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Message queue implemented for valid TC processing...
paul@pc-solar1.lab-lpp.local -
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@@ -1,69 +1,69
1 1 <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
2 2 <CodeBlocks_project_file>
3 3 <FileVersion major="1" minor="6" />
4 4 <Project>
5 5 <Option title="FSW-rtems" />
6 6 <Option pch_mode="2" />
7 7 <Option compiler="sparcrtemsgcc446" />
8 8 <Build>
9 9 <Target title="Debug">
10 10 <Option output="bin/Debug/fsw" prefix_auto="1" extension_auto="1" />
11 11 <Option object_output="obj/Debug/" />
12 12 <Option type="1" />
13 <Option compiler="sparcrtems446" />
13 <Option compiler="sparcrtemsgcc446" />
14 14 <Compiler>
15 15 <Add option="-fexpensive-optimizations" />
16 16 <Add option="-O3" />
17 17 <Add option="-g" />
18 18 <Add directory="../header" />
19 19 <Add directory="../src" />
20 20 </Compiler>
21 21 </Target>
22 22 <Target title="Release">
23 23 <Option output="bin/Release/FSW-rtems" prefix_auto="1" extension_auto="1" />
24 24 <Option object_output="obj/Release/" />
25 25 <Option type="1" />
26 26 <Option compiler="sparcrtemsgcc446" />
27 27 <Compiler>
28 28 <Add option="-O2" />
29 29 </Compiler>
30 30 <Linker>
31 31 <Add option="-s" />
32 32 </Linker>
33 33 </Target>
34 34 </Build>
35 35 <Compiler>
36 36 <Add option="-Wall" />
37 37 </Compiler>
38 38 <Unit filename="../header/ccsds_types.h" />
39 39 <Unit filename="../header/fsw_init.h" />
40 40 <Unit filename="../header/fsw_misc.h" />
41 41 <Unit filename="../header/fsw_params.h" />
42 42 <Unit filename="../header/fsw_processing.h" />
43 43 <Unit filename="../header/grlib_regs.h" />
44 44 <Unit filename="../header/tc_handler.h" />
45 45 <Unit filename="../header/wf_handler.h" />
46 46 <Unit filename="../src/fsw_globals.c">
47 47 <Option compilerVar="CC" />
48 48 </Unit>
49 49 <Unit filename="../src/fsw_init.c">
50 50 <Option compilerVar="CC" />
51 51 </Unit>
52 52 <Unit filename="../src/fsw_misc.c">
53 53 <Option compilerVar="CC" />
54 54 </Unit>
55 55 <Unit filename="../src/fsw_processing.c">
56 56 <Option compilerVar="CC" />
57 57 </Unit>
58 58 <Unit filename="../src/tc_handler.c">
59 59 <Option compilerVar="CC" />
60 60 </Unit>
61 61 <Unit filename="../src/wf_handler.c">
62 62 <Option compilerVar="CC" />
63 63 </Unit>
64 64 <Extensions>
65 65 <code_completion />
66 66 <debugger />
67 67 </Extensions>
68 68 </Project>
69 69 </CodeBlocks_project_file>
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@@ -1,192 +1,226
1 1 # depslib dependency file v1.0
2 2 1355231335 source:e:\missions\solo\dev_ple\src\fsw-rtems.c
3 3 <rtems.h>
4 4 <bsp.h>
5 5 <rtems/confdefs.h>
6 6 <drvmgr/drvmgr_confdefs.h>
7 7 <rtems.h>
8 8 <errno.h>
9 9 <fcntl.h>
10 10 <stdio.h>
11 11 <stdlib.h>
12 12 <FSW-config.c>
13 13 <grspw.h>
14 14 <apbuart.h>
15 15 <FSW-rtems-processing.h>
16 16
17 17 1355231335 -processing.h>
18 18
19 19 1350983928 source:e:\missions\solo\dev_ple\src\grspw.c
20 20 <..\header\grspw.h>
21 21 <stdio.h>
22 22
23 23 1354190601
24 24
25 25 1350983928 e:\missions\solo\dev_ple\header\grspw.h
26 26
27 27 1351173364 source:e:\missions\solo\dev_ple\src\fsw-config.c
28 28 <drvmgr/ambapp_bus.h>
29 29
30 30 1354190602 bapp_bus.h>
31 31
32 32 1354190602 e:\missions\solo\dev_ple\src\fsw-config.c
