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rev 3.0.0.8
paul -
r218:2953540325b7 R3
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1 1 TEMPLATE = app
2 2 # CONFIG += console v8 sim
3 3 # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch
4 4 # lpp_dpu_destid
5 CONFIG += console verbose lpp_dpu_destid debug_tch
5 CONFIG += console verbose lpp_dpu_destid
6 6 CONFIG -= qt
7 7
8 8 include(./sparc.pri)
9 9
10 10 # flight software version
11 11 SWVERSION=-1-0
12 12 DEFINES += SW_VERSION_N1=3 # major
13 13 DEFINES += SW_VERSION_N2=0 # minor
14 14 DEFINES += SW_VERSION_N3=0 # patch
15 15 DEFINES += SW_VERSION_N4=8 # internal
16 16
17 17 # <GCOV>
18 18 QMAKE_CFLAGS_RELEASE += -fprofile-arcs -ftest-coverage
19 19 #LIBS += -lgcov /opt/GCOV/01A/lib/overload.o -lc
20 20 LIBS += -lgcov /opt/GCOV/HOWTO_gcov_for_lfr_test/01A/lib/overload.o -lc
21 21 # </GCOV>
22 22
23 23 # <CHANGE BEFORE FLIGHT>
24 24 contains( CONFIG, lpp_dpu_destid ) {
25 25 DEFINES += LPP_DPU_DESTID
26 26 }
27 27 # </CHANGE BEFORE FLIGHT>
28 28
29 29 contains( CONFIG, debug_tch ) {
30 30 DEFINES += DEBUG_TCH
31 31 }
32 32 DEFINES += MSB_FIRST_TCH
33 33
34 34 contains( CONFIG, vhdl_dev ) {
35 35 DEFINES += VHDL_DEV
36 36 }
37 37
38 38 contains( CONFIG, verbose ) {
39 39 DEFINES += PRINT_MESSAGES_ON_CONSOLE
40 40 }
41 41
42 42 contains( CONFIG, debug_messages ) {
43 43 DEFINES += DEBUG_MESSAGES
44 44 }
45 45
46 46 contains( CONFIG, cpu_usage_report ) {
47 47 DEFINES += PRINT_TASK_STATISTICS
48 48 }
49 49
50 50 contains( CONFIG, stack_report ) {
51 51 DEFINES += PRINT_STACK_REPORT
52 52 }
53 53
54 54 contains( CONFIG, boot_messages ) {
55 55 DEFINES += BOOT_MESSAGES
56 56 }
57 57
58 58 #doxygen.target = doxygen
59 59 #doxygen.commands = doxygen ../doc/Doxyfile
60 60 #QMAKE_EXTRA_TARGETS += doxygen
61 61
62 62 TARGET = fsw
63 63
64 64 INCLUDEPATH += \
65 65 $${PWD}/../src \
66 66 $${PWD}/../header \
67 67 $${PWD}/../header/lfr_common_headers \
68 68 $${PWD}/../header/processing \
69 69 $${PWD}/../LFR_basic-parameters
70 70
71 71 SOURCES += \
72 72 ../src/wf_handler.c \
73 73 ../src/tc_handler.c \
74 74 ../src/fsw_misc.c \
75 75 ../src/fsw_init.c \
76 76 ../src/fsw_globals.c \
77 77 ../src/fsw_spacewire.c \
78 78 ../src/tc_load_dump_parameters.c \
79 79 ../src/tm_lfr_tc_exe.c \
80 80 ../src/tc_acceptance.c \
81 81 ../src/processing/fsw_processing.c \
82 82 ../src/processing/avf0_prc0.c \
83 83 ../src/processing/avf1_prc1.c \
84 84 ../src/processing/avf2_prc2.c \
85 85 ../src/lfr_cpu_usage_report.c \
86 86 ../LFR_basic-parameters/basic_parameters.c
87 87
88 88 HEADERS += \
89 89 ../header/wf_handler.h \
90 90 ../header/tc_handler.h \
91 91 ../header/grlib_regs.h \
92 92 ../header/fsw_misc.h \
93 93 ../header/fsw_init.h \
94 94 ../header/fsw_spacewire.h \
95 95 ../header/tc_load_dump_parameters.h \
96 96 ../header/tm_lfr_tc_exe.h \
97 97 ../header/tc_acceptance.h \
98 98 ../header/processing/fsw_processing.h \
99 99 ../header/processing/avf0_prc0.h \
100 100 ../header/processing/avf1_prc1.h \
101 101 ../header/processing/avf2_prc2.h \
102 102 ../header/fsw_params_wf_handler.h \
103 103 ../header/lfr_cpu_usage_report.h \
104 104 ../header/lfr_common_headers/ccsds_types.h \
105 105 ../header/lfr_common_headers/fsw_params.h \
106 106 ../header/lfr_common_headers/fsw_params_nb_bytes.h \
107 107 ../header/lfr_common_headers/fsw_params_processing.h \
108 108 ../header/lfr_common_headers/TC_types.h \
109 109 ../header/lfr_common_headers/tm_byte_positions.h \
110 110 ../LFR_basic-parameters/basic_parameters.h \
111 111 ../LFR_basic-parameters/basic_parameters_params.h \
