##// END OF EJS Templates
HG_REPOSITORIES » LPP » INSTRUMENTATION » USERS » JEANDET » LFR_FSW
RSS

Fork of HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE

Clone from https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE

hk_lfr_time_not_synchro is updated each time the synchro is lost....
paul -
r249:43d4aa6b8829 R3a
parent child
Show More
Show file before | Show file after | Hide comments
@@ -1,78 +1,79
1 1 #ifndef FSW_MISC_H_INCLUDED
2 2 #define FSW_MISC_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <stdio.h>
6 6 #include <grspw.h>
7 7 #include <grlib_regs.h>
8 8
9 9 #include "fsw_params.h"
10 10 #include "fsw_spacewire.h"
11 11 #include "lfr_cpu_usage_report.h"
12 12
13 13 enum lfr_reset_cause_t{
14 14 UNKNOWN_CAUSE,
15 15 POWER_ON,
16 16 TC_RESET,
17 17 WATCHDOG,
18 18 ERROR_RESET,
19 19 UNEXP_RESET
20 20 };
21 21
22 22 extern gptimer_regs_t *gptimer_regs;
23 23
24 24 #define LFR_RESET_CAUSE_UNKNOWN_CAUSE 0
25 25
26 26 rtems_name name_hk_rate_monotonic; // name of the HK rate monotonic
27 27 rtems_id HK_id; // id of the HK rate monotonic period
28 28
29 29 void timer_configure( unsigned char timer, unsigned int clock_divider,
30 30 unsigned char interrupt_level, rtems_isr (*timer_isr)() );
31 31 void timer_start( unsigned char timer );
32 32 void timer_stop( unsigned char timer );
33 33 void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider);
34 34
35 35 // WATCHDOG
36 36 rtems_isr watchdog_isr( rtems_vector_number vector );
37 37 void watchdog_configure(void);
38 38 void watchdog_stop(void);
39 39 void watchdog_start(void);
40 40
41 41 // SERIAL LINK
42 42 int send_console_outputs_on_apbuart_port( void );
43 43 int enable_apbuart_transmitter( void );
44 44 void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value);
45 45
46 46 // RTEMS TASKS
47 47 rtems_task load_task( rtems_task_argument argument );
48 48 rtems_task hous_task( rtems_task_argument argument );
49 49 rtems_task dumb_task( rtems_task_argument unused );
50 50
51 51 void init_housekeeping_parameters( void );
52 52 void increment_seq_counter(unsigned short *packetSequenceControl);
53 53 void getTime( unsigned char *time);
54 54 unsigned long long int getTimeAsUnsignedLongLongInt( );
55 55 void send_dumb_hk( void );
56 56 void get_temperatures( unsigned char *temperatures );
57 57 void get_v_e1_e2_f3( unsigned char *spacecraft_potential );
58 58 void get_cpu_load( unsigned char *resource_statistics );
59 59 void set_hk_lfr_sc_potential_flag( bool state );
60 60 void set_hk_lfr_mag_fields_flag( bool state );
61 61 void set_hk_lfr_calib_enable( bool state );
62 62 void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause );
63 63 void hk_lfr_le_me_he_update();
64 void set_hk_lfr_time_not_synchro();
64 65
65 66 extern int sched_yield( void );
66 67 extern void rtems_cpu_usage_reset();
67 68 extern ring_node *current_ring_node_f3;
68 69 extern ring_node *ring_node_to_send_cwf_f3;
69 70 extern ring_node waveform_ring_f3[];
70 71 extern unsigned short sequenceCounterHK;
71 72
72 73 extern unsigned char hk_lfr_q_sd_fifo_size_max;
73 74 extern unsigned char hk_lfr_q_rv_fifo_size_max;
74 75 extern unsigned char hk_lfr_q_p0_fifo_size_max;
75 76 extern unsigned char hk_lfr_q_p1_fifo_size_max;
76 77 extern unsigned char hk_lfr_q_p2_fifo_size_max;
77 78
78 79 #endif // FSW_MISC_H_INCLUDED
Show file before | Show file after | Hide comments
@@ -1,56 +1,56
1 1 #ifndef FSW_SPACEWIRE_H_INCLUDED
2 2 #define FSW_SPACEWIRE_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <grspw.h>
6 6
7 7 #include <fcntl.h> // for O_RDWR
8 8 #include <unistd.h> // for the read call
9 9 #include <sys/ioctl.h> // for the ioctl call
10 10 #include <errno.h>
11 11
12 12 #include "fsw_params.h"
13 13 #include "tc_handler.h"
14 14 #include "fsw_init.h"
15 15
16 16 extern spw_stats spacewire_stats;
17 17 extern spw_stats spacewire_stats_backup;
18 18 extern rtems_name timecode_timer_name;
19 19 extern rtems_id timecode_timer_id;
20 20
21 21 // RTEMS TASK
22 22 rtems_task spiq_task( rtems_task_argument argument );
23 23 rtems_task recv_task( rtems_task_argument unused );
24 24 rtems_task send_task( rtems_task_argument argument );
25 25 rtems_task wtdg_task( rtems_task_argument argument );
26 26
27 27 int spacewire_open_link( void );
28 28 int spacewire_start_link( int fd );
29 29 int spacewire_stop_and_start_link( int fd );
30 30 int spacewire_configure_link(int fd );
31 31 int spacewire_reset_link( void );
32 32 void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
33 33 void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
34 34 void spacewire_compute_stats_offsets( void );
35 35 void spacewire_update_statistics( void );
36 void increase_an_unsigned_char_counter( unsigned char *counter );
36 void increase_unsigned_char_counter( unsigned char *counter );
37 37
38 38 void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header );
39 39 void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header );
40 40 void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header );
41 41 int spw_send_waveform_CWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header );
42 42 int spw_send_waveform_SWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_SWF_t *header );
43 43 int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header );
44 44 void spw_send_asm_f0( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
45 45 void spw_send_asm_f1( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
46 46 void spw_send_asm_f2( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
47 47 void spw_send_k_dump( ring_node *ring_node_to_send );
48 48
49 49 rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data );
50 50 unsigned int check_timecode_and_previous_timecode_coherency(unsigned char currentTimecodeCtr);
51 51 unsigned int check_timecode_and_internal_time_coherency(unsigned char timecode, unsigned char internalTime);
52 52 void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
53 53
54 54 void (*grspw_timecode_callback) ( void *pDev, void *regs, int minor, unsigned int tc );
55 55
56 56 #endif // FSW_SPACEWIRE_H_INCLUDED
Show file before | Show file after | Hide comments
@@ -1,705 +1,742
1 1 /** General usage functions and RTEMS tasks.
2 2 *
3 3 * @file
4 4 * @author P. LEROY
5 5 *
6 6 */
7 7
8 8 #include "fsw_misc.h"
9 9
10 10 void timer_configure(unsigned char timer, unsigned int clock_divider,
11 11 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
12 12 {
13 13 /** This function configures a GPTIMER timer instantiated in the VHDL design.
14 14 *
15 15 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
16 16 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
17 17 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
18 18 * @param interrupt_level is the interrupt level that the timer drives.
19 19 * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
20 20 *
21 21 * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
22 22 *
23 23 */
24 24
25 25 rtems_status_code status;
26 26 rtems_isr_entry old_isr_handler;
27 27
28 28 gptimer_regs->timer[timer].ctrl = 0x00; // reset the control register
29 29
30 30 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
31 31 if (status!=RTEMS_SUCCESSFUL)
32 32 {
33 33 PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
34 34 }
35 35
36 36 timer_set_clock_divider( timer, clock_divider);
37 37 }
38 38
39 39 void timer_start(unsigned char timer)
40 40 {
41 41 /** This function starts a GPTIMER timer.
42 42 *
43 43 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
44 44 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
45 45 *
46 46 */
47 47
48 48 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any
49 49 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004; // LD load value from the reload register
50 50 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001; // EN enable the timer
51 51 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002; // RS restart
52 52 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008; // IE interrupt enable
53 53 }
54 54
55 55 void timer_stop(unsigned char timer)
56 56 {
57 57 /** This function stops a GPTIMER timer.
58 58 *
59 59 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
60 60 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
61 61 *
62 62 */
63 63
64 64 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe; // EN enable the timer
65 65 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef; // IE interrupt enable
66 66 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any
67 67 }
68 68
69 69 void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider)
70 70 {
71 71 /** This function sets the clock divider of a GPTIMER timer.
72 72 *
73 73 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
74 74 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
75 75 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
76 76 *
77 77 */
78 78
79 79 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
80 80 }
81 81
82 82 // WATCHDOG
83 83
84 84 rtems_isr watchdog_isr( rtems_vector_number vector )
85 85 {
86 86 rtems_status_code status_code;
87 87
88 88 status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_12 );
89 89 }
90 90
91 91 void watchdog_configure(void)
92 92 {
93 93 /** This function configure the watchdog.
94 94 *
95 95 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
96 96 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
97 97 *
98 98 * The watchdog is a timer provided by the GPTIMER IP core of the GRLIB.
99 99 *
100 100 */
101 101
102 102 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG ); // mask gptimer/watchdog interrupt during configuration
103 103
104 104 timer_configure( TIMER_WATCHDOG, CLKDIV_WATCHDOG, IRQ_SPARC_GPTIMER_WATCHDOG, watchdog_isr );
105 105
106 106 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG ); // clear gptimer/watchdog interrupt
107 107 }
108 108
109 109 void watchdog_stop(void)
110 110 {
111 111 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG ); // mask gptimer/watchdog interrupt line
112 112 timer_stop( TIMER_WATCHDOG );
113 113 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG ); // clear gptimer/watchdog interrupt
114 114 }
115 115
116 116 void watchdog_reload(void)
117 117 {
118 118 /** This function reloads the watchdog timer counter with the timer reload value.
119 119 *
120 120 *
121 121 */
122 122
123 123 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000004; // LD load value from the reload register
124 124 }
125 125
126 126 void watchdog_start(void)
127 127 {
128 128 /** This function starts the watchdog timer.