33 33 <drvmgr/ambapp_bus.h>
34 34
35 35 1354190602 source:e:\missions\solo\dev_ple\src\fsw-rtems-processing.c
36 36 <FSW-rtems-processing.h>
37 37 <math.h>
38 38 <stdio.h>
39 39 <leon.h>
40 40
41 41 1354190601 e:\missions\solo\dev_ple\header\fsw-rtems-processing.h
42 42 <rtems.h>
43 43
44 44 1359451040 source:/opt/DEV_PLE/src/FSW-rtems-processing.c
45 45 <FSW-rtems-processing.h>
46 46 <math.h>
47 47 <stdio.h>
48 48 <leon.h>
49 49
50 50 1359458568 /opt/DEV_PLE/header/FSW-rtems-processing.h
51 51 <rtems.h>
52 52 <grlibregs.h>
53 53 <FSW-params.h>
54 54
55 55 1359458854 source:/opt/DEV_PLE/src/FSW-rtems.c
56 56 <rtems.h>
57 57 <bsp.h>
58 58 <rtems/confdefs.h>
59 59 <drvmgr/drvmgr_confdefs.h>
60 60 <FSW-rtems.h>
61 61 <FSW-config.c>
62 62
63 63 1359365823 /opt/DEV_PLE/src/FSW-config.c
64 64 <drvmgr/ambapp_bus.h>
65 65
66 66 1359458568 source:/opt/DEV_PLE/src/TC_handler.c
67 67 <TC_handler.h>
68 68 <FSW-params.h>
69 69
70 70 1359377846 /opt/DEV_PLE/header/TC_handler.h
71 71 <stdio.h>
72 72 <ccsds_types.h>
73 73
74 1359372295 /opt/DEV_PLE/header/ccsds_types.h
74 1359640245 /opt/DEV_PLE/header/ccsds_types.h
75 75
76 76 1359365823 source:/opt/DEV_PLE/src/FSW-config.c
77 77 <drvmgr/ambapp_bus.h>
78 78
79 79 1359452642 /opt/DEV_PLE/header/FSW-config.h
80 80
81 81 1359440704 /opt/DEV_PLE/header/grlibregs.h
82 82
83 83 1359382989 source:/opt/DEV_PLE/src/WF_handler.c
84 84
85 85 1359459475 source:/opt/DEV_PLE/src/FSW-misc.c
86 86 <FSW-misc.h>
87 87 <FSW-params.h>
88 88
89 89 1359459330 /opt/DEV_PLE/header/FSW-misc.h
90 90 <rtems.h>
91 91 <stdio.h>
92 92 <FSW-rtems.h>
93 93 <FSW-params.h>
94 94 <grlibregs.h>
95 95 <grspw.h>
96 96 <ccsds_types.h>
97 97
98 98 1359459364 /opt/DEV_PLE/header/FSW-rtems.h
99 99 <errno.h>
100 100 <fcntl.h>
101 101 <stdio.h>
102 102 <stdlib.h>
103 103 <grspw.h>
104 104 <apbuart.h>
105 105 <FSW-params.h>
106 106 <FSW-misc.h>
107 107 <FSW-rtems-processing.h>
108 108 <TC_handler.h>
109 109 <WF_handler.h>
110 110 <grlibregs.h>
111 111
112 112 1359458453 /opt/DEV_PLE/header/FSW-params.h
113 113
114 114 1359459642 /opt/DEV_PLE/header/WF_handler.h
115 115 <rtems.h>
116 116 <FSW-params.h>
117 117 <grspw.h>
118 118 <grlibregs.h>
119 119 <ccsds_types.h>
120 120 <stdio.h>
121 121 <FSW-rtems.h>
122 122
123 123 1359464354 source:/opt/DEV_PLE/src/fsw_main.c
124 124 <rtems.h>
125 125 <bsp.h>
126 126 <rtems/confdefs.h>
127 127 <drvmgr/drvmgr_confdefs.h>
128 128 <fsw_main.h>
129 129 <fsw_config.c>
130 130
131 131 1359464346 /opt/DEV_PLE/header/fsw_main.h
132 132 <errno.h>
133 133 <fcntl.h>
134 134 <stdio.h>
135 135 <stdlib.h>
136 136 <grspw.h>
137 137 <apbuart.h>
138 138 <fsw_params.h>
139 139 <fsw_misc.h>
140 140 <fsw_processing.h>
141 141 <tc_handler.h>
142 142 <wf_handler.h>
143 143 <grlib_regs.h>
144 144
145 1359464984 /opt/DEV_PLE/header/fsw_params.h
145 1359616894 /opt/DEV_PLE/header/fsw_params.h
146 146
147 1359464293 /opt/DEV_PLE/header/fsw_misc.h
147 1359614518 /opt/DEV_PLE/header/fsw_misc.h
148 148 <rtems.h>
149 149 <stdio.h>
150 <fsw_main.h>
150 <fsw_init.h>
151 151 <fsw_params.h>
152 152 <grlib_regs.h>
153 153 <grspw.h>
154 154 <ccsds_types.h>
155 155
156 156 1359440704 /opt/DEV_PLE/header/grlib_regs.h
157 157
158 1359465021 /opt/DEV_PLE/header/fsw_processing.h
158 1359614517 /opt/DEV_PLE/header/fsw_processing.h
159 159 <rtems.h>