112 112 ../header/GscMemoryLPP.hpp
113 113
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@@ -1,906 +1,869
1 1 /** This is the RTEMS initialization module.
2 2 *
3 3 * @file
4 4 * @author P. LEROY
5 5 *
6 6 * This module contains two very different information:
7 7 * - specific instructions to configure the compilation of the RTEMS executive
8 8 * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
9 9 *
10 10 */
11 11
12 12 //*************************
13 13 // GPL reminder to be added
14 14 //*************************
15 15
16 16 #include <rtems.h>
17 17
18 18 /* configuration information */
19 19
20 20 #define CONFIGURE_INIT
21 21
22 22 #include <bsp.h> /* for device driver prototypes */
23 23
24 24 /* configuration information */
25 25
26 26 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
27 27 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
28 28
29 29 #define CONFIGURE_MAXIMUM_TASKS 20
30 30 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
31 31 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
32 32 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
33 33 #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
34 34 #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
35 35 #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
36 36 #define CONFIGURE_MAXIMUM_DRIVERS 16
37 37 #define CONFIGURE_MAXIMUM_PERIODS 5
38 38 #define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
39 39 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
40 40 #ifdef PRINT_STACK_REPORT
41 41 #define CONFIGURE_STACK_CHECKER_ENABLED
42 42 #endif
43 43
44 44 #include <rtems/confdefs.h>
45 45
46 46 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
47 47 #ifdef RTEMS_DRVMGR_STARTUP
48 48 #ifdef LEON3
49 49 /* Add Timer and UART Driver */
50 50 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
51 51 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
52 52 #endif
53 53 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
54 54 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
55 55 #endif
56 56 #endif
57 57 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
58 58 #include <drvmgr/drvmgr_confdefs.h>
59 59 #endif
60 60
61 61 #include "fsw_init.h"
62 62 #include "fsw_config.c"
63 63 #include "GscMemoryLPP.hpp"
64 64
65 void test_bp1()
66 {
67 float test_matrix[25] = {
68 4.00109575e+06,
69 -2.19891187e+03,
70 1.73193325e+06,
71 1.88106079e+03,
72 -1.00001638e+06,
73 6.23724854e+02,
74 2.00016860e+07,
75 -3.46422920e+07,
76 -1.44333826e+03,
77 7.54424812e+05,
78 -4.36785375e+05,
79 2.34538879e+02,
80 8.65882200e+06,
81 -3.31611108e+03,
82 2.71719702e+03,
83 1.50027590e+07,
84 2.53229094e+05,
85 -4.99895450e+06,
86 2.90329712e+03,
87 -2.17048022e+03,
88 -8.66275100e+06,
89 1.00002952e+08,
90 -2.94739111e+03,
91 1.73206224e+08,
92 3.00003392e+08
93 };
94
95 uint8_t lfr_bp1[11];
96
97 BP1_set(test_matrix, k_coeff_intercalib_f0_norm, 1, lfr_bp1);
98 }
99
100 65 void initCache()
101 66 {
102 67 unsigned int cacheControlRegister;
103 68
104 69 cacheControlRegister = getCacheControlRegister();
105 70 printf("(0) cacheControlRegister = %x\n", cacheControlRegister);
106 71
107 72 resetCacheControlRegister();
108 73
109 74 enableInstructionCache();
110 75 enableDataCache();
111 76 enableInstructionBurstFetch();
112 77
113 78 cacheControlRegister = getCacheControlRegister();
114 79 printf("(1) cacheControlRegister = %x\n", cacheControlRegister);
115 80 }
116 81
117 82 rtems_task Init( rtems_task_argument ignored )
118 83 {
119 84 /** This is the RTEMS INIT taks, it is the first task launched by the system.