129 129 *
130 130 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
131 131 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
132 132 *
133 133 */
134 134
135 135 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );
136 136
137 137 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000010; // clear pending IRQ if any
138 138 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000004; // LD load value from the reload register
139 139 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000001; // EN enable the timer
140 140 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000008; // IE interrupt enable
141 141
142 142 LEON_Unmask_interrupt( IRQ_GPTIMER_WATCHDOG );
143 143
144 144 }
145 145
146 146 int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
147 147 {
148 148 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
149 149
150 150 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
151 151
152 152 return 0;
153 153 }
154 154
155 155 int enable_apbuart_transmitter( void ) // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
156 156 {
157 157 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
158 158
159 159 apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE;
160 160
161 161 return 0;
162 162 }
163 163
164 164 void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
165 165 {
166 166 /** This function sets the scaler reload register of the apbuart module
167 167 *
168 168 * @param regs is the address of the apbuart registers in memory
169 169 * @param value is the value that will be stored in the scaler register
170 170 *
171 171 * The value shall be set by the software to get data on the serial interface.
172 172 *
173 173 */
174 174
175 175 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
176 176
177 177 apbuart_regs->scaler = value;
178 178 BOOT_PRINTF1("OK *** apbuart port scaler reload register set to 0x%x\n", value)
179 179 }
180 180
181 181 //************
182 182 // RTEMS TASKS
183 183
184 184 rtems_task load_task(rtems_task_argument argument)
185 185 {
186 186 BOOT_PRINTF("in LOAD *** \n")
187 187
188 188 rtems_status_code status;
189 189 unsigned int i;
190 190 unsigned int j;
191 191 rtems_name name_watchdog_rate_monotonic; // name of the watchdog rate monotonic
192 192 rtems_id watchdog_period_id; // id of the watchdog rate monotonic period
193 193
194 194 name_watchdog_rate_monotonic = rtems_build_name( 'L', 'O', 'A', 'D' );
195 195
196 196 status = rtems_rate_monotonic_create( name_watchdog_rate_monotonic, &watchdog_period_id );
197 197 if( status != RTEMS_SUCCESSFUL ) {
198 198 PRINTF1( "in LOAD *** rtems_rate_monotonic_create failed with status of %d\n", status )
199 199 }
200 200
201 201 i = 0;
202 202 j = 0;
203 203
204 204 watchdog_configure();
205 205
206 206 watchdog_start();
207 207
208 208 while(1){
209 209 status = rtems_rate_monotonic_period( watchdog_period_id, WATCHDOG_PERIOD );
210 210 watchdog_reload();
211 211 i = i + 1;
212 212 if ( i == 10 )
213 213 {
214 214 i = 0;
215 215 j = j + 1;
216 216 PRINTF1("%d\n", j)
217 217 }
218 218 #ifdef DEBUG_WATCHDOG
219 219 if (j == 3 )
220 220 {
221 221 status = rtems_task_delete(RTEMS_SELF);
222 222 }
223 223 #endif
224 224 }
225 225 }
226 226
227 227 rtems_task hous_task(rtems_task_argument argument)
228 228 {
229 229 rtems_status_code status;
230 230 rtems_status_code spare_status;
231 231 rtems_id queue_id;
232 232 rtems_rate_monotonic_period_status period_status;
233 233
234 234 status = get_message_queue_id_send( &queue_id );
235 235 if (status != RTEMS_SUCCESSFUL)
236 236 {
237 237 PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
238 238 }
239 239
240 240 BOOT_PRINTF("in HOUS ***\n")
241 241
242 242 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
243 243 status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
244 244 if( status != RTEMS_SUCCESSFUL ) {
245 245 PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
246 246 }
247 247 }
248 248
249 249 status = rtems_rate_monotonic_cancel(HK_id);
250 250 if( status != RTEMS_SUCCESSFUL ) {
251 251 PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
252 252 }
253 253 else {
254 254 DEBUG_PRINTF("OK *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
255 255 }
256 256
257 257 // startup phase
258 258 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
259 259 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
260 260 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
261 261 while(period_status.state != RATE_MONOTONIC_EXPIRED ) // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
262 262 {
263 263 if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization
264 264 {
265 265 break; // break if LFR is synchronized
266 266 }
267 267 else
268 268 {
269 269 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
270 270 // sched_yield();
271 271 status = rtems_task_wake_after( 10 ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 100 ms = 10 * 10 ms
272 272 }
273 273 }
274 274 status = rtems_rate_monotonic_cancel(HK_id);
275 275 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
276 276
277 277 set_hk_lfr_reset_cause( POWER_ON );
278 278
279 279 while(1){ // launch the rate monotonic task
280 280 status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
281 281 if ( status != RTEMS_SUCCESSFUL ) {
282 282 PRINTF1( "in HOUS *** ERR period: %d\n", status);
283 283 spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
284 284 }
285 285 else {
286 286 housekeeping_packet.packetSequenceControl[0] = (unsigned char) (sequenceCounterHK >> 8);
287 287 housekeeping_packet.packetSequenceControl[1] = (unsigned char) (sequenceCounterHK );
288 288 increment_seq_counter( &sequenceCounterHK );
289 289
290 290 housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
291 291 housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
292 292 housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
293 293 housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
294 294 housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
295 295 housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
296 296
297 297 spacewire_update_statistics();
298 298
299 299 hk_lfr_le_me_he_update();
300 300
301 set_hk_lfr_time_not_synchro();
302
301 303 housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max;
302 304 housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max;
303 305 housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max;
304 306 housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max;
305 307 housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max;
306 308
307 309 housekeeping_packet.sy_lfr_common_parameters_spare = parameter_dump_packet.sy_lfr_common_parameters_spare;
308 310 housekeeping_packet.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
309 311 get_temperatures( housekeeping_packet.hk_lfr_temp_scm );
310 312 get_v_e1_e2_f3( housekeeping_packet.hk_lfr_sc_v_f3 );
311 313 get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
312 314
313 315 // SEND PACKET
314 316 status = rtems_message_queue_send( queue_id, &housekeeping_packet,
315 317 PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
316 318 if (status != RTEMS_SUCCESSFUL) {
317 319 PRINTF1("in HOUS *** ERR send: %d\n", status)
318 320 }
319 321 }
320 322 }
321 323
322 324 PRINTF("in HOUS *** deleting task\n")
323 325
324 326 status = rtems_task_delete( RTEMS_SELF ); // should not return
325 327
326 328 return;
327 329 }
328 330
329 331 rtems_task dumb_task( rtems_task_argument unused )
330 332 {
331 333 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
332 334 *
333 335 * @param unused is the starting argument of the RTEMS task
334 336 *
335 337 * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
336 338 *
337 339 */
338 340
339 341 unsigned int i;
340 342 unsigned int intEventOut;
341 343 unsigned int coarse_time = 0;
342 344 unsigned int fine_time = 0;
343 345 rtems_event_set event_out;
344 346
345 347 char *DumbMessages[14] = {"in DUMB *** default", // RTEMS_EVENT_0
346 348 "in DUMB *** timecode_irq_handler", // RTEMS_EVENT_1
347 349 "in DUMB *** f3 buffer changed", // RTEMS_EVENT_2
348 350 "in DUMB *** in SMIQ *** Error sending event to AVF0", // RTEMS_EVENT_3
349 351 "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ", // RTEMS_EVENT_4
350 352 "in DUMB *** waveforms_simulator_isr", // RTEMS_EVENT_5
351 353 "VHDL SM *** two buffers f0 ready", // RTEMS_EVENT_6
352 354 "ready for dump", // RTEMS_EVENT_7
353 355 "VHDL ERR *** spectral matrix", // RTEMS_EVENT_8
354 356 "tick", // RTEMS_EVENT_9
355 357 "VHDL ERR *** waveform picker", // RTEMS_EVENT_10
356 358 "VHDL ERR *** unexpected ready matrix values", // RTEMS_EVENT_11
357 359 "WATCHDOG timer", // RTEMS_EVENT_12
358 360 "TIMECODE timer" // RTEMS_EVENT_13
359 361 };
360 362
361 363 BOOT_PRINTF("in DUMB *** \n")
362 364
363 365 while(1){
364 366 rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
365 367 | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
366 368 | RTEMS_EVENT_8 | RTEMS_EVENT_9 | RTEMS_EVENT_12 | RTEMS_EVENT_13,
367 369 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
368 370 intEventOut = (unsigned int) event_out;
369 371 for ( i=0; i<32; i++)
370 372 {
371 373 if ( ((intEventOut >> i) & 0x0001) != 0)
372 374 {
373 375 coarse_time = time_management_regs->coarse_time;
374 376 fine_time = time_management_regs->fine_time;
375 377 if (i==12)
376 378 {
377 379 PRINTF1("%s\n", DumbMessages[12])
378 380 }
379 381 if (i==13)
380 382 {
381 383 PRINTF1("%s\n", DumbMessages[13])
382 384 }
383 385 }
384 386 }
385 387 }
386 388 }
387 389
388 390 //*****************************
389 391 // init housekeeping parameters
390 392
391 393 void init_housekeeping_parameters( void )
392 394 {
393 395 /** This function initialize the housekeeping_packet global variable with default values.
394 396 *
395 397 */
396 398
397 399 unsigned int i = 0;
398 400 unsigned char *parameters;
399 401 unsigned char sizeOfHK;
400 402
401 403 sizeOfHK = sizeof( Packet_TM_LFR_HK_t );
402 404
403 405 parameters = (unsigned char*) &housekeeping_packet;
404 406
405 407 for(i = 0; i< sizeOfHK; i++)
406 408 {
407 409 parameters[i] = 0x00;
408 410 }
409 411
410 412 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
411 413 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
412 414 housekeeping_packet.reserved = DEFAULT_RESERVED;
413 415 housekeeping_packet.userApplication = CCSDS_USER_APP;
414 416 housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
415 417 housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK);
416 418 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
417 419 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
418 420 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
419 421 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK );
420 422 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
421 423 housekeeping_packet.serviceType = TM_TYPE_HK;
422 424 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
423 425 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
424 426 housekeeping_packet.sid = SID_HK;
425 427
426 428 // init status word
427 429 housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
428 430 housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
429 431 // init software version
430 432 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
431 433 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
432 434 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
433 435 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
434 436 // init fpga version
435 437 parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
436 438 housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1
437 439 housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2
438 440 housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3
439 441
440 442 housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND;
441 443 housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV;
442 444 housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0;
443 445 housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1;
444 446 housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2;
445 447 }
446 448
447 449 void increment_seq_counter( unsigned short *packetSequenceControl )
448 450 {
449 451 /** This function increment the sequence counter passes in argument.