160 160 <grlib_regs.h>
161 161 <fsw_params.h>
162 162
163 1359377846 /opt/DEV_PLE/header/tc_handler.h
163 1359643450 /opt/DEV_PLE/header/tc_handler.h
164 <rtems.h>
164 165 <stdio.h>
166 <unistd.h>
167 <sys/ioctl.h>
165 168 <ccsds_types.h>
169 <grspw.h>
170 <fsw_init.h>
166 171
167 1359464293 /opt/DEV_PLE/header/wf_handler.h
172 1359614518 /opt/DEV_PLE/header/wf_handler.h
168 173 <rtems.h>
169 174 <fsw_params.h>
170 175 <grspw.h>
171 176 <grlib_regs.h>
172 177 <ccsds_types.h>
173 178 <stdio.h>
174 <fsw_main.h>
179 <fsw_init.h>
175 180
176 181 1359365823 /opt/DEV_PLE/src/fsw_config.c
177 182 <drvmgr/ambapp_bus.h>
178 183
179 1359464327 source:/opt/DEV_PLE/src/fsw_misc.c
184 1359614518 source:/opt/DEV_PLE/src/fsw_misc.c
180 185 <fsw_misc.h>
181 186 <fsw_params.h>
182 187
183 1359464327 source:/opt/DEV_PLE/src/tc_handler.c
188 1359643720 source:/opt/DEV_PLE/src/tc_handler.c
184 189 <tc_handler.h>
185 190 <fsw_params.h>
186 191
187 1359464346 source:/opt/DEV_PLE/src/wf_handler.c
192 1359614518 source:/opt/DEV_PLE/src/wf_handler.c
188 193 <wf_handler.h>
189 194
190 1359465021 source:/opt/DEV_PLE/src/fsw_globals.c
195 1359615705 source:/opt/DEV_PLE/src/fsw_globals.c
191 196 <fsw_processing.h>
197 <rtems.h>
192 198
199 1359622160 source:/opt/DEV_PLE/src/fsw_init.c
200 <rtems.h>
201 <bsp.h>
202 <rtems/confdefs.h>
203 <drvmgr/drvmgr_confdefs.h>
204 <fsw_init.h>
205 <fsw_config.c>
206
207 1359615705 /opt/DEV_PLE/header/fsw_init.h
208 <errno.h>
209 <fcntl.h>
210 <stdio.h>
211 <stdlib.h>
212 <grspw.h>
213 <apbuart.h>
214 <fsw_params.h>
215 <fsw_misc.h>
216 <fsw_processing.h>
217 <tc_handler.h>
218 <wf_handler.h>
219 <grlib_regs.h>
220
221 1359614518 source:/opt/DEV_PLE/src/fsw_processing.c
222 <fsw_processing.h>
223 <math.h>
224 <stdio.h>
225 <leon.h>
226
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@@ -1,43 +1,53
1 1 <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
2 2 <CodeBlocks_layout_file>
3 3 <ActiveTarget name="Debug" />
4 4 <File name="../header/ccsds_types.h" open="0" top="0" tabpos="5">
5 5 <Cursor position="1172" topLine="24" />
6 6 </File>
7 7 <File name="../header/fsw_init.h" open="1" top="0" tabpos="3">
8 8 <Cursor position="410" topLine="16" />
9 9 </File>
10 10 <File name="../header/fsw_misc.h" open="0" top="0" tabpos="0">
11 11 <Cursor position="114" topLine="0" />
12 12 </File>
13 13 <File name="../header/fsw_params.h" open="0" top="0" tabpos="0">
14 14 <Cursor position="1320" topLine="8" />
15 15 </File>
16 16 <File name="../header/fsw_processing.h" open="0" top="0" tabpos="0">
17 17 <Cursor position="510" topLine="0" />
18 18 </File>
19 19 <File name="../header/tc_handler.h" open="0" top="0" tabpos="4">
20 20 <Cursor position="634" topLine="0" />
21 21 </File>
22 22 <File name="../header/wf_handler.h" open="0" top="0" tabpos="0">
23 23 <Cursor position="212" topLine="0" />
24 24 </File>
25 25 <File name="../src/fsw_globals.c" open="1" top="0" tabpos="4">
26 26 <Cursor position="46" topLine="0" />
27 27 </File>
28 <<<<<<< local
29 <File name="../src/fsw_init.c" open="1" top="1" tabpos="0">
30 <Cursor position="1703" topLine="36" />
31 =======
28 32 <File name="../src/fsw_init.c" open="1" top="1" tabpos="2">
29 33 <Cursor position="3361" topLine="60" />
34 >>>>>>> other
30 35 </File>
31 36 <File name="../src/fsw_misc.c" open="0" top="0" tabpos="0">