120 85 *
121 86 * @param unused is the starting argument of the RTEMS task
122 87 *
123 88 * The INIT task create and run all other RTEMS tasks.
124 89 *
125 90 */
126 91
127 92 //***********
128 93 // INIT CACHE
129 94
130 95 unsigned char *vhdlVersion;
131 96
132 97 reset_lfr();
133 98
134 99 reset_local_time();
135 100
136 101 rtems_cpu_usage_reset();
137 102
138 103 rtems_status_code status;
139 104 rtems_status_code status_spw;
140 105 rtems_isr_entry old_isr_handler;
141 106
142 107 // UART settings
143 108 send_console_outputs_on_apbuart_port();
144 109 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
145 110 enable_apbuart_transmitter();
146 111
147 112 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
148 113
149 114
150 115 PRINTF("\n\n\n\n\n")
151 116
152 117 initCache();
153 118
154 119 PRINTF("*************************\n")
155 120 PRINTF("** LFR Flight Software **\n")
156 121 PRINTF1("** %d.", SW_VERSION_N1)
157 122 PRINTF1("%d." , SW_VERSION_N2)
158 123 PRINTF1("%d." , SW_VERSION_N3)
159 124 PRINTF1("%d **\n", SW_VERSION_N4)
160 125
161 126 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
162 127 PRINTF("** VHDL **\n")
163 128 PRINTF1("** %d.", vhdlVersion[1])
164 129 PRINTF1("%d." , vhdlVersion[2])
165 130 PRINTF1("%d **\n", vhdlVersion[3])
166 131 PRINTF("*************************\n")
167 132 PRINTF("\n\n")
168 133
169 134 init_parameter_dump();
170 135 init_kcoefficients_dump();
171 136 init_local_mode_parameters();
172 137 init_housekeeping_parameters();
173 138 init_k_coefficients_prc0();
174 139 init_k_coefficients_prc1();
175 140 init_k_coefficients_prc2();
176 141
177 142 // waveform picker initialization
178 143 WFP_init_rings(); // initialize the waveform rings
179 144 WFP_reset_current_ring_nodes();
180 145 reset_waveform_picker_regs();
181 146
182 147 // spectral matrices initialization
183 148 SM_init_rings(); // initialize spectral matrices rings
184 149 SM_reset_current_ring_nodes();
185 150 reset_spectral_matrix_regs();
186 151
187 152 // configure calibration
188 153 configureCalibration( false ); // true means interleaved mode, false is for normal mode
189 154
190 155 updateLFRCurrentMode();
191 156
192 157 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
193 158
194 159 create_names(); // create all names
195 160
196 161 status = create_message_queues(); // create message queues
197 162 if (status != RTEMS_SUCCESSFUL)
198 163 {
199 164 PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
200 165 }
201 166
202 167 status = create_all_tasks(); // create all tasks
203 168 if (status != RTEMS_SUCCESSFUL)
204 169 {
205 170 PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
206 171 }
207 172
208 173 // **************************
209 174 // <SPACEWIRE INITIALIZATION>
210 175 grspw_timecode_callback = &timecode_irq_handler;
211 176
212 177 status_spw = spacewire_open_link(); // (1) open the link
213 178 if ( status_spw != RTEMS_SUCCESSFUL )
214 179 {
215 180 PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
216 181 }
217 182
218 183 if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
219 184 {
220 185 status_spw = spacewire_configure_link( fdSPW );
221 186 if ( status_spw != RTEMS_SUCCESSFUL )
222 187 {
223 188 PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
224 189 }
225 190 }
226 191
227 192 if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
228 193 {
229 194 status_spw = spacewire_start_link( fdSPW );
230 195 if ( status_spw != RTEMS_SUCCESSFUL )
231 196 {
232 197 PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
233 198 }
234 199 }
235 200 // </SPACEWIRE INITIALIZATION>
236 201 // ***************************
237 202
238 203 status = start_all_tasks(); // start all tasks
239 204 if (status != RTEMS_SUCCESSFUL)
240 205 {
241 206 PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
242 207 }
243 208
244 209 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
245 210 status = start_recv_send_tasks();
246 211 if ( status != RTEMS_SUCCESSFUL )
247 212 {
248 213 PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
249 214 }
250 215
251 216 // suspend science tasks, they will be restarted later depending on the mode
252 217 status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
253 218 if (status != RTEMS_SUCCESSFUL)
254 219 {
255 220 PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
256 221 }
257 222
258 223 //******************************
