systel call).
|
|
470
|
* during the open systel call).
|
|
|
467
|
*
|
|
471
|
*
|
|
|
468
|
*/
|
|
472
|
*/
|
|
|
469
|
|
|
473
|
|
|
|
470
|
spw_stats spacewire_stats_grspw;
|
|
474
|
spw_stats spacewire_stats_grspw;
|
|
|
471
|
rtems_status_code status;
|
|
475
|
rtems_status_code status;
|
|
|
472
|
|
|
476
|
|
|
|
473
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
|
|
477
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
|
|
|
474
|
|
|
478
|
|
|
|
475
|
spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
|
|
479
|
spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
|
|
|
476
|
+ spacewire_stats.packets_received;
|
|
480
|
+ spacewire_stats.packets_received;
|
|
|
477
|
spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
|
|
481
|
spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
|
|
|
478
|
+ spacewire_stats.packets_sent;
|
|
482
|
+ spacewire_stats.packets_sent;
|
|
|
479
|
spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
|
|
483
|
spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
|
|
|
480
|
+ spacewire_stats.parity_err;
|
|
484
|
+ spacewire_stats.parity_err;
|
|
|
481
|
spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
|
|
485
|
spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
|
|
|
482
|
+ spacewire_stats.disconnect_err;
|
|
486
|
+ spacewire_stats.disconnect_err;
|
|
|
483
|
spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
|
|
487
|
spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
|
|
|
484
|
+ spacewire_stats.escape_err;
|
|
488
|
+ spacewire_stats.escape_err;
|
|
|
485
|
spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
|
|
489
|
spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
|
|
|
486
|
+ spacewire_stats.credit_err;
|
|
490
|
+ spacewire_stats.credit_err;
|
|
|
487
|
spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
|
|
491
|
spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
|
|
|
488
|
+ spacewire_stats.write_sync_err;
|
|
492
|
+ spacewire_stats.write_sync_err;
|
|
|
489
|
spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
|
|
493
|
spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
|
|
|
490
|
+ spacewire_stats.rx_rmap_header_crc_err;
|
|
494
|
+ spacewire_stats.rx_rmap_header_crc_err;
|
|
|
491
|
spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
|
|
495
|
spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
|
|
|
492
|
+ spacewire_stats.rx_rmap_data_crc_err;
|
|
496
|
+ spacewire_stats.rx_rmap_data_crc_err;
|
|
|
493
|
spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
|
|
497
|
spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
|
|
|
494
|
+ spacewire_stats.early_ep;
|
|
498
|
+ spacewire_stats.early_ep;
|
|
|
495
|
spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
|
|
499
|
spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
|
|
|
496
|
+ spacewire_stats.invalid_address;
|
|
500
|
+ spacewire_stats.invalid_address;
|
|
|
497
|
spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
|
|
501
|
spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
|
|
|
498
|
+ spacewire_stats.rx_eep_err;
|
|
502
|
+ spacewire_stats.rx_eep_err;
|
|
|
499
|
spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
|
|
503
|
spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
|
|
|
500
|
+ spacewire_stats.rx_truncated;
|
|
504
|
+ spacewire_stats.rx_truncated;
|
|
|
501
|
}
|
|
505
|
}
|
|
|
502
|
|
|
506
|
|
|
|
503
|
void spacewire_update_statistics( void )
|
|
507
|
void spacewire_update_statistics( void )
|
|
|
504
|
{
|
|
508
|
{
|
|
|
505
|
rtems_status_code status;
|
|
509
|
rtems_status_code status;
|
|
|
506
|
spw_stats spacewire_stats_grspw;
|
|
510
|
spw_stats spacewire_stats_grspw;
|
|
|
507
|
|
|
511
|
|
|
|
508
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
|
|
512
|
status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
|
|
|
509
|
|
|
513
|
|
|
|
510
|
spacewire_stats.packets_received = spacewire_stats_backup.packets_received
|
|
514
|