32 37 <Cursor position="20" topLine="0" />
33 38 </File>
34 39 <File name="../src/fsw_processing.c" open="0" top="0" tabpos="2">
35 40 <Cursor position="1175" topLine="46" />
36 41 </File>
42 <<<<<<< local
43 <File name="../src/tc_handler.c" open="0" top="0" tabpos="3">
44 <Cursor position="2672" topLine="26" />
45 =======
37 46 <File name="../src/tc_handler.c" open="1" top="0" tabpos="1">
38 47 <Cursor position="11070" topLine="270" />
48 >>>>>>> other
39 49 </File>
40 50 <File name="../src/wf_handler.c" open="0" top="0" tabpos="0">
41 51 <Cursor position="3936" topLine="62" />
42 52 </File>
43 53 </CodeBlocks_layout_file>
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1 NO CONTENT: modified file, binary diff hidden
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@@ -1,118 +1,141
1 1 #ifndef CCSDS_H_INCLUDED
2 2 #define CCSDS_H_INCLUDED
3 3
4 4 #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4
5 5 #define CCSDS_TM_PKT_MAX_SIZE 4412
6 6 #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4
7 #define CCSDS_TC_PKT_MAX_SIZE 248
7 #define CCSDS_TC_PKT_MAX_SIZE 50 // size of the TC_LFR_UPDATE_INFO packet
8 8 #define CCSDS_TC_TM_PACKET_OFFSET 7
9 9 #define CCSDS_PROCESS_ID 76
10 10 #define CCSDS_PACKET_CATEGORY 12
11 11 #define CCSDS_DESTINATION_ID 0x21
12 12 #define CCSDS_PROTOCOLE_ID 0x02
13 13 #define CCSDS_USER_APP 0x00
14 14
15 15 #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24
16 16 #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32
17 17
18 18 #define ILLEGAL_APID 0
19 19 #define WRONG_LEN_PACKET 1
20 20 #define INCOR_CHECKSUM 2
21 21 #define ILL_TYPE 3
22 22 #define ILL_SUBTYPE 4
23 23 #define WRONG_APP_DATA 5
24 24 #define WRONG_CMD_CODE 6
25 25 #define CCSDS_TM_VALID 7
26 26 //
27 27 #define TC_NOT_EXE 40000
28 28 #define WRONG_SRC_ID 40001
29 29 #define FUNCT_NOT_IMPL 40002
30 30 #define FAIL_DETECTED 40003
31 31 #define NOT_ALLOWED 40004
32 32 #define CORRUPTED 40005
33 //
34 #define SID_TC_RESET 3
35 #define SID_TC_LOAD_COMM 20
36 #define SID_TC_LOAD_NORM 21
37 #define SID_TC_LOAD_BURST 24
38 #define SID_TC_LOAD_SBM1 27
39 #define SID_TC_LOAD_SBM2 28
40 #define SID_TC_DUMP 30
41 #define SID_TC_ENTER 40
42 #define SID_TC_UPDT_INFO 50
43 #define SID_TC_EN_CAL 60
44 #define SID_TC_DIS_CAL 61
45 #define SID_TC_UPDT_TIME 129
33
34 // // TC SUBTYPES
35 #define TC_SUBTYPE_RESET 3
36 #define TC_SUBTYPE_LOAD_COMM 20
37 #define TC_SUBTYPE_LOAD_NORM 21
38 #define TC_SUBTYPE_LOAD_BURST 24
39 #define TC_SUBTYPE_LOAD_SBM1 27
40 #define TC_SUBTYPE_LOAD_SBM2 28
41 #define TC_SUBTYPE_DUMP 30
42 #define TC_SUBTYPE_ENTER 40
43 #define TC_SUBTYPE_UPDT_INFO 50
44 #define TC_SUBTYPE_EN_CAL 60
45 #define TC_SUBTYPE_DIS_CAL 61
46 #define TC_SUBTYPE_UPDT_TIME 129
46 47
47 48 #define SID_DEFAULT 0
48 49 #define SID_EXE_INC 5
49 50 #define SID_NOT_EXE 40000
50 51 #define SID_NOT_IMP 40002
51 52 #define SID_EXE_ERR 40003
52 53 #define SID_EXE_CORR 40005
53 54
54 55 #define SID_NORM_SWF_F0 3
55 56 #define SID_NORM_SWF_F1 4
56 57 #define SID_NORM_SWF_F2 5
57 58 #define SID_NORM_CWF_F3 1
59 #define SID_BURST_CWF_F2 2
60 #define SID_SBM1_CWF_F1 24
61 #define SID_SBM2_CWF_F2 25
62 #define SID_NORM_ASM_F0 11
63 #define SID_NORM_ASM_F1 12
64 #define SID_NORM_ASM_F2 13
65 #define SID_NORM_BP1_F0 14
66 #define SID_NORM_BP1_F1 15