259 224 // <SPECTRAL MATRICES SIMULATOR>
260 225 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );
261 226 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
262 227 IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );
263 228 // </SPECTRAL MATRICES SIMULATOR>
264 229 //*******************************
265 230
266 231 // configure IRQ handling for the waveform picker unit
267 232 status = rtems_interrupt_catch( waveforms_isr,
268 233 IRQ_SPARC_WAVEFORM_PICKER,
269 234 &old_isr_handler) ;
270 235 // configure IRQ handling for the spectral matrices unit
271 236 status = rtems_interrupt_catch( spectral_matrices_isr,
272 237 IRQ_SPARC_SPECTRAL_MATRIX,
273 238 &old_isr_handler) ;
274 239
275 240 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
276 241 if ( status_spw != RTEMS_SUCCESSFUL )
277 242 {
278 243 status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
279 244 if ( status != RTEMS_SUCCESSFUL ) {
280 245 PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
281 246 }
282 247 }
283 248
284 249 BOOT_PRINTF("delete INIT\n")
285 250
286 test_bp1();
287
288 251 status = rtems_task_delete(RTEMS_SELF);
289 252
290 253 }
291 254
292 255 void init_local_mode_parameters( void )
293 256 {
294 257 /** This function initialize the param_local global variable with default values.
295 258 *
296 259 */
297 260
298 261 unsigned int i;
299 262
300 263 // LOCAL PARAMETERS
301 264
302 265 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
303 266 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
304 267 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
305 268
306 269 // init sequence counters
307 270
308 271 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
309 272 {
310 273 sequenceCounters_TC_EXE[i] = 0x00;
311 274 }
312 275 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
313 276 sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
314 277 sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
315 278 sequenceCounterParameterDump = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
316 279 }
317 280
318 281 void reset_local_time( void )
319 282 {
320 283 time_management_regs->ctrl = time_management_regs->ctrl | 0x02; // [0010] software reset, coarse time = 0x80000000
321 284 }
322 285
323 286 void create_names( void ) // create all names for tasks and queues
324 287 {
325 288 /** This function creates all RTEMS names used in the software for tasks and queues.
326 289 *
327 290 * @return RTEMS directive status codes:
328 291 * - RTEMS_SUCCESSFUL - successful completion
329 292 *
330 293 */
331 294
332 295 // task names
333 296 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
334 297 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
335 298 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
336 299 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
337 300 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
338 301 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
339 302 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
340 303 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
341 304 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
342 305 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
343 306 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
344 307 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
345 308 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
346 309 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
347 310 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
348 311 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
349 312 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
350 313 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
351 314 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
352 315
353 316 // rate monotonic period names
354 317 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
355 318
356 319 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
357 320 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
358 321 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
359 322 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
360 323 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
361 324 }
362 325
363 326 int create_all_tasks( void ) // create all tasks which run in the software
364 327 {
365 328 /** This function creates all RTEMS tasks used in the software.