spacewire_stats.packets_received = spacewire_stats_backup.packets_received
|
|
|
511
|
+ spacewire_stats_grspw.packets_received;
|
|
515
|
+ spacewire_stats_grspw.packets_received;
|
|
|
512
|
spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
|
|
516
|
spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
|
|
|
513
|
+ spacewire_stats_grspw.packets_sent;
|
|
517
|
+ spacewire_stats_grspw.packets_sent;
|
|
|
514
|
spacewire_stats.parity_err = spacewire_stats_backup.parity_err
|
|
518
|
spacewire_stats.parity_err = spacewire_stats_backup.parity_err
|
|
|
515
|
+ spacewire_stats_grspw.parity_err;
|
|
519
|
+ spacewire_stats_grspw.parity_err;
|
|
|
516
|
spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
|
|
520
|
spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
|
|
|
517
|
+ spacewire_stats_grspw.disconnect_err;
|
|
521
|
+ spacewire_stats_grspw.disconnect_err;
|
|
|
518
|
spacewire_stats.escape_err = spacewire_stats_backup.escape_err
|
|
522
|
spacewire_stats.escape_err = spacewire_stats_backup.escape_err
|
|
|
519
|
+ spacewire_stats_grspw.escape_err;
|
|
523
|
+ spacewire_stats_grspw.escape_err;
|
|
|
520
|
spacewire_stats.credit_err = spacewire_stats_backup.credit_err
|
|
524
|
spacewire_stats.credit_err = spacewire_stats_backup.credit_err
|
|
|
521
|
+ spacewire_stats_grspw.credit_err;
|
|
525
|
+ spacewire_stats_grspw.credit_err;
|
|
|
522
|
spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
|
|
526
|
spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
|
|
|
523
|
+ spacewire_stats_grspw.write_sync_err;
|
|
527
|
+ spacewire_stats_grspw.write_sync_err;
|
|
|
524
|
spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
|
|
528
|
spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
|
|
|
525
|
+ spacewire_stats_grspw.rx_rmap_header_crc_err;
|
|
529
|
+ spacewire_stats_grspw.rx_rmap_header_crc_err;
|
|
|
526
|
spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
|
|
530
|
spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
|
|
|
527
|
+ spacewire_stats_grspw.rx_rmap_data_crc_err;
|
|
531
|
+ spacewire_stats_grspw.rx_rmap_data_crc_err;
|
|
|
528
|
spacewire_stats.early_ep = spacewire_stats_backup.early_ep
|
|
532
|
spacewire_stats.early_ep = spacewire_stats_backup.early_ep
|
|
|
529
|
+ spacewire_stats_grspw.early_ep;
|
|
533
|
+ spacewire_stats_grspw.early_ep;
|
|
|
530
|
spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
|
|
534
|
spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
|
|
|
531
|
+ spacewire_stats_grspw.invalid_address;
|
|
535
|
+ spacewire_stats_grspw.invalid_address;
|
|
|
532
|
spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
|
|
536
|
spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
|
|
|
533
|
+ spacewire_stats_grspw.rx_eep_err;
|
|
537
|
+ spacewire_stats_grspw.rx_eep_err;
|
|
|
534
|
spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
|
|
538
|
spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
|
|
|
535
|
+ spacewire_stats_grspw.rx_truncated;
|
|
539
|
+ spacewire_stats_grspw.rx_truncated;
|
|
|
536
|
//spacewire_stats.tx_link_err;
|
|
540
|
//spacewire_stats.tx_link_err;
|
|
|
537
|
|
|
541
|
|
|
|
538
|
//****************************
|
|
542
|
//****************************
|
|
|
539
|
// DPU_SPACEWIRE_IF_STATISTICS
|
|
543
|
// DPU_SPACEWIRE_IF_STATISTICS
|
|
|
540
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
|
|
544
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
|
|
|
541
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
|
|
545
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
|
|
|
542
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
|
|
546
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
|
|
|
543
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
|
|
547
|
housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
|
|
|
544
|
//housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
|
|
548
|
//housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
|
|
|
545
|