450 452 *
451 453 * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
452 454 *
453 455 */
454 456
455 457 unsigned short segmentation_grouping_flag;
456 458 unsigned short sequence_cnt;
457 459
458 460 segmentation_grouping_flag = TM_PACKET_SEQ_CTRL_STANDALONE << 8; // keep bits 7 downto 6
459 461 sequence_cnt = (*packetSequenceControl) & 0x3fff; // [0011 1111 1111 1111]
460 462
461 463 if ( sequence_cnt < SEQ_CNT_MAX)
462 464 {
463 465 sequence_cnt = sequence_cnt + 1;
464 466 }
465 467 else
466 468 {
467 469 sequence_cnt = 0;
468 470 }
469 471
470 472 *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ;
471 473 }
472 474
473 475 void getTime( unsigned char *time)
474 476 {
475 477 /** This function write the current local time in the time buffer passed in argument.
476 478 *
477 479 */
478 480
479 481 time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
480 482 time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
481 483 time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
482 484 time[3] = (unsigned char) (time_management_regs->coarse_time);
483 485 time[4] = (unsigned char) (time_management_regs->fine_time>>8);
484 486 time[5] = (unsigned char) (time_management_regs->fine_time);
485 487 }
486 488
487 489 unsigned long long int getTimeAsUnsignedLongLongInt( )
488 490 {
489 491 /** This function write the current local time in the time buffer passed in argument.
490 492 *
491 493 */
492 494 unsigned long long int time;
493 495
494 496 time = ( (unsigned long long int) (time_management_regs->coarse_time & 0x7fffffff) << 16 )
495 497 + time_management_regs->fine_time;
496 498
497 499 return time;
498 500 }
499 501
500 502 void send_dumb_hk( void )
501 503 {
502 504 Packet_TM_LFR_HK_t dummy_hk_packet;
503 505 unsigned char *parameters;
504 506 unsigned int i;
505 507 rtems_id queue_id;
506 508
507 509 dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
508 510 dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
509 511 dummy_hk_packet.reserved = DEFAULT_RESERVED;
510 512 dummy_hk_packet.userApplication = CCSDS_USER_APP;
511 513 dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
512 514 dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK);
513 515 dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
514 516 dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
515 517 dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
516 518 dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK );
517 519 dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
518 520 dummy_hk_packet.serviceType = TM_TYPE_HK;
519 521 dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK;
520 522 dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND;
521 523 dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
522 524 dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
523 525 dummy_hk_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
524 526 dummy_hk_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
525 527 dummy_hk_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
526 528 dummy_hk_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
527 529 dummy_hk_packet.sid = SID_HK;
528 530
529 531 // init status word
530 532 dummy_hk_packet.lfr_status_word[0] = 0xff;
531 533 dummy_hk_packet.lfr_status_word[1] = 0xff;
532 534 // init software version
533 535 dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1;
534 536 dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2;
535 537 dummy_hk_packet.lfr_sw_version[2] = SW_VERSION_N3;
536 538 dummy_hk_packet.lfr_sw_version[3] = SW_VERSION_N4;
537 539 // init fpga version
538 540 parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0);
539 541 dummy_hk_packet.lfr_fpga_version[0] = parameters[1]; // n1
540 542 dummy_hk_packet.lfr_fpga_version[1] = parameters[2]; // n2
541 543 dummy_hk_packet.lfr_fpga_version[2] = parameters[3]; // n3
542 544
543 545 parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load;
544 546
545 547 for (i=0; i<100; i++)
546 548 {
547 549 parameters[i] = 0xff;
548 550 }
549 551
550 552 get_message_queue_id_send( &queue_id );
551 553
552 554 rtems_message_queue_send( queue_id, &dummy_hk_packet,
553 555 PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
554 556 }
555 557
556 558 void get_temperatures( unsigned char *temperatures )
557 559 {
558 560 unsigned char* temp_scm_ptr;
559 561 unsigned char* temp_pcb_ptr;
560 562 unsigned char* temp_fpga_ptr;
561 563
562 564 // SEL1 SEL0
563 565 // 0 0 => PCB
564 566 // 0 1 => FPGA
565 567 // 1 0 => SCM
566 568
567 569 temp_scm_ptr = (unsigned char *) &time_management_regs->temp_scm;
568 570 temp_pcb_ptr = (unsigned char *) &time_management_regs->temp_pcb;
569 571 temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga;
570 572
571 573 temperatures[0] = temp_scm_ptr[2];
572 574 temperatures[1] = temp_scm_ptr[3];
573 575 temperatures[2] = temp_pcb_ptr[2];
574 576 temperatures[3] = temp_pcb_ptr[3];
575 577 temperatures[4] = temp_fpga_ptr[2];
576 578 temperatures[5] = temp_fpga_ptr[3];
577 579 }
578 580
579 581 void get_v_e1_e2_f3( unsigned char *spacecraft_potential )
580 582 {
581 583 unsigned char* v_ptr;
582 584 unsigned char* e1_ptr;
583 585 unsigned char* e2_ptr;
584 586
585 587 v_ptr = (unsigned char *) &waveform_picker_regs->v;
586 588 e1_ptr = (unsigned char *) &waveform_picker_regs->e1;
587 589 e2_ptr = (unsigned char *) &waveform_picker_regs->e2;
588 590
589 591 spacecraft_potential[0] = v_ptr[2];
590 592 spacecraft_potential[1] = v_ptr[3];
591 593 spacecraft_potential[2] = e1_ptr[2];
592 594 spacecraft_potential[3] = e1_ptr[3];
593 595 spacecraft_potential[4] = e2_ptr[2];
594 596 spacecraft_potential[5] = e2_ptr[3];
595 597 }
596 598
597 599 void get_cpu_load( unsigned char *resource_statistics )
598 600 {
599 601 unsigned char cpu_load;
600 602
601 603 cpu_load = lfr_rtems_cpu_usage_report();
602 604
603 605 // HK_LFR_CPU_LOAD
604 606 resource_statistics[0] = cpu_load;
605 607
606 608 // HK_LFR_CPU_LOAD_MAX
607 609 if (cpu_load > resource_statistics[1])
608 610 {
609 611 resource_statistics[1] = cpu_load;
610 612 }
611 613
612 614 // CPU_LOAD_AVE
613 615 resource_statistics[2] = 0;
614 616
615 617 #ifndef PRINT_TASK_STATISTICS
616 618 rtems_cpu_usage_reset();
617 619 #endif
618 620
619 621 }
620 622
621 623 void set_hk_lfr_sc_potential_flag( bool state )
622 624 {
623 625 if (state == true)
624 626 {
625 627 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x40; // [0100 0000]
626 628 }
627 629 else
628 630 {
629 631 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xbf; // [1011 1111]
630 632 }
631 633 }
632 634
633 635 void set_hk_lfr_mag_fields_flag( bool state )
634 636 {
635 637 if (state == true)
636 638 {
637 639 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x20; // [0010 0000]
638 640 }
639 641 else
640 642 {
641 643 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xd7; // [1101 1111]
642 644 }
643 645 }
644 646
645 647 void set_hk_lfr_calib_enable( bool state )
646 648 {
647 649 if (state == true)
648 650 {
649 651 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x08; // [0000 1000]
650 652 }
651 653 else
652 654 {
653 655 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xf7; // [1111 0111]
654 656 }
655 657 }
656 658
657 659 void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause )
658 660 {
659 661 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1]
660 662 | (lfr_reset_cause & 0x07 ); // [0000 0111]
661 663 }
662 664
663 665 void hk_lfr_le_me_he_update()
664 666 {
665 667 unsigned int hk_lfr_le_cnt;
666 668 unsigned int hk_lfr_me_cnt;
667 669 unsigned int hk_lfr_he_cnt;
668 670
669 671 hk_lfr_le_cnt = 0;
670 672 hk_lfr_me_cnt = 0;
671 673 hk_lfr_he_cnt = 0;
672 674
673 675 //update the low severity error counter
674 676 hk_lfr_le_cnt =
675 677 housekeeping_packet.hk_lfr_dpu_spw_parity
676 678 + housekeeping_packet.hk_lfr_dpu_spw_disconnect
677 679 + housekeeping_packet.hk_lfr_dpu_spw_escape
678 680 + housekeeping_packet.hk_lfr_dpu_spw_credit
679 681 + housekeeping_packet.hk_lfr_dpu_spw_write_sync
680 682 + housekeeping_packet.hk_lfr_dpu_spw_rx_ahb
681 683 + housekeeping_packet.hk_lfr_dpu_spw_tx_ahb
684 + housekeeping_packet.hk_lfr_timecode_erroneous
685 + housekeeping_packet.hk_lfr_timecode_missing
686 + housekeeping_packet.hk_lfr_timecode_invalid
687 + housekeeping_packet.hk_lfr_time_timecode_it
688 + housekeeping_packet.hk_lfr_time_not_synchro
682 689 + housekeeping_packet.hk_lfr_time_timecode_ctr;
683 690
684 691 //update the medium severity error counter
685 692 hk_lfr_me_cnt =
686 693 housekeeping_packet.hk_lfr_dpu_spw_early_eop
687 694 + housekeeping_packet.hk_lfr_dpu_spw_invalid_addr
688 695 + housekeeping_packet.hk_lfr_dpu_spw_eep
689 696 + housekeeping_packet.hk_lfr_dpu_spw_rx_too_big;
690 697
691 698 //update the high severity error counter
692 699 hk_lfr_he_cnt = 0;
693 700
694 701 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
695 702 // LE
696 703 housekeeping_packet.hk_lfr_le_cnt[0] = (unsigned char) ((hk_lfr_le_cnt & 0xff00) >> 8);
697 704 housekeeping_packet.hk_lfr_le_cnt[1] = (unsigned char) (hk_lfr_le_cnt & 0x00ff);
698 705 // ME
699 706 housekeeping_packet.hk_lfr_me_cnt[0] = (unsigned char) ((hk_lfr_me_cnt & 0xff00) >> 8);
700 707 housekeeping_packet.hk_lfr_me_cnt[1] = (unsigned char) (hk_lfr_me_cnt & 0x00ff);
701 708 // HE
702 709 housekeeping_packet.hk_lfr_he_cnt[0] = (unsigned char) ((hk_lfr_he_cnt & 0xff00) >> 8);
703 710 housekeeping_packet.hk_lfr_he_cnt[1] = (unsigned char) (hk_lfr_he_cnt & 0x00ff);
704 711
705 712 }
713
714 void set_hk_lfr_time_not_synchro()
715 {
716 static unsigned char synchroLost = 0;
717 int synchronizationBit;
718
719 // get the synchronization bit
720 synchronizationBit = (time_management_regs->coarse_time & 0x80000000) >> 31; // 1000 0000 0000 0000
721
722 switch (synchronizationBit)
723 {
724 case 0:
725 if (synchroLost == 1)
726 {
727 synchroLost = 0;
728 }
729 break;
730 case 1:
731 if (synchroLost == 0 )
732 {
733 synchroLost = 1;
734 increase_unsigned_char_counter(&housekeeping_packet.hk_lfr_time_not_synchro);
735 }
736 break;
737 default:
738 PRINTF1("in hk_lfr_time_not_synchro *** unexpected value for synchronizationBit = %d\n", synchronizationBit);
739 break;
740 }
741
742 }
Show file before | Show file after | Hide comments
@@ -1,1403 +1,1412
1 1 /** Functions related to the SpaceWire interface.