67 #define SID_NORM_BP1_F2 16
68 #define SID_NORM_BP2_F0 19
69 #define SID_NORM_BP2_F1 20
70 #define SID_NORM_BP2_F2 21
71 #define SID_BURST_BP1_F0 17
72 #define SID_BURST_BP2_F0 22
73 #define SID_BURST_BP1_F1 18
74 #define SID_BURST_BP2_F1 23
75 #define SID_SBM1_BP1_F0 28
76 #define SID_SBM1_BP2_F0 31
77 #define SID_SBM2_BP1_F0 29
78 #define SID_SBM2_BP2_F0 32
79 #define SID_SBM1_BP1_F1 30
80 #define SID_SBM1_BP2_F1 33
58 81
59 82 #define TM_LEN_EXE 20 - CCSDS_TC_TM_PACKET_OFFSET
60 83 #define TM_LEN_NOT_EXE 26 - CCSDS_TC_TM_PACKET_OFFSET
61 84 #define TM_LEN_NOT_IMP 24 - CCSDS_TC_TM_PACKET_OFFSET
62 85 #define TM_LEN_EXE_ERR 24 - CCSDS_TC_TM_PACKET_OFFSET
63 86 #define TM_LEN_EXE_CORR 32 - CCSDS_TC_TM_PACKET_OFFSET
64 87 #define TM_HEADER_LEN 16
65 88 #define TM_LEN_SCI_NORM_SWF_340 340 * 12 + 6 + 10 - 1
66 89 #define TM_LEN_SCI_NORM_SWF_8 8 * 12 + 6 + 10 - 1
67 90
68 91 enum TM_TYPE{
69 92 TM_LFR_TC_EXE_OK,
70 93 TM_LFR_TC_EXE_ERR,
71 94 TM_LFR_HK,
72 95 TM_LFR_SCI,
73 96 TM_LFR_SCI_SBM,
74 97 TM_LFR_PAR_DUMP
75 98 };
76 99
77 100 struct TMHeader_str
78 101 {
79 102 volatile unsigned char targetLogicalAddress;
80 103 volatile unsigned char protocolIdentifier;
81 104 volatile unsigned char reserved;
82 105 volatile unsigned char userApplication;
83 106 volatile unsigned char packetID[2];
84 107 volatile unsigned char packetSequenceControl[2];
85 108 volatile unsigned char packetLength[2];
86 109 volatile unsigned char dataFieldHeader[10];
87 110 };
88 111 typedef struct TMHeader_str TMHeader_t;
89 112
90 113 struct ExtendedTMHeader_str
91 114 {
92 115 volatile unsigned char targetLogicalAddress;
93 116 volatile unsigned char protocolIdentifier;
94 117 volatile unsigned char reserved;
95 118 volatile unsigned char userApplication;
96 119 volatile unsigned char packetID[2];
97 120 volatile unsigned char packetSequenceControl[2];
98 121 volatile unsigned char packetLength[2];
99 122 volatile unsigned char dataFieldHeader[10];
100 123 volatile unsigned char auxiliaryHeader[6];
101 124 };
102 125 typedef struct ExtendedTMHeader_str ExtendedTMHeader_t;
103 126
104 127 struct ccsdsTelecommandPacket_str
105 128 {
106 129 //unsigned char targetLogicalAddress; // removed by the grspw module
107 130 volatile unsigned char protocolIdentifier;
108 131 volatile unsigned char reserved;
109 132 volatile unsigned char userApplication;
110 133 volatile unsigned char packetID[2];
111 134 volatile unsigned char packetSequenceControl[2];
112 135 volatile unsigned char packetLength[2];
113 136 volatile unsigned char dataFieldHeader[4];
114 137 volatile unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10];
115 138 };
116 139 typedef struct ccsdsTelecommandPacket_str ccsdsTelecommandPacket_t;
117 140
118 141 #endif // CCSDS_H_INCLUDED
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@@ -1,41 +1,45
1 1 #ifndef FSW_RTEMS_H_INCLUDED
2 2 #define FSW_RTEMS_H_INCLUDED
3 3
4 4 #include <errno.h>
5 5 #include <fcntl.h>
6 6 #include <stdio.h>
7 7 #include <stdlib.h>
8 8
9 9 #include <grspw.h>
10 10 #include <apbuart.h>
11 11
12 12 #include <fsw_params.h>
13 13 #include <fsw_misc.h>
14 14 #include <fsw_processing.h>
15 15 #include <tc_handler.h>
16 16 #include <wf_handler.h>
17 17 #include <grlib_regs.h>
18 18
19 19 extern int sched_yield();