366 329 *
367 330 * @return RTEMS directive status codes:
368 331 * - RTEMS_SUCCESSFUL - task created successfully
369 332 * - RTEMS_INVALID_ADDRESS - id is NULL
370 333 * - RTEMS_INVALID_NAME - invalid task name
371 334 * - RTEMS_INVALID_PRIORITY - invalid task priority
372 335 * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
373 336 * - RTEMS_TOO_MANY - too many tasks created
374 337 * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
375 338 * - RTEMS_TOO_MANY - too many global objects
376 339 *
377 340 */
378 341
379 342 rtems_status_code status;
380 343
381 344 //**********
382 345 // SPACEWIRE
383 346 // RECV
384 347 status = rtems_task_create(
385 348 Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
386 349 RTEMS_DEFAULT_MODES,
387 350 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
388 351 );
389 352 if (status == RTEMS_SUCCESSFUL) // SEND
390 353 {
391 354 status = rtems_task_create(
392 355 Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
393 356 RTEMS_DEFAULT_MODES,
394 357 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
395 358 );
396 359 }
397 360 if (status == RTEMS_SUCCESSFUL) // WTDG
398 361 {
399 362 status = rtems_task_create(
400 363 Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
401 364 RTEMS_DEFAULT_MODES,
402 365 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
403 366 );
404 367 }
405 368 if (status == RTEMS_SUCCESSFUL) // ACTN
406 369 {
407 370 status = rtems_task_create(
408 371 Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
409 372 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
410 373 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
411 374 );
412 375 }
413 376 if (status == RTEMS_SUCCESSFUL) // SPIQ
414 377 {
415 378 status = rtems_task_create(
416 379 Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
417 380 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
418 381 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
419 382 );
420 383 }
421 384
422 385 //******************
423 386 // SPECTRAL MATRICES
424 387 if (status == RTEMS_SUCCESSFUL) // AVF0
425 388 {
426 389 status = rtems_task_create(
427 390 Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
428 391 RTEMS_DEFAULT_MODES,
429 392 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
430 393 );
431 394 }
432 395 if (status == RTEMS_SUCCESSFUL) // PRC0
433 396 {
434 397 status = rtems_task_create(
435 398 Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
436 399 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
437 400 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
438 401 );
439 402 }
440 403 if (status == RTEMS_SUCCESSFUL) // AVF1
441 404 {
442 405 status = rtems_task_create(
443 406 Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
444 407 RTEMS_DEFAULT_MODES,
445 408 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
446 409 );
447 410 }
448 411 if (status == RTEMS_SUCCESSFUL) // PRC1
449 412 {
450 413 status = rtems_task_create(
451 414 Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
452 415 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
453 416 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
454 417 );
455 418 }
456 419 if (status == RTEMS_SUCCESSFUL) // AVF2
457 420 {
458 421 status = rtems_task_create(
459 422 Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
460 423 RTEMS_DEFAULT_MODES,
461 424 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
462 425 );
463 426 }
464 427 if (status == RTEMS_SUCCESSFUL) // PRC2
465 428 {
466 429 status = rtems_task_create(
467 430 Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
468 431 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
469 432 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
470 433 );
471 434 }
472 435
473 436 //****************
474 437 // WAVEFORM PICKER
475 438 if (status == RTEMS_SUCCESSFUL) // WFRM
476 439 {
477 440 status = rtems_task_create(
478 441 Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
479 442 RTEMS_DEFAULT_MODES,
480 443 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
481 444 );
482 445 }
483 446 if (status == RTEMS_SUCCESSFUL) // CWF3
484 447 {
485 448 status = rtems_task_create(
486 449 Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
487 450 RTEMS_DEFAULT_MODES,
488 451 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
489 452 );
490 453 }
491 454 if (status == RTEMS_SUCCESSFUL) // CWF2
492 455 {
493 456 status = rtems_task_create(
494 457 Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