2 2 *
3 3 * @file
4 4 * @author P. LEROY
5 5 *
6 6 * A group of functions to handle SpaceWire transmissions:
7 7 * - configuration of the SpaceWire link
8 8 * - SpaceWire related interruption requests processing
9 9 * - transmission of TeleMetry packets by a dedicated RTEMS task
10 10 * - reception of TeleCommands by a dedicated RTEMS task
11 11 *
12 12 */
13 13
14 14 #include "fsw_spacewire.h"
15 15
16 16 rtems_name semq_name;
17 17 rtems_id semq_id;
18 18
19 19 //*****************
20 20 // waveform headers
21 21 Header_TM_LFR_SCIENCE_CWF_t headerCWF;
22 22 Header_TM_LFR_SCIENCE_SWF_t headerSWF;
23 23 Header_TM_LFR_SCIENCE_ASM_t headerASM;
24 24
25 25 unsigned char previousTimecodeCtr = 0;
26 26 unsigned int *grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER);
27 27
28 28 //***********
29 29 // RTEMS TASK
30 30 rtems_task spiq_task(rtems_task_argument unused)
31 31 {
32 32 /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
33 33 *
34 34 * @param unused is the starting argument of the RTEMS task
35 35 *
36 36 */
37 37
38 38 rtems_event_set event_out;
39 39 rtems_status_code status;
40 40 int linkStatus;
41 41
42 42 BOOT_PRINTF("in SPIQ *** \n")
43 43
44 44 while(true){
45 45 rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
46 46 PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
47 47
48 48 // [0] SUSPEND RECV AND SEND TASKS
49 49 status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
50 50 if ( status != RTEMS_SUCCESSFUL ) {
51 51 PRINTF("in SPIQ *** ERR suspending RECV Task\n")
52 52 }
53 53 status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
54 54 if ( status != RTEMS_SUCCESSFUL ) {
55 55 PRINTF("in SPIQ *** ERR suspending SEND Task\n")
56 56 }
57 57
58 58 // [1] CHECK THE LINK
59 59 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
60 60 if ( linkStatus != 5) {
61 61 PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
62 62 status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
63 63 }
64 64
65 65 // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
66 66 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
67 67 if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
68 68 {
69 69 spacewire_compute_stats_offsets();
70 70 status = spacewire_reset_link( );
71 71 }
72 72 else // [2.b] in run state, start the link
73 73 {
74 74 status = spacewire_stop_and_start_link( fdSPW ); // start the link
75 75 if ( status != RTEMS_SUCCESSFUL)
76 76 {
77 77 PRINTF1("in SPIQ *** ERR spacewire_stop_and_start_link %d\n", status)
78 78 }
79 79 }
80 80
81 81 // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
82 82 if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
83 83 {
84 84 status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
85 85 if ( status != RTEMS_SUCCESSFUL ) {
86 86 PRINTF("in SPIQ *** ERR resuming SEND Task\n")
87 87 }
88 88 status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
89 89 if ( status != RTEMS_SUCCESSFUL ) {
90 90 PRINTF("in SPIQ *** ERR resuming RECV Task\n")
91 91 }
92 92 }
93 93 else // [3.b] the link is not in run state, go in STANDBY mode
94 94 {
95 95 status = enter_mode_standby();
96 96 if ( status != RTEMS_SUCCESSFUL ) {
97 97 PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
98 98 }
99 99 // wake the WTDG task up to wait for the link recovery
100 100 status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
101 101 status = rtems_task_suspend( RTEMS_SELF );
102 102 }
103 103 }
104 104 }
105 105
106 106 rtems_task recv_task( rtems_task_argument unused )
107 107 {
108 108 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
109 109 *
110 110 * @param unused is the starting argument of the RTEMS task
111 111 *
112 112 * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
113 113 * 1. It reads the incoming data.
114 114 * 2. Launches the acceptance procedure.
115 115 * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
116 116 *
117 117 */
118 118
119 119 int len;
120 120 ccsdsTelecommandPacket_t currentTC;
121 121 unsigned char computed_CRC[ 2 ];
122 122 unsigned char currentTC_LEN_RCV[ 2 ];
123 123 unsigned char destinationID;
124 124 unsigned int estimatedPacketLength;
125 125 unsigned int parserCode;
126 126 rtems_status_code status;
127 127 rtems_id queue_recv_id;
128 128 rtems_id queue_send_id;
129 129
130 130 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
131 131
132 132 status = get_message_queue_id_recv( &queue_recv_id );
133 133 if (status != RTEMS_SUCCESSFUL)
134 134 {
135 135 PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
136 136 }
137 137
138 138 status = get_message_queue_id_send( &queue_send_id );
139 139 if (status != RTEMS_SUCCESSFUL)
140 140 {
141 141 PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
142 142 }
143 143
144 144 BOOT_PRINTF("in RECV *** \n")
145 145
146 146 while(1)
147 147 {
148 148 len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
149 149 if (len == -1){ // error during the read call
150 150 PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
151 151 }
152 152 else {
153 153 if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
154 154 PRINTF("in RECV *** packet lenght too short\n")
155 155 }
156 156 else {
157 157 estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
158 158 currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8);
159 159 currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength );
160 160 // CHECK THE TC
161 161 parserCode = tc_parser( &currentTC, estimatedPacketLength, computed_CRC ) ;
162 162 if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT)
163 163 || (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE)
164 164 || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA)
165 165 || (parserCode == WRONG_SRC_ID) )
166 166 { // send TM_LFR_TC_EXE_CORRUPTED
167 167 PRINTF1("TC corrupted received, with code: %d\n", parserCode)
168 168 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
169 169 &&
170 170 !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
171 171 )
172 172 {
173 173 if ( parserCode == WRONG_SRC_ID )
174 174 {
175 175 destinationID = SID_TC_GROUND;
176 176 }
177 177 else
178 178 {
179 179 destinationID = currentTC.sourceID;
180 180 }
181 181 send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
182 182 computed_CRC, currentTC_LEN_RCV,
183 183 destinationID );
184 184 }
185 185 }
186 186 else
187 187 { // send valid TC to the action launcher
188 188 status = rtems_message_queue_send( queue_recv_id, &currentTC,
189 189 estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3);
190 190 }
191 191 }
192 192 }
193 193
194 194 update_queue_max_count( queue_recv_id, &hk_lfr_q_rv_fifo_size_max );
195 195
196 196 }
197 197 }
198 198
199 199 rtems_task send_task( rtems_task_argument argument)
200 200 {
201 201 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
202 202 *
203 203 * @param unused is the starting argument of the RTEMS task
204 204 *
205 205 * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
206 206 * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
207 207 * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
208 208 * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
209 209 * data it contains.