20 20 extern int errno;
21 extern rtems_name misc_names[ ];
21 extern rtems_id Task_id[ ]; /* array of task ids */
22 extern rtems_name Task_name[ ]; /* array of task names */
23 extern rtems_name misc_name[ ]; /* arry of miscellaneous names for rtems objects */
24 extern int fdSPW; // grspw file descriptor
25 extern int fdUART; // uart file descriptor
22 26
23 27 // RTEMS TASKS
24 28 rtems_task Init( rtems_task_argument argument); /* forward declaration needed */
25 rtems_task spw_recv_task(rtems_task_argument argument);
26 rtems_task spw_spiq_task(rtems_task_argument argument);
27 rtems_task spw_stat_task(rtems_task_argument argument);
28 rtems_task spw_wfrm_task(rtems_task_argument argument);
29 rtems_task recv_task(rtems_task_argument argument);
30 rtems_task spiq_task(rtems_task_argument argument);
31 rtems_task stat_task(rtems_task_argument argument);
32 rtems_task wfrm_task(rtems_task_argument argument);
29 33 int create_all_tasks();
30 34 int start_all_tasks();
31 35 int create_message_queue();
32 36
33 37 // OTHER functions
34 38 int configure_spw_link();
35 39 int send_console_outputs_on_serial_port();
36 40 extern int rtems_cpu_usage_report();
37 41 extern int rtems_cpu_usage_reset();
38 42 void print_statistics(spw_stats *);
39 43 rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send);
40 44
41 45 #endif // FSW_RTEMS_CONFIG_H_INCLUDED
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@@ -1,19 +1,19
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
7 7 #include <fsw_init.h>
8 8 #include <fsw_params.h>
9 9 #include <grlib_regs.h>
10 10 #include <grspw.h>
11 11 #include <ccsds_types.h>
12 12
13 13 int configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
14 14 unsigned char interrupt_level, rtems_isr (*timer_isr)() );
15 15 void print_statistics(spw_stats *stats);
16 16 int send_console_outputs_on_serial_port();
17 rtems_task spw_stat_task(rtems_task_argument argument);
17 rtems_task stat_task(rtems_task_argument argument);
18 18
19 19 #endif // FSW_MISC_H_INCLUDED
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@@ -1,51 +1,60
1 1 #ifndef FSW_RTEMS_CONFIG_H_INCLUDED
2 2 #define FSW_RTEMS_CONFIG_H_INCLUDED
3 3
4 4 #define GRSPW_DEVICE_NAME "/dev/grspw0"
5 5 #define UART_DEVICE_NAME "/dev/console"
6 6
7 //*****************************
8 // APB REGISTERS BASE ADDRESSES
7 9 #define REGS_ADDR_APBUART 0x80000100
8 10 #define REGS_ADDR_GPTIMER 0x80000300
9 11 #define REGS_ADDR_GRSPW 0x80000500
10 12 #define REGS_ADDR_SPECTRAL_MATRICES 0x80000700
11 13
12 14 #define APBUART_CTRL_REG_MASK_DB 0xfffff7ff
13 15
14 16 #define IRQ_SM 9
15 17 #define IRQ_SPARC_SM 0x19 // see sparcv8.pdf p.76 for interrupt levels
16 18 #define IRQ_WF 10
17 19 #define IRQ_SPARC_WF 0x1a // see sparcv8.pdf p.76 for interrupt levels
18 20
19 21 #define CLKDIV_SM_SIMULATOR 9999
20 22 #define CLKDIV_WF_SIMULATOR 9999999
21 23 #define TIMER_SM_SIMULATOR 1
22 24 #define TIMER_WF_SIMULATOR 2
23 25
26 //******
27 // RTEMS
24 28 #define TASKID_RECV 1
29 #define TASKID_ACTN 1
25 30 #define TASKID_SPIQ 3
26 31 #define TASKID_SMIQ 4
27 32 #define TASKID_STAT 5
28 33 #define TASKID_AVF0 6
29 34 #define TASKID_BPF0 7
30 35 #define TASKID_WFRM 8
31 36
37 #define ACTION_MSG_QUEUE_COUNT 10
38
39 //*******
40 // MACROS
32 41 #define PRINT_MESSAGES_ON_CONSOLE // enable or disable the printf instructions