495 458 RTEMS_DEFAULT_MODES,
496 459 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
497 460 );
498 461 }
499 462 if (status == RTEMS_SUCCESSFUL) // CWF1
500 463 {
501 464 status = rtems_task_create(
502 465 Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
503 466 RTEMS_DEFAULT_MODES,
504 467 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
505 468 );
506 469 }
507 470 if (status == RTEMS_SUCCESSFUL) // SWBD
508 471 {
509 472 status = rtems_task_create(
510 473 Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
511 474 RTEMS_DEFAULT_MODES,
512 475 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
513 476 );
514 477 }
515 478
516 479 //*****
517 480 // MISC
518 481 if (status == RTEMS_SUCCESSFUL) // STAT
519 482 {
520 483 status = rtems_task_create(
521 484 Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
522 485 RTEMS_DEFAULT_MODES,
523 486 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
524 487 );
525 488 }
526 489 if (status == RTEMS_SUCCESSFUL) // DUMB
527 490 {
528 491 status = rtems_task_create(
529 492 Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
530 493 RTEMS_DEFAULT_MODES,
531 494 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
532 495 );
533 496 }
534 497 if (status == RTEMS_SUCCESSFUL) // HOUS
535 498 {
536 499 status = rtems_task_create(
537 500 Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
538 501 RTEMS_DEFAULT_MODES,
539 502 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
540 503 );
541 504 }
542 505
543 506 return status;
544 507 }
545 508
546 509 int start_recv_send_tasks( void )
547 510 {
548 511 rtems_status_code status;
549 512
550 513 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
551 514 if (status!=RTEMS_SUCCESSFUL) {
552 515 BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
553 516 }
554 517
555 518 if (status == RTEMS_SUCCESSFUL) // SEND
556 519 {
557 520 status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
558 521 if (status!=RTEMS_SUCCESSFUL) {
559 522 BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
560 523 }
561 524 }
562 525
563 526 return status;
564 527 }
565 528
566 529 int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
567 530 {
568 531 /** This function starts all RTEMS tasks used in the software.
569 532 *
570 533 * @return RTEMS directive status codes:
571 534 * - RTEMS_SUCCESSFUL - ask started successfully
572 535 * - RTEMS_INVALID_ADDRESS - invalid task entry point
573 536 * - RTEMS_INVALID_ID - invalid task id
574 537 * - RTEMS_INCORRECT_STATE - task not in the dormant state
575 538 * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
576 539 *
577 540 */
578 541 // starts all the tasks fot eh flight software
579 542
580 543 rtems_status_code status;
581 544
582 545 //**********
583 546 // SPACEWIRE
584 547 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
585 548 if (status!=RTEMS_SUCCESSFUL) {
586 549 BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
587 550 }
588 551
589 552 if (status == RTEMS_SUCCESSFUL) // WTDG
590 553 {
591 554 status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
592 555 if (status!=RTEMS_SUCCESSFUL) {
593 556 BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
594 557 }
595 558 }
596 559
597 560 if (status == RTEMS_SUCCESSFUL) // ACTN
598 561 {
599 562 status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
600 563 if (status!=RTEMS_SUCCESSFUL) {
601 564 BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
602 565 }
603 566 }
604 567
605 568 //******************
606 569 // SPECTRAL MATRICES
607 570 if (status == RTEMS_SUCCESSFUL) // AVF0
608 571 {
609 572 status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
610 573 if (status!=RTEMS_SUCCESSFUL) {
611 574 BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
612 575 }
613 576 }
614 577 if (status == RTEMS_SUCCESSFUL) // PRC0
615 578 {
616 579 status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
617 580 if (status!=RTEMS_SUCCESSFUL) {
618 581 BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
619 582 }
620 583 }
621 584 if (status == RTEMS_SUCCESSFUL) // AVF1
622 585 {
623 586 status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
624 587 if (status!=RTEMS_SUCCESSFUL) {
625 588 BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
626 589 }
627 590 }
628 591 if (status == RTEMS_SUCCESSFUL) // PRC1
629 592 {
630 593 status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
631 594 if (status!=RTEMS_SUCCESSFUL) {
632 595 BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
633 596 }