210 210 *
211 211 */
212 212
213 213 rtems_status_code status; // RTEMS status code
214 214 char incomingData[MSG_QUEUE_SIZE_SEND]; // incoming data buffer
215 215 ring_node *incomingRingNodePtr;
216 216 int ring_node_address;
217 217 char *charPtr;
218 218 spw_ioctl_pkt_send *spw_ioctl_send;
219 219 size_t size; // size of the incoming TC packet
220 220 rtems_id queue_send_id;
221 221 unsigned int sid;
222 222 unsigned char sidAsUnsignedChar;
223 223 unsigned char type;
224 224
225 225 incomingRingNodePtr = NULL;
226 226 ring_node_address = 0;
227 227 charPtr = (char *) &ring_node_address;
228 228 sid = 0;
229 229 sidAsUnsignedChar = 0;
230 230
231 231 init_header_cwf( &headerCWF );
232 232 init_header_swf( &headerSWF );
233 233 init_header_asm( &headerASM );
234 234
235 235 status = get_message_queue_id_send( &queue_send_id );
236 236 if (status != RTEMS_SUCCESSFUL)
237 237 {
238 238 PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
239 239 }
240 240
241 241 BOOT_PRINTF("in SEND *** \n")
242 242
243 243 while(1)
244 244 {
245 245 status = rtems_message_queue_receive( queue_send_id, incomingData, &size,
246 246 RTEMS_WAIT, RTEMS_NO_TIMEOUT );
247 247
248 248 if (status!=RTEMS_SUCCESSFUL)
249 249 {
250 250 PRINTF1("in SEND *** (1) ERR = %d\n", status)
251 251 }
252 252 else
253 253 {
254 254 if ( size == sizeof(ring_node*) )
255 255 {
256 256 charPtr[0] = incomingData[0];
257 257 charPtr[1] = incomingData[1];
258 258 charPtr[2] = incomingData[2];
259 259 charPtr[3] = incomingData[3];
260 260 incomingRingNodePtr = (ring_node*) ring_node_address;
261 261 sid = incomingRingNodePtr->sid;
262 262 if ( (sid==SID_NORM_CWF_LONG_F3)
263 263 || (sid==SID_BURST_CWF_F2 )
264 264 || (sid==SID_SBM1_CWF_F1 )
265 265 || (sid==SID_SBM2_CWF_F2 ))
266 266 {
267 267 spw_send_waveform_CWF( incomingRingNodePtr, &headerCWF );
268 268 }
269 269 else if ( (sid==SID_NORM_SWF_F0) || (sid== SID_NORM_SWF_F1) || (sid==SID_NORM_SWF_F2) )
270 270 {
271 271 spw_send_waveform_SWF( incomingRingNodePtr, &headerSWF );
272 272 }
273 273 else if ( (sid==SID_NORM_CWF_F3) )
274 274 {
275 275 spw_send_waveform_CWF3_light( incomingRingNodePtr, &headerCWF );
276 276 }
277 277 else if (sid==SID_NORM_ASM_F0)
278 278 {
279 279 spw_send_asm_f0( incomingRingNodePtr, &headerASM );
280 280 }
281 281 else if (sid==SID_NORM_ASM_F1)
282 282 {
283 283 spw_send_asm_f1( incomingRingNodePtr, &headerASM );
284 284 }
285 285 else if (sid==SID_NORM_ASM_F2)
286 286 {
287 287 spw_send_asm_f2( incomingRingNodePtr, &headerASM );
288 288 }
289 289 else if ( sid==TM_CODE_K_DUMP )
290 290 {
291 291 spw_send_k_dump( incomingRingNodePtr );
292 292 }
293 293 else
294 294 {
295 295 PRINTF1("unexpected sid = %d\n", sid);
296 296 }
297 297 }
298 298 else if ( incomingData[0] == CCSDS_DESTINATION_ID ) // the incoming message is a ccsds packet
299 299 {
300 300 sidAsUnsignedChar = (unsigned char) incomingData[ PACKET_POS_PA_LFR_SID_PKT ];
301 301 sid = sidAsUnsignedChar;
302 302 type = (unsigned char) incomingData[ PACKET_POS_SERVICE_TYPE ];
303 303 if (type == TM_TYPE_LFR_SCIENCE) // this is a BP packet, all other types are handled differently
304 304 // SET THE SEQUENCE_CNT PARAMETER IN CASE OF BP0 OR BP1 PACKETS
305 305 {
306 306 increment_seq_counter_source_id( (unsigned char*) &incomingData[ PACKET_POS_SEQUENCE_CNT ], sid );
307 307 }
308 308
309 309 status = write( fdSPW, incomingData, size );
310 310 if (status == -1){
311 311 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
312 312 }
313 313 }
314 314 else // the incoming message is a spw_ioctl_pkt_send structure
315 315 {
316 316 spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
317 317 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
318 318 if (status == -1){
319 319 PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
320 320 }
321 321 }
322 322 }
323 323
324 324 update_queue_max_count( queue_send_id, &hk_lfr_q_sd_fifo_size_max );
325 325
326 326 }
327 327 }
328 328
329 329 rtems_task wtdg_task( rtems_task_argument argument )
330 330 {
331 331 rtems_event_set event_out;
332 332 rtems_status_code status;
333 333 int linkStatus;
334 334
335 335 BOOT_PRINTF("in WTDG ***\n")
336 336
337 337 while(1)
338 338 {
339 339 // wait for an RTEMS_EVENT
340 340 rtems_event_receive( RTEMS_EVENT_0,
341 341 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
342 342 PRINTF("in WTDG *** wait for the link\n")
343 343 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
344 344 while( linkStatus != 5) // wait for the link
345 345 {
346 346 status = rtems_task_wake_after( 10 ); // monitor the link each 100ms
347 347 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
348 348 }
349 349
350 350 status = spacewire_stop_and_start_link( fdSPW );
351 351
352 352 if (status != RTEMS_SUCCESSFUL)
353 353 {
354 354 PRINTF1("in WTDG *** ERR link not started %d\n", status)
355 355 }
356 356 else
357 357 {
358 358 PRINTF("in WTDG *** OK link started\n")
359 359 }
360 360
361 361 // restart the SPIQ task
362 362 status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
363 363 if ( status != RTEMS_SUCCESSFUL ) {
364 364 PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
365 365 }
366 366
367 367 // restart RECV and SEND
368 368 status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
369 369 if ( status != RTEMS_SUCCESSFUL ) {
370 370 PRINTF("in SPIQ *** ERR restarting SEND Task\n")
371 371 }
372 372 status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
373 373 if ( status != RTEMS_SUCCESSFUL ) {
374 374 PRINTF("in SPIQ *** ERR restarting RECV Task\n")
375 375 }
376 376 }
377 377 }
378 378
379 379 //****************
380 380 // OTHER FUNCTIONS
381 381 int spacewire_open_link( void ) // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);]
382 382 {
383 383 /** This function opens the SpaceWire link.
384 384 *
385 385 * @return a valid file descriptor in case of success, -1 in case of a failure
386 386 *
387 387 */
388 388 rtems_status_code status;
389 389
390 390 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
391 391 if ( fdSPW < 0 ) {
392 392 PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
393 393 }
394 394 else
395 395 {
396 396 status = RTEMS_SUCCESSFUL;
397 397 }
398 398
399 399 return status;
400 400 }
401 401
402 402 int spacewire_start_link( int fd )
403 403 {
404 404 rtems_status_code status;
405 405
406 406 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
407 407 // -1 default hardcoded driver timeout
408 408
409 409 return status;
410 410 }
411 411
412 412 int spacewire_stop_and_start_link( int fd )
413 413 {
414 414 rtems_status_code status;
415 415
416 416 status = ioctl( fd, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
417 417 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
418 418 // -1 default hardcoded driver timeout
419 419
420 420 return status;
421 421 }
422 422
423 423 int spacewire_configure_link( int fd )
424 424 {
425 425 /** This function configures the SpaceWire link.
426 426 *
427 427 * @return GR-RTEMS-DRIVER directive status codes:
428 428 * - 22 EINVAL - Null pointer or an out of range value was given as the argument.
429 429 * - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
430 430 * - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
431 431 * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
432 432 * - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
433 433 * - 5 EIO - Error when writing to grswp hardware registers.
434 434 * - 2 ENOENT - No such file or directory
435 435 */
436 436
437 437 rtems_status_code status;
438 438
439 439 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
440 440 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
441 441
442 442 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
443 443 if (status!=RTEMS_SUCCESSFUL) {
444 444 PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
445 445 }
446 446 //
447 447 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
448 448 if (status!=RTEMS_SUCCESSFUL) {
449 449 PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
450 450 }
451 451 //
452 452 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
453 453 if (status!=RTEMS_SUCCESSFUL) {
454 454 PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
455 455 }
456 456 //
457 457 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
458 458 if (status!=RTEMS_SUCCESSFUL) {
459 459 PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
460 460 }
461 461 //
462 462 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 1); // transmission blocks
463 463 if (status!=RTEMS_SUCCESSFUL) {
464 464 PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
465 465 }
466 466 //
467 467 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available
468 468 if (status!=RTEMS_SUCCESSFUL) {
469 469 PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
470 470 }
471 471 //
472 472 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
473 473 if (status!=RTEMS_SUCCESSFUL) {
474 474 PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
475 475 }
476 476
477 477 return status;
478 478 }
479 479
480 480 int spacewire_reset_link( void )
481 481 {
482 482 /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
483 483 *
484 484 * @return RTEMS directive status code:
485 485 * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
486 486 * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
487 487 *
488 488 */
489 489
490 490 rtems_status_code status_spw;
491 491 rtems_status_code status;
492 492 int i;
493 493
494 494 for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
495 495 {
496 496 PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
497 497
498 498 // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
499 499
500 500 status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
501 501
502 502 status_spw = spacewire_stop_and_start_link( fdSPW );
503 503 if ( status_spw != RTEMS_SUCCESSFUL )
504 504 {
505 505 PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
506 506 }
507 507
508 508 if ( status_spw == RTEMS_SUCCESSFUL)
509 509 {
510 510 break;
511 511 }
512 512 }
513 513
514 514 return status_spw;
515 515 }
516 516
517 517 void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
518 518 {
519 519 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
520 520 *
521 521 * @param val is the value, 0 or 1, used to set the value of the NP bit.
522 522 * @param regAddr is the address of the GRSPW control register.
523 523 *
524 524 * NP is the bit 20 of the GRSPW control register.
525 525 *
526 526 */
527 527
528 528 unsigned int *spwptr = (unsigned int*) regAddr;
529 529
530 530 if (val == 1) {
531 531 *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
532 532 }
533 533 if (val== 0) {
534 534 *spwptr = *spwptr & 0xffdfffff;
535 535 }
536 536 }
537 537
538 538 void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
539 539 {
540 540 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
541 541 *
542 542 * @param val is the value, 0 or 1, used to set the value of the RE bit.
543 543 * @param regAddr is the address of the GRSPW control register.
544 544 *
545 545 * RE is the bit 16 of the GRSPW control register.
546 546 *
547 547 */
548 548
549 549 unsigned int *spwptr = (unsigned int*) regAddr;
550 550
551 551 if (val == 1)
552 552 {
553 553 *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
554 554 }
555 555 if (val== 0)
556 556 {
557 557 *spwptr = *spwptr & 0xfffdffff;
558 558 }
559 559 }
560 560
561 561 void spacewire_compute_stats_offsets( void )
562 562 {
563 563 /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
564 564 *
565 565 * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
566 566 * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
567 567 * during the open systel call).