33 42 #ifdef PRINT_MESSAGES_ON_CONSOLE
34 43 #define PRINTF(x) printf(x);
35 44 #define PRINTF1(x,y) printf(x,y);
36 45 #define PRINTF2(x,y,z) printf(x,y,z);
37 46 #else
38 47 #define PRINTF(x) ;
39 48 #define PRINTF1(x,y) ;
40 49 #define PRINTF2(x,y,z) ;
41 50 #endif
42 51
43 52 #define NB_SAMPLES_PER_SNAPSHOT 2048
44 53 #define NB_BYTES_SWF_BLK 2 * 6
45 54
46 55 extern volatile int wf_snap_f0[ ]; // 24576 bytes
47 56 extern volatile int wf_snap_f1[ ]; // 24576 bytes
48 57 extern volatile int wf_snap_f2[ ]; // 24576 bytes
49 58 extern volatile int wf_cont_f3[ ]; // 24576 bytes
50 59
51 60 #endif // FSW_RTEMS_CONFIG_H_INCLUDED
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@@ -1,44 +1,44
1 1 #ifndef FSW_RTEMS_PROCESSING_H_INCLUDED
2 2 #define FSW_RTEMS_PROCESSING_H_INCLUDED
3 3
4 4 #define NB_BINS_spec_mat 128
5 5 #define NB_VALUES_PER_spec_mat 25
6 6 #define TOTAL_SIZE_SPEC_MAT NB_BINS_spec_mat * NB_VALUES_PER_spec_mat
7 7 #define NB_BINS_COMPRESSED_MATRIX_f0 11
8 8 #define SIZE_COMPRESSED_spec_mat_f1 13
9 9 #define SIZE_COMPRESSED_spec_mat_f2 12
10 10 #define TOTAL_SIZE_COMPRESSED_MATRIX_f0 NB_BINS_COMPRESSED_MATRIX_f0 * NB_VALUES_PER_spec_mat
11 11 #define NB_AVERAGE_NORMAL_f0 96*4
12 12 #define NB_SM_TO_RECEIVE_BEFORE_AVF0 8
13 13
14 14 #include <rtems.h>
15 15 #include <grlib_regs.h>
16 16 #include <fsw_params.h>
17 17
18 18 struct BP1_str{
19 19 volatile unsigned char PE[2];
20 20 volatile unsigned char PB[2];
21 21 volatile unsigned char V0;
22 22 volatile unsigned char V1;
23 23 volatile unsigned char V2_ELLIP_DOP;
24 24 volatile unsigned char SZ;
25 25 volatile unsigned char VPHI;
26 26 };
27 27 typedef struct BP1_str BP1_t;
28 28
29 29 // ISR
30 30 rtems_isr spectral_matrices_isr( rtems_vector_number vector );
31 31 // RTEMS TASKS
32 32 rtems_task spw_bppr_task(rtems_task_argument argument);
33 rtems_task spw_avf0_task(rtems_task_argument argument);
34 rtems_task spw_bpf0_task(rtems_task_argument argument);
35 rtems_task spw_smiq_task(rtems_task_argument argument); // added to test the spectral matrix simulator
33 rtems_task avf0_task(rtems_task_argument argument);
34 rtems_task bpf0_task(rtems_task_argument argument);
35 rtems_task smiq_task(rtems_task_argument argument); // added to test the spectral matrix simulator
36 36 //
37 37 rtems_task spw_bppr_task_rate_monotonic(rtems_task_argument argument);
38 38 void matrix_average(volatile int *spec_mat, float *averaged_spec_mat);
39 39 void matrix_compression(float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat);
40 40 void matrix_reset(float *averaged_spec_mat);
41 41 void BP1_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1);
42 42 void BP2_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat);
43 43
44 44 #endif // FSW_RTEMS_PROCESSING_H_INCLUDED
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@@ -1,40 +1,48
1 1 #ifndef TC_HANDLER_H_INCLUDED
2 2 #define TC_HANDLER_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <stdio.h>
6 6 #include <unistd.h> // for the read call
7 7 #include <sys/ioctl.h> // for the ioctl call
8 8 #include <ccsds_types.h>
9 9 #include <grspw.h>
10 #include <fsw_init.h>
10 11
11 12 extern int fdSPW;
13 extern rtems_name misc_name[ ];
14 extern rtems_name misc_id[ ];
12 15 extern rtems_id Task_id[ ]; /* array of task ids */