634 597 }
635 598 if (status == RTEMS_SUCCESSFUL) // AVF2
636 599 {
637 600 status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
638 601 if (status!=RTEMS_SUCCESSFUL) {
639 602 BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
640 603 }
641 604 }
642 605 if (status == RTEMS_SUCCESSFUL) // PRC2
643 606 {
644 607 status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
645 608 if (status!=RTEMS_SUCCESSFUL) {
646 609 BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
647 610 }
648 611 }
649 612
650 613 //****************
651 614 // WAVEFORM PICKER
652 615 if (status == RTEMS_SUCCESSFUL) // WFRM
653 616 {
654 617 status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
655 618 if (status!=RTEMS_SUCCESSFUL) {
656 619 BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
657 620 }
658 621 }
659 622 if (status == RTEMS_SUCCESSFUL) // CWF3
660 623 {
661 624 status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
662 625 if (status!=RTEMS_SUCCESSFUL) {
663 626 BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
664 627 }
665 628 }
666 629 if (status == RTEMS_SUCCESSFUL) // CWF2
667 630 {
668 631 status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
669 632 if (status!=RTEMS_SUCCESSFUL) {
670 633 BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
671 634 }
672 635 }
673 636 if (status == RTEMS_SUCCESSFUL) // CWF1
674 637 {
675 638 status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
676 639 if (status!=RTEMS_SUCCESSFUL) {
677 640 BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
678 641 }
679 642 }
680 643 if (status == RTEMS_SUCCESSFUL) // SWBD
681 644 {
682 645 status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
683 646 if (status!=RTEMS_SUCCESSFUL) {
684 647 BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
685 648 }
686 649 }
687 650
688 651 //*****
689 652 // MISC
690 653 if (status == RTEMS_SUCCESSFUL) // HOUS
691 654 {
692 655 status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
693 656 if (status!=RTEMS_SUCCESSFUL) {
694 657 BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
695 658 }
696 659 }
697 660 if (status == RTEMS_SUCCESSFUL) // DUMB
698 661 {
699 662 status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
700 663 if (status!=RTEMS_SUCCESSFUL) {
701 664 BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
702 665 }
703 666 }
704 667 if (status == RTEMS_SUCCESSFUL) // STAT
705 668 {
706 669 status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
707 670 if (status!=RTEMS_SUCCESSFUL) {
708 671 BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
709 672 }
710 673 }
711 674
712 675 return status;
713 676 }
714 677
715 678 rtems_status_code create_message_queues( void ) // create the two message queues used in the software
716 679 {
717 680 rtems_status_code status_recv;
718 681 rtems_status_code status_send;
719 682 rtems_status_code status_q_p0;
720 683 rtems_status_code status_q_p1;
721 684 rtems_status_code status_q_p2;
722 685 rtems_status_code ret;
723 686 rtems_id queue_id;
724 687
725 688 //****************************************
726 689 // create the queue for handling valid TCs
727 690 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
728 691 MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
729 692 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
730 693 if ( status_recv != RTEMS_SUCCESSFUL ) {
731 694 PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
732 695 }
733 696
734 697 //************************************************
735 698 // create the queue for handling TM packet sending
736 699 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
737 700 MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
738 701 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
739 702 if ( status_send != RTEMS_SUCCESSFUL ) {
740 703 PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
741 704 }
742 705
743 706 //*****************************************************************************
744 707 // create the queue for handling averaged spectral matrices for processing @ f0
745 708 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
746 709 MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
747 710 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
748 711 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
749 712 PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
750 713 }
751 714
752 715 //*****************************************************************************