568 568 *
569 569 */
570 570
571 571 spw_stats spacewire_stats_grspw;
572 572 rtems_status_code status;
573 573
574 574 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
575 575
576 576 spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
577 577 + spacewire_stats.packets_received;
578 578 spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
579 579 + spacewire_stats.packets_sent;
580 580 spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
581 581 + spacewire_stats.parity_err;
582 582 spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
583 583 + spacewire_stats.disconnect_err;
584 584 spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
585 585 + spacewire_stats.escape_err;
586 586 spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
587 587 + spacewire_stats.credit_err;
588 588 spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
589 589 + spacewire_stats.write_sync_err;
590 590 spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
591 591 + spacewire_stats.rx_rmap_header_crc_err;
592 592 spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
593 593 + spacewire_stats.rx_rmap_data_crc_err;
594 594 spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
595 595 + spacewire_stats.early_ep;
596 596 spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
597 597 + spacewire_stats.invalid_address;
598 598 spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
599 599 + spacewire_stats.rx_eep_err;
600 600 spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
601 601 + spacewire_stats.rx_truncated;
602 602 }
603 603
604 604 void spacewire_update_statistics( void )
605 605 {
606 606 rtems_status_code status;
607 607 spw_stats spacewire_stats_grspw;
608 608
609 609 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
610 610
611 611 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
612 612 + spacewire_stats_grspw.packets_received;
613 613 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
614 614 + spacewire_stats_grspw.packets_sent;
615 615 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
616 616 + spacewire_stats_grspw.parity_err;
617 617 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
618 618 + spacewire_stats_grspw.disconnect_err;
619 619 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
620 620 + spacewire_stats_grspw.escape_err;
621 621 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
622 622 + spacewire_stats_grspw.credit_err;
623 623 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
624 624 + spacewire_stats_grspw.write_sync_err;
625 625 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
626 626 + spacewire_stats_grspw.rx_rmap_header_crc_err;
627 627 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
628 628 + spacewire_stats_grspw.rx_rmap_data_crc_err;
629 629 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
630 630 + spacewire_stats_grspw.early_ep;
631 631 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
632 632 + spacewire_stats_grspw.invalid_address;
633 633 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
634 634 + spacewire_stats_grspw.rx_eep_err;
635 635 spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
636 636 + spacewire_stats_grspw.rx_truncated;
637 637 //spacewire_stats.tx_link_err;
638 638
639 639 //****************************
640 640 // DPU_SPACEWIRE_IF_STATISTICS
641 641 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
642 642 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
643 643 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
644 644 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
645 645 //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
646 646 //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
647 647
648 648 //******************************************
649 649 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
650 650 housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
651 651 housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
652 652 housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
653 653 housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
654 654 housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
655 655
656 656 //*********************************************
657 657 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
658 658 housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
659 659 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
660 660 housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
661 661 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
662 662 }
663 663
664 664 void increase_unsigned_char_counter( unsigned char *counter )
665 665 {
666 666 // update the number of valid timecodes that have been received
667 667 if (*counter == 255)
668 668 {
669 669 *counter = 0;
670 670 }
671 671 else
672 672 {
673 673 *counter = *counter + 1;
674 674 }
675 675 }
676 676
677 677 rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data )
678 678 {
679 679
680 680 unsigned char currentTimecodeCtr;
681 681
682 682 currentTimecodeCtr = (unsigned char) (grspwPtr[0] & TIMECODE_MASK);
683 683
684 684 if (currentTimecodeCtr == previousTimecodeCtr)
685 685 {
686 686 //************************
687 687 // HK_LFR_TIMECODE_MISSING
688 688 // the timecode value has not changed, no valid timecode has been received, the timecode is MISSING
689 689 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_missing );
690 690 }
691 691 else if (currentTimecodeCtr == (previousTimecodeCtr+1))
692 692 {
693 693 // the timecode value has changed and the value is valid, this is unexpected because
694 694 // the timer should not have fired, the timecode_irq_handler should have been raised
695 695 }
696 696 else
697 697 {
698 698 //************************
699 699 // HK_LFR_TIMECODE_INVALID
700 700 // the timecode value has changed and the value is not valid, no tickout has been generated
701 701 // this is why the timer has fired
702 702 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_invalid );
703 703 }
704 704
705 705 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_13 );
706 706 }
707 707
708 708 unsigned int check_timecode_and_previous_timecode_coherency(unsigned char currentTimecodeCtr)
709 709 {
710 static unsigned char firstTickout = 1;
710 711 unsigned char ret;
711 712
712 713 ret = LFR_DEFAULT;
713 714
714 if (currentTimecodeCtr == 0)
715 if (firstTickout == 0)
715 716 {
716 if (previousTimecodeCtr == 63)
717 if (currentTimecodeCtr == 0)
717 718 {
718 ret = LFR_SUCCESSFUL;
719 if (previousTimecodeCtr == 63)
720 {
721 ret = LFR_SUCCESSFUL;
722 }
723 else
724 {
725 ret = LFR_DEFAULT;
726 }
719 727 }
720 728 else
721 729 {
722 ret = LFR_DEFAULT;
730 if (currentTimecodeCtr == (previousTimecodeCtr +1))
731 {
732 ret = LFR_SUCCESSFUL;
733 }
734 else
735 {
736 ret = LFR_DEFAULT;
737 }
723 738 }
724 739 }
725 740 else
726 741 {
727 if (currentTimecodeCtr == (previousTimecodeCtr +1))
728 {
729 ret = LFR_SUCCESSFUL;
730 }
731 else
732 {
733 ret = LFR_DEFAULT;
734 }
742 firstTickout = 0;
743 ret = LFR_SUCCESSFUL;
735 744 }
736 745
737 746 return ret;
738 747 }
739 748
740 749 unsigned int check_timecode_and_internal_time_coherency(unsigned char timecode, unsigned char internalTime)
741 750 {
742 751 unsigned int ret;
743 752
744 753 ret = LFR_DEFAULT;
745 754
746 755 if (timecode == internalTime)
747 756 {
748 757 ret = LFR_SUCCESSFUL;
749 758 }
750 759 else
751 760 {
752 761 ret = LFR_DEFAULT;
753 762 }
754 763
755 764 return ret;
756 765 }
757 766
758 767 void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
759 768 {
760 769 // a tickout has been emitted, perform actions on the incoming timecode
761 770
762 771 unsigned char incomingTimecode;
763 772 unsigned char updateTime;
764 773 unsigned char internalTime;
765 774 rtems_status_code status;
766 775
767 776 incomingTimecode = (unsigned char) (grspwPtr[0] & TIMECODE_MASK);
768 777 updateTime = time_management_regs->coarse_time_load & TIMECODE_MASK;
769 778 internalTime = time_management_regs->coarse_time & TIMECODE_MASK;
770 779
771 780 housekeeping_packet.hk_lfr_dpu_spw_last_timc = incomingTimecode;
772 781
773 782 // update the number of tickout that have been generated
774 783 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt );
775 784
776 785 //**************************
777 786 // HK_LFR_TIMECODE_ERRONEOUS
778 787 // MISSING and INVALID are handled by the timecode_timer_routine service routine
779 788 if (check_timecode_and_previous_timecode_coherency( incomingTimecode ) == LFR_DEFAULT)
780 789 {
781 // this is unexpected but a tickout has been raised and the timecode is erroneous
790 // this is unexpected but a tickout could have been raised despite of the timecode being erroneous
782 791 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_erroneous );
783 792 }
784 793
785 794 //************************
786 795 // HK_LFR_TIME_TIMECODE_IT
787 796 // check the coherency between the SpaceWire timecode and the Internal Time
788 797 if (check_timecode_and_internal_time_coherency( incomingTimecode, internalTime ) == LFR_DEFAULT)
789 798 {
790 799 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_it );
791 800 }
792 801
793 802 //********************
794 803 // HK_LFR_TIMECODE_CTR
795 804 // check the value of the timecode with respect to the last TC_LFR_UPDATE_TIME => SSS-CP-FS-370
796 805 if (incomingTimecode != updateTime)
797 806 {
798 807 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_ctr );
799 808 }
800 809
801 810 // launch the timecode timer to detect missing or invalid timecodes
802 811 previousTimecodeCtr = incomingTimecode; // update the previousTimecodeCtr value
803 812 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT, timecode_timer_routine, NULL );
804 813 }
805 814
806 815 void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header )
807 816 {
808 817 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
809 818 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
810 819 header->reserved = DEFAULT_RESERVED;
811 820 header->userApplication = CCSDS_USER_APP;
812 821 header->packetSequenceControl[0]= TM_PACKET_SEQ_CTRL_STANDALONE;
813 822 header->packetSequenceControl[1]= TM_PACKET_SEQ_CNT_DEFAULT;
814 823 header->packetLength[0] = 0x00;
815 824 header->packetLength[1] = 0x00;
816 825 // DATA FIELD HEADER
817 826 header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
818 827 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
819 828 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
820 829 header->destinationID = TM_DESTINATION_ID_GROUND;
821 830 header->time[0] = 0x00;
822 831 header->time[0] = 0x00;
823 832 header->time[0] = 0x00;
824 833 header->time[0] = 0x00;
825 834 header->time[0] = 0x00;
826 835 header->time[0] = 0x00;
827 836 // AUXILIARY DATA HEADER
828 837 header->sid = 0x00;
829 838 header->hkBIA = DEFAULT_HKBIA;
830 839 header->blkNr[0] = 0x00;
831 840 header->blkNr[1] = 0x00;
832 841 }
833 842
834 843 void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header )
835 844 {
836 845 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
837 846 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
838 847 header->reserved = DEFAULT_RESERVED;
839 848 header->userApplication = CCSDS_USER_APP;
840 849 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
841 850 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
842 851 header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
843 852 header->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
844 853 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
845 854 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336 );
846 855 // DATA FIELD HEADER
847 856 header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
848 857 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
849 858 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
850 859 header->destinationID = TM_DESTINATION_ID_GROUND;
851 860 header->time[0] = 0x00;
852 861 header->time[0] = 0x00;
853 862 header->time[0] = 0x00;
854 863 header->time[0] = 0x00;
855 864 header->time[0] = 0x00;
856 865 header->time[0] = 0x00;
857 866 // AUXILIARY DATA HEADER
858 867 header->sid = 0x00;
859 868 header->hkBIA = DEFAULT_HKBIA;
860 869 header->pktCnt = DEFAULT_PKTCNT; // PKT_CNT
861 870 header->pktNr = 0x00;
862 871 header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
863 872 header->blkNr[1] = (unsigned char) (BLK_NR_CWF );
864 873 }
865 874
866 875 void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header )
867 876 {
868 877 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
869 878 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
870 879 header->reserved = DEFAULT_RESERVED;
871 880 header->userApplication = CCSDS_USER_APP;
872 881 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
873 882 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
874 883 header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
875 884 header->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
876 885 header->packetLength[0] = 0x00;
877 886 header->packetLength[1] = 0x00;
878 887 // DATA FIELD HEADER
879 888 header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
880 889 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
881 890 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
882 891 header->destinationID = TM_DESTINATION_ID_GROUND;
883 892 header->time[0] = 0x00;
884 893 header->time[0] = 0x00;
885 894 header->time[0] = 0x00;
886 895 header->time[0] = 0x00;
887 896 header->time[0] = 0x00;
888 897 header->time[0] = 0x00;
889 898 // AUXILIARY DATA HEADER
890 899 header->sid = 0x00;
891 900 header->biaStatusInfo = 0x00;
892 901 header->pa_lfr_pkt_cnt_asm = 0x00;
893 902 header->pa_lfr_pkt_nr_asm = 0x00;
894 903 header->pa_lfr_asm_blk_nr[0] = 0x00;
895 904 header->pa_lfr_asm_blk_nr[1] = 0x00;
896 905 }
897 906
898 907 int spw_send_waveform_CWF( ring_node *ring_node_to_send,
899 908 Header_TM_LFR_SCIENCE_CWF_t *header )
900 909 {
901 910 /** This function sends CWF CCSDS packets (F2, F1 or F0).