13 16
14 17 unsigned char currentTC_LEN_RCV[2]; // SHALL be equal to the current TC packet estimated packet length field
15 18 unsigned char currentTC_COMPUTED_CRC[2];
16 19 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
17 20 unsigned int currentTM_length;
18 21 unsigned char currentTC_processedFlag;
19 22
20 23 //**********************
21 24 // GENERAL USE FUNCTIONS
22 25 unsigned int lookUpTableForCRC[256];
23 26 void InitLookUpTableForCRC();
24 27 void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData);
25 28
26 29 //*********************
27 30 // ACCEPTANCE FUNCTIONS
28 unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV);
31 unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int tc_len_recv);
29 32
30 33 unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int SID, unsigned int packetLength,
31 34 unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader);
32 35 unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC);
33 unsigned int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV,
34 TMHeader_t *TM_Header, unsigned int *hlen, char *data);
36 int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV);
35 37
36 38 //***********
37 39 // RTEMS TASK
38 rtems_task spw_recv_task( rtems_task_argument unused );
40 rtems_task recv_task( rtems_task_argument unused );
41 rtems_task actn_task( rtems_task_argument unused );
42 int create_message_queue();
43
44 //***********
45 // TC ACTIONS
46 int default_action(ccsdsTelecommandPacket_t *TC);
39 47
40 48 #endif // TC_HANDLER_H_INCLUDED
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@@ -1,20 +1,20
1 1 #ifndef WF_HANDLER_H_INCLUDED
2 2 #define WF_HANDLER_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <fsw_params.h>
6 6 #include <grspw.h>
7 7 #include <grlib_regs.h>
8 8 #include <ccsds_types.h>
9 9 #include <stdio.h>
10 10 #include <fsw_init.h>
11 11
12 12 //#include <sys/ioctl.h>
13 13
14 14 extern rtems_id Task_id[]; /* array of task ids */
15 15 extern int fdSPW;
16 16
17 17 rtems_isr waveforms_isr( rtems_vector_number vector );
18 rtems_task spw_wfrm_task(rtems_task_argument argument);
18 rtems_task wfrm_task(rtems_task_argument argument);
19 19
20 20 #endif // WF_HANDLER_H_INCLUDED
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@@ -1,29 +1,34
1 1 #include <fsw_processing.h>
2 2 #include <rtems.h>
3 3
4 4 // RTEMS GLOBAL VARIABLES
5 rtems_name misc_names[5];
5 rtems_name misc_name[5];
6 rtems_name misc_id[5];
7 rtems_id Task_id[10]; /* array of task ids */
8 rtems_name Task_name[10]; /* array of task names */
9 int fdSPW;
10 int fdUART;
6 11
7 12 // WAVEFORMS GLOBAL VARIABLES
8 13 volatile int wf_snap_f0[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
9 14 volatile int wf_snap_f1[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
10 15 volatile int wf_snap_f2[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
11 16 volatile int wf_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
12 17
13 18 // SPECTRAL MATRICES GLOBAL VARIABLES
14 19 volatile int spec_mat_f0_a[ TOTAL_SIZE_SPEC_MAT ];
15 20 volatile int spec_mat_f0_b[ TOTAL_SIZE_SPEC_MAT ];
16 21 volatile int spec_mat_f0_c[ TOTAL_SIZE_SPEC_MAT ];
17 22 volatile int spec_mat_f0_d[ TOTAL_SIZE_SPEC_MAT ];
18 23 volatile int spec_mat_f0_e[ TOTAL_SIZE_SPEC_MAT ];