753 716 // create the queue for handling averaged spectral matrices for processing @ f1
754 717 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
755 718 MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
756 719 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
757 720 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
758 721 PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
759 722 }
760 723
761 724 //*****************************************************************************
762 725 // create the queue for handling averaged spectral matrices for processing @ f2
763 726 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
764 727 MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
765 728 RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
766 729 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
767 730 PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
768 731 }
769 732
770 733 if ( status_recv != RTEMS_SUCCESSFUL )
771 734 {
772 735 ret = status_recv;
773 736 }
774 737 else if( status_send != RTEMS_SUCCESSFUL )
775 738 {
776 739 ret = status_send;
777 740 }
778 741 else if( status_q_p0 != RTEMS_SUCCESSFUL )
779 742 {
780 743 ret = status_q_p0;
781 744 }
782 745 else if( status_q_p1 != RTEMS_SUCCESSFUL )
783 746 {
784 747 ret = status_q_p1;
785 748 }
786 749 else
787 750 {
788 751 ret = status_q_p2;
789 752 }
790 753
791 754 return ret;
792 755 }
793 756
794 757 rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
795 758 {
796 759 rtems_status_code status;
797 760 rtems_name queue_name;
798 761
799 762 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
800 763
801 764 status = rtems_message_queue_ident( queue_name, 0, queue_id );
802 765
803 766 return status;
804 767 }
805 768
806 769 rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
807 770 {
808 771 rtems_status_code status;
809 772 rtems_name queue_name;
810 773
811 774 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
812 775
813 776 status = rtems_message_queue_ident( queue_name, 0, queue_id );
814 777
815 778 return status;
816 779 }
817 780
818 781 rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
819 782 {
820 783 rtems_status_code status;
821 784 rtems_name queue_name;
822 785
823 786 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
824 787
825 788 status = rtems_message_queue_ident( queue_name, 0, queue_id );
826 789
827 790 return status;
828 791 }
829 792
830 793 rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
831 794 {
832 795 rtems_status_code status;
833 796 rtems_name queue_name;
834 797
835 798 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
836 799
837 800 status = rtems_message_queue_ident( queue_name, 0, queue_id );
838 801
839 802 return status;
840 803 }
841 804
842 805 rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
843 806 {
844 807 rtems_status_code status;
845 808 rtems_name queue_name;
846 809
847 810 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
848 811
849 812 status = rtems_message_queue_ident( queue_name, 0, queue_id );
850 813
851 814 return status;
852 815 }
853 816
854 817 void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
855 818 {
856 819 u_int32_t count;
857 820 rtems_status_code status;
858 821
859 822 status = rtems_message_queue_get_number_pending( queue_id, &count );
860 823
861 824 count = count + 1;
862 825
863 826 if (status != RTEMS_SUCCESSFUL)
864 827 {
865 828 PRINTF1("in update_queue_max_count *** ERR = %d\n", status)
866 829 }
867 830 else
868 831 {
869 832 if (count > *fifo_size_max)
870 833 {
871 834 *fifo_size_max = count;
872 835 }
873 836 }
874 837 }
875 838
876 839 void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
877 840 {
878 841 unsigned char i;
879 842
880 843 //***************
881 844 // BUFFER ADDRESS
882 845 for(i=0; i<nbNodes; i++)
883 846 {
884 847 ring[i].coarseTime = 0xffffffff;
885 848 ring[i].fineTime = 0xffffffff;
886 849 ring[i].sid = 0x00;
887 850 ring[i].status = 0x00;
888 851 ring[i].buffer_address = (int) &buffer[ i * bufferSize ];
889 852 }
890 853
891 854 //*****
892 855 // NEXT
893 856 ring[ nbNodes - 1 ].next = (ring_node*) &ring[ 0 ];
894 857 for(i=0; i<nbNodes-1; i++)
895 858 {
896 859 ring[i].next = (ring_node*) &ring[ i + 1 ];
897 860 }
898 861
899 862 //*********
900 863 // PREVIOUS
901 864 ring[ 0 ].previous = (ring_node*) &ring[ nbNodes - 1 ];
902 865 for(i=1; i<nbNodes; i++)
903 866 {
904 867 ring[i].previous = (ring_node*) &ring[ i - 1 ];
905 868 }
906 869 }
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