902 911 *
903 912 * @param waveform points to the buffer containing the data that will be send.
904 913 * @param sid is the source identifier of the data that will be sent.
905 914 * @param headerCWF points to a table of headers that have been prepared for the data transmission.
906 915 * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
907 916 * contain information to setup the transmission of the data packets.
908 917 *
909 918 * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
910 919 *
911 920 */
912 921
913 922 unsigned int i;
914 923 int ret;
915 924 unsigned int coarseTime;
916 925 unsigned int fineTime;
917 926 rtems_status_code status;
918 927 spw_ioctl_pkt_send spw_ioctl_send_CWF;
919 928 int *dataPtr;
920 929 unsigned char sid;
921 930
922 931 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
923 932 spw_ioctl_send_CWF.options = 0;
924 933
925 934 ret = LFR_DEFAULT;
926 935 sid = (unsigned char) ring_node_to_send->sid;
927 936
928 937 coarseTime = ring_node_to_send->coarseTime;
929 938 fineTime = ring_node_to_send->fineTime;
930 939 dataPtr = (int*) ring_node_to_send->buffer_address;
931 940
932 941 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
933 942 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336 );
934 943 header->hkBIA = pa_bia_status_info;
935 944 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
936 945 header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
937 946 header->blkNr[1] = (unsigned char) (BLK_NR_CWF );
938 947
939 948 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform
940 949 {
941 950 spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) ];
942 951 spw_ioctl_send_CWF.hdr = (char*) header;
943 952 // BUILD THE DATA
944 953 spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK;
945 954
946 955 // SET PACKET SEQUENCE CONTROL
947 956 increment_seq_counter_source_id( header->packetSequenceControl, sid );
948 957
949 958 // SET SID
950 959 header->sid = sid;
951 960
952 961 // SET PACKET TIME
953 962 compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime);
954 963 //
955 964 header->time[0] = header->acquisitionTime[0];
956 965 header->time[1] = header->acquisitionTime[1];
957 966 header->time[2] = header->acquisitionTime[2];
958 967 header->time[3] = header->acquisitionTime[3];
959 968 header->time[4] = header->acquisitionTime[4];
960 969 header->time[5] = header->acquisitionTime[5];
961 970
962 971 // SET PACKET ID
963 972 if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
964 973 {
965 974 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2 >> 8);
966 975 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2);
967 976 }
968 977 else
969 978 {
970 979 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
971 980 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
972 981 }
973 982
974 983 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
975 984 if (status != RTEMS_SUCCESSFUL) {
976 985 ret = LFR_DEFAULT;
977 986 }
978 987 }
979 988
980 989 return ret;
981 990 }
982 991
983 992 int spw_send_waveform_SWF( ring_node *ring_node_to_send,
984 993 Header_TM_LFR_SCIENCE_SWF_t *header )
985 994 {
986 995 /** This function sends SWF CCSDS packets (F2, F1 or F0).
987 996 *
988 997 * @param waveform points to the buffer containing the data that will be send.
989 998 * @param sid is the source identifier of the data that will be sent.
990 999 * @param headerSWF points to a table of headers that have been prepared for the data transmission.
991 1000 * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
992 1001 * contain information to setup the transmission of the data packets.
993 1002 *
994 1003 * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
995 1004 *
996 1005 */
997 1006
998 1007 unsigned int i;
999 1008 int ret;
1000 1009 unsigned int coarseTime;
1001 1010 unsigned int fineTime;
1002 1011 rtems_status_code status;
1003 1012 spw_ioctl_pkt_send spw_ioctl_send_SWF;
1004 1013 int *dataPtr;
1005 1014 unsigned char sid;
1006 1015
1007 1016 spw_ioctl_send_SWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_SWF;
1008 1017 spw_ioctl_send_SWF.options = 0;
1009 1018
1010 1019 ret = LFR_DEFAULT;
1011 1020
1012 1021 coarseTime = ring_node_to_send->coarseTime;
1013 1022 fineTime = ring_node_to_send->fineTime;
1014 1023 dataPtr = (int*) ring_node_to_send->buffer_address;
1015 1024 sid = ring_node_to_send->sid;
1016 1025
1017 1026 header->hkBIA = pa_bia_status_info;
1018 1027 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
1019 1028
1020 1029 for (i=0; i<7; i++) // send waveform
1021 1030 {
1022 1031 spw_ioctl_send_SWF.data = (char*) &dataPtr[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) ];
1023 1032 spw_ioctl_send_SWF.hdr = (char*) header;
1024 1033
1025 1034 // SET PACKET SEQUENCE CONTROL
1026 1035 increment_seq_counter_source_id( header->packetSequenceControl, sid );
1027 1036
1028 1037 // SET PACKET LENGTH AND BLKNR
1029 1038 if (i == 6)
1030 1039 {
1031 1040 spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK;
1032 1041 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8);
1033 1042 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224 );
1034 1043 header->blkNr[0] = (unsigned char) (BLK_NR_224 >> 8);
1035 1044 header->blkNr[1] = (unsigned char) (BLK_NR_224 );
1036 1045 }
1037 1046 else
1038 1047 {
1039 1048 spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK;
1040 1049 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8);
1041 1050 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304 );
1042 1051 header->blkNr[0] = (unsigned char) (BLK_NR_304 >> 8);
1043 1052 header->blkNr[1] = (unsigned char) (BLK_NR_304 );
1044 1053 }
1045 1054
1046 1055 // SET PACKET TIME
1047 1056 compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime );
1048 1057 //
1049 1058 header->time[0] = header->acquisitionTime[0];
1050 1059 header->time[1] = header->acquisitionTime[1];
1051 1060 header->time[2] = header->acquisitionTime[2];
1052 1061 header->time[3] = header->acquisitionTime[3];
1053 1062 header->time[4] = header->acquisitionTime[4];
1054 1063 header->time[5] = header->acquisitionTime[5];
1055 1064
1056 1065 // SET SID
1057 1066 header->sid = sid;
1058 1067
1059 1068 // SET PKTNR
1060 1069 header->pktNr = i+1; // PKT_NR
1061 1070
1062 1071 // SEND PACKET
1063 1072 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_SWF );
1064 1073 if (status != RTEMS_SUCCESSFUL) {
1065 1074 ret = LFR_DEFAULT;
1066 1075 }
1067 1076 }
1068 1077
1069 1078 return ret;
1070 1079 }
1071 1080
1072 1081 int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send,
1073 1082 Header_TM_LFR_SCIENCE_CWF_t *header )
1074 1083 {
1075 1084 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
1076 1085 *
1077 1086 * @param waveform points to the buffer containing the data that will be send.
1078 1087 * @param headerCWF points to a table of headers that have been prepared for the data transmission.
1079 1088 * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
1080 1089 * contain information to setup the transmission of the data packets.
1081 1090 *
1082 1091 * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
1083 1092 * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
1084 1093 *
1085 1094 */
1086 1095
1087 1096 unsigned int i;
1088 1097 int ret;
1089 1098 unsigned int coarseTime;
1090 1099 unsigned int fineTime;
1091 1100 rtems_status_code status;
1092 1101 spw_ioctl_pkt_send spw_ioctl_send_CWF;
1093 1102 char *dataPtr;
1094 1103 unsigned char sid;
1095 1104
1096 1105 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
1097 1106 spw_ioctl_send_CWF.options = 0;
1098 1107
1099 1108 ret = LFR_DEFAULT;
1100 1109 sid = ring_node_to_send->sid;
1101 1110
1102 1111 coarseTime = ring_node_to_send->coarseTime;
1103 1112 fineTime = ring_node_to_send->fineTime;
1104 1113 dataPtr = (char*) ring_node_to_send->buffer_address;
1105 1114
1106 1115 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8);
1107 1116 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672 );
1108 1117 header->hkBIA = pa_bia_status_info;
1109 1118 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
1110 1119 header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8);
1111 1120 header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3 );
1112 1121
1113 1122 //*********************
1114 1123 // SEND CWF3_light DATA
1115 1124 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform
1116 1125 {
1117 1126 spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) ];
1118 1127 spw_ioctl_send_CWF.hdr = (char*) header;
1119 1128 // BUILD THE DATA
1120 1129 spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK;
1121 1130
1122 1131 // SET PACKET SEQUENCE COUNTER
1123 1132 increment_seq_counter_source_id( header->packetSequenceControl, sid );
1124 1133
1125 1134 // SET SID
1126 1135 header->sid = sid;
1127 1136
1128 1137 // SET PACKET TIME
1129 1138 compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, header->acquisitionTime );
1130 1139 //
1131 1140 header->time[0] = header->acquisitionTime[0];
1132 1141 header->time[1] = header->acquisitionTime[1];
1133 1142 header->time[2] = header->acquisitionTime[2];
1134 1143 header->time[3] = header->acquisitionTime[3];
1135 1144 header->time[4] = header->acquisitionTime[4];
1136 1145 header->time[5] = header->acquisitionTime[5];
1137 1146
1138 1147 // SET PACKET ID
1139 1148 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
1140 1149 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
1141 1150
1142 1151 // SEND PACKET
1143 1152 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
1144 1153 if (status != RTEMS_SUCCESSFUL) {
1145 1154 ret = LFR_DEFAULT;
1146 1155 }
1147 1156 }
1148 1157
1149 1158 return ret;
1150 1159 }
1151 1160
1152 1161 void spw_send_asm_f0( ring_node *ring_node_to_send,
1153 1162 Header_TM_LFR_SCIENCE_ASM_t *header )
1154 1163 {
1155 1164 unsigned int i;
1156 1165 unsigned int length = 0;
1157 1166 rtems_status_code status;
1158 1167 unsigned int sid;
1159 1168 float *spectral_matrix;
1160 1169 int coarseTime;
1161 1170 int fineTime;
1162 1171 spw_ioctl_pkt_send spw_ioctl_send_ASM;
1163 1172
1164 1173 sid = ring_node_to_send->sid;
1165 1174 spectral_matrix = (float*) ring_node_to_send->buffer_address;
1166 1175 coarseTime = ring_node_to_send->coarseTime;
1167 1176 fineTime = ring_node_to_send->fineTime;
1168 1177
1169 1178 header->biaStatusInfo = pa_bia_status_info;