//housekeeping_packet.hk_lfr_dpu_spw_last_timc;
|
|
549
|
//housekeeping_packet.hk_lfr_dpu_spw_last_timc;
|
|
|
546
|
|
|
550
|
|
|
|
547
|
//******************************************
|
|
551
|
//******************************************
|
|
|
548
|
// ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
|
|
552
|
// ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
|
|
|
549
|
housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
|
|
553
|
housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
|
|
|
550
|
housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
|
|
554
|
housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
|
|
|
551
|
housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
|
|
555
|
housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
|
|
|
552
|
housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
|
|
556
|
housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
|
|
|
553
|
housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
|
|
557
|
housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
|
|
|
554
|
// housekeeping_packet.hk_lfr_dpu_spw_rx_ahb;
|
|
558
|
// housekeeping_packet.hk_lfr_dpu_spw_rx_ahb;
|
|
|
555
|
// housekeeping_packet.hk_lfr_dpu_spw_tx_ahb;
|
|
559
|
// housekeeping_packet.hk_lfr_dpu_spw_tx_ahb;
|
|
|
556
|
housekeeping_packet.hk_lfr_dpu_spw_header_crc = (unsigned char) spacewire_stats.rx_rmap_header_crc_err;
|
|
560
|
housekeeping_packet.hk_lfr_dpu_spw_header_crc = (unsigned char) spacewire_stats.rx_rmap_header_crc_err;
|
|
|
557
|
housekeeping_packet.hk_lfr_dpu_spw_data_crc = (unsigned char) spacewire_stats.rx_rmap_data_crc_err;
|
|
561
|
housekeeping_packet.hk_lfr_dpu_spw_data_crc = (unsigned char) spacewire_stats.rx_rmap_data_crc_err;
|
|
|
558
|
|
|
562
|
|
|
|
559
|
//*********************************************
|
|
563
|
//*********************************************
|
|
|
560
|
// ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
|
|
564
|
// ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
|
|
|
561
|
housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
|
|
565
|
housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
|
|
|
562
|
housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
|
|
566
|
housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
|
|
|
563
|
housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
|
|
567
|
housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
|
|
|
564
|
housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
|
|
568
|
housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
|
|
|
565
|
|
|
569
|
|
|
|
566
|
}
|
|
570
|
}
|
|
|
567
|
|
|
571
|
|
|
|
568
|
void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
|
|
572
|
void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
|
|
|
569
|
{
|
|
573
|
{
|
|
|
570
|
//if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
|
|
574
|
//if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
|
|
|
571
|
// printf("In timecode_irq_handler *** Error sending event to DUMB\n");
|
|
575
|
// printf("In timecode_irq_handler *** Error sending event to DUMB\n");
|
|
|
572
|
//}
|
|
576
|
//}
|
|
|
573
|
}
|
|
577
|
}
|
|
|
574
|
|
|
578
|
|
|
|
575
|
rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
|
|
579
|
rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
|
|
|
576
|
{
|
|
580
|
{
|
|
|
577
|
int linkStatus;
|
|
581
|
int linkStatus;
|
|
|
578
|
rtems_status_code status;
|
|
582
|
rtems_status_code status;
|
|
|
579
|
|
|
583
|
|
|
|
580
|
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
|
|
584
|
ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
|
|
|
581
|
|
|
585
|
|
|
|
582
|
if ( linkStatus == 5) {
|
|
586
|
if ( linkStatus == 5) {
|
|
|
583
|
PRINTF("in spacewire_reset_link *** link is running\n")
|
|
587
|
PRINTF("in spacewire_reset_link *** link is running\n")
|
|
|
584
|
status = RTEMS_SUCCESSFUL;
|
|
588
|
status = RTEMS_SUCCESSFUL;
|
|
|
585
|
}
|
|
589
|
}
|
|
|
586
|
}
|
|
590
|
}
|