1170 1179 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
1171 1180
1172 1181 for (i=0; i<3; i++)
1173 1182 {
1174 1183 if ((i==0) || (i==1))
1175 1184 {
1176 1185 spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_1;
1177 1186 spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
1178 1187 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
1179 1188 ];
1180 1189 length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_1;
1181 1190 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
1182 1191 header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F0_1) >> 8 ); // BLK_NR MSB
1183 1192 header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F0_1); // BLK_NR LSB
1184 1193 }
1185 1194 else
1186 1195 {
1187 1196 spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_2;
1188 1197 spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
1189 1198 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
1190 1199 ];
1191 1200 length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_2;
1192 1201 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
1193 1202 header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F0_2) >> 8 ); // BLK_NR MSB
1194 1203 header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F0_2); // BLK_NR LSB
1195 1204 }
1196 1205
1197 1206 spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
1198 1207 spw_ioctl_send_ASM.hdr = (char *) header;
1199 1208 spw_ioctl_send_ASM.options = 0;
1200 1209
1201 1210 // (2) BUILD THE HEADER
1202 1211 increment_seq_counter_source_id( header->packetSequenceControl, sid );
1203 1212 header->packetLength[0] = (unsigned char) (length>>8);
1204 1213 header->packetLength[1] = (unsigned char) (length);
1205 1214 header->sid = (unsigned char) sid; // SID
1206 1215 header->pa_lfr_pkt_cnt_asm = 3;
1207 1216 header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
1208 1217
1209 1218 // (3) SET PACKET TIME
1210 1219 header->time[0] = (unsigned char) (coarseTime>>24);
1211 1220 header->time[1] = (unsigned char) (coarseTime>>16);
1212 1221 header->time[2] = (unsigned char) (coarseTime>>8);
1213 1222 header->time[3] = (unsigned char) (coarseTime);
1214 1223 header->time[4] = (unsigned char) (fineTime>>8);
1215 1224 header->time[5] = (unsigned char) (fineTime);
1216 1225 //
1217 1226 header->acquisitionTime[0] = header->time[0];
1218 1227 header->acquisitionTime[1] = header->time[1];
1219 1228 header->acquisitionTime[2] = header->time[2];
1220 1229 header->acquisitionTime[3] = header->time[3];
1221 1230 header->acquisitionTime[4] = header->time[4];
1222 1231 header->acquisitionTime[5] = header->time[5];
1223 1232
1224 1233 // (4) SEND PACKET
1225 1234 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
1226 1235 if (status != RTEMS_SUCCESSFUL) {
1227 1236 PRINTF1("in ASM_send *** ERR %d\n", (int) status)
1228 1237 }
1229 1238 }
1230 1239 }
1231 1240
1232 1241 void spw_send_asm_f1( ring_node *ring_node_to_send,
1233 1242 Header_TM_LFR_SCIENCE_ASM_t *header )
1234 1243 {
1235 1244 unsigned int i;
1236 1245 unsigned int length = 0;
1237 1246 rtems_status_code status;
1238 1247 unsigned int sid;
1239 1248 float *spectral_matrix;
1240 1249 int coarseTime;
1241 1250 int fineTime;
1242 1251 spw_ioctl_pkt_send spw_ioctl_send_ASM;
1243 1252
1244 1253 sid = ring_node_to_send->sid;
1245 1254 spectral_matrix = (float*) ring_node_to_send->buffer_address;
1246 1255 coarseTime = ring_node_to_send->coarseTime;
1247 1256 fineTime = ring_node_to_send->fineTime;
1248 1257
1249 1258 header->biaStatusInfo = pa_bia_status_info;
1250 1259 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
1251 1260
1252 1261 for (i=0; i<3; i++)
1253 1262 {
1254 1263 if ((i==0) || (i==1))
1255 1264 {
1256 1265 spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_1;
1257 1266 spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
1258 1267 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
1259 1268 ];
1260 1269 length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_1;
1261 1270 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
1262 1271 header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F1_1) >> 8 ); // BLK_NR MSB
1263 1272 header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F1_1); // BLK_NR LSB
1264 1273 }
1265 1274 else
1266 1275 {
1267 1276 spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_2;
1268 1277 spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
1269 1278 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
1270 1279 ];
1271 1280 length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_2;
1272 1281 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
1273 1282 header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F1_2) >> 8 ); // BLK_NR MSB
1274 1283 header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F1_2); // BLK_NR LSB
1275 1284 }
1276 1285
1277 1286 spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
1278 1287 spw_ioctl_send_ASM.hdr = (char *) header;
1279 1288 spw_ioctl_send_ASM.options = 0;
1280 1289
1281 1290 // (2) BUILD THE HEADER
1282 1291 increment_seq_counter_source_id( header->packetSequenceControl, sid );
1283 1292 header->packetLength[0] = (unsigned char) (length>>8);
1284 1293 header->packetLength[1] = (unsigned char) (length);
1285 1294 header->sid = (unsigned char) sid; // SID
1286 1295 header->pa_lfr_pkt_cnt_asm = 3;
1287 1296 header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
1288 1297
1289 1298 // (3) SET PACKET TIME
1290 1299 header->time[0] = (unsigned char) (coarseTime>>24);
1291 1300 header->time[1] = (unsigned char) (coarseTime>>16);
1292 1301 header->time[2] = (unsigned char) (coarseTime>>8);
1293 1302 header->time[3] = (unsigned char) (coarseTime);
1294 1303 header->time[4] = (unsigned char) (fineTime>>8);
1295 1304 header->time[5] = (unsigned char) (fineTime);
1296 1305 //
1297 1306 header->acquisitionTime[0] = header->time[0];
1298 1307 header->acquisitionTime[1] = header->time[1];
1299 1308 header->acquisitionTime[2] = header->time[2];
1300 1309 header->acquisitionTime[3] = header->time[3];
1301 1310 header->acquisitionTime[4] = header->time[4];
1302 1311 header->acquisitionTime[5] = header->time[5];
1303 1312
1304 1313 // (4) SEND PACKET
1305 1314 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
1306 1315 if (status != RTEMS_SUCCESSFUL) {
1307 1316 PRINTF1("in ASM_send *** ERR %d\n", (int) status)
1308 1317 }
1309 1318 }
1310 1319 }
1311 1320
1312 1321 void spw_send_asm_f2( ring_node *ring_node_to_send,
1313 1322 Header_TM_LFR_SCIENCE_ASM_t *header )
1314 1323 {
1315 1324 unsigned int i;
1316 1325 unsigned int length = 0;
1317 1326 rtems_status_code status;
1318 1327 unsigned int sid;
1319 1328 float *spectral_matrix;
1320 1329 int coarseTime;
1321 1330 int fineTime;
1322 1331 spw_ioctl_pkt_send spw_ioctl_send_ASM;
1323 1332
1324 1333 sid = ring_node_to_send->sid;
1325 1334 spectral_matrix = (float*) ring_node_to_send->buffer_address;
1326 1335 coarseTime = ring_node_to_send->coarseTime;
1327 1336 fineTime = ring_node_to_send->fineTime;
1328 1337
1329 1338 header->biaStatusInfo = pa_bia_status_info;
1330 1339 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
1331 1340
1332 1341 for (i=0; i<3; i++)
1333 1342 {
1334 1343
1335 1344 spw_ioctl_send_ASM.dlen = DLEN_ASM_F2_PKT;
1336 1345 spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
1337 1346 ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM )
1338 1347 ];
1339 1348 length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2;
1340 1349 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3;
1341 1350 header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F2) >> 8 ); // BLK_NR MSB
1342 1351 header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F2); // BLK_NR LSB
1343 1352
1344 1353 spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
1345 1354 spw_ioctl_send_ASM.hdr = (char *) header;
1346 1355 spw_ioctl_send_ASM.options = 0;
1347 1356
1348 1357 // (2) BUILD THE HEADER
1349 1358 increment_seq_counter_source_id( header->packetSequenceControl, sid );
1350 1359 header->packetLength[0] = (unsigned char) (length>>8);
1351 1360 header->packetLength[1] = (unsigned char) (length);
1352 1361 header->sid = (unsigned char) sid; // SID
1353 1362 header->pa_lfr_pkt_cnt_asm = 3;
1354 1363 header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
1355 1364
1356 1365 // (3) SET PACKET TIME
1357 1366 header->time[0] = (unsigned char) (coarseTime>>24);
1358 1367 header->time[1] = (unsigned char) (coarseTime>>16);
1359 1368 header->time[2] = (unsigned char) (coarseTime>>8);
1360 1369 header->time[3] = (unsigned char) (coarseTime);
1361 1370 header->time[4] = (unsigned char) (fineTime>>8);
1362 1371 header->time[5] = (unsigned char) (fineTime);
1363 1372 //
1364 1373 header->acquisitionTime[0] = header->time[0];
1365 1374 header->acquisitionTime[1] = header->time[1];
1366 1375 header->acquisitionTime[2] = header->time[2];
1367 1376 header->acquisitionTime[3] = header->time[3];
1368 1377 header->acquisitionTime[4] = header->time[4];
1369 1378 header->acquisitionTime[5] = header->time[5];
1370 1379
1371 1380 // (4) SEND PACKET
1372 1381 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
1373 1382 if (status != RTEMS_SUCCESSFUL) {
1374 1383 PRINTF1("in ASM_send *** ERR %d\n", (int) status)
1375 1384 }
1376 1385 }
1377 1386 }
1378 1387
1379 1388 void spw_send_k_dump( ring_node *ring_node_to_send )
1380 1389 {
1381 1390 rtems_status_code status;
1382 1391 Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump;
1383 1392 unsigned int packetLength;
1384 1393 unsigned int size;
1385 1394
1386 1395 PRINTF("spw_send_k_dump\n")
1387 1396
1388 1397 kcoefficients_dump = (Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *) ring_node_to_send->buffer_address;
1389 1398
1390 1399 packetLength = kcoefficients_dump->packetLength[0] * 256 + kcoefficients_dump->packetLength[1];
1391 1400
1392 1401 size = packetLength + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
1393 1402
1394 1403 PRINTF2("packetLength %d, size %d\n", packetLength, size )
1395 1404
1396 1405 status = write( fdSPW, (char *) ring_node_to_send->buffer_address, size );
1397 1406
1398 1407 if (status == -1){
1399 1408 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
1400 1409 }
1401 1410
1402 1411 ring_node_to_send->status = 0x00;
1403 1412 }
General Comments 0
You need to be logged in to leave comments. Login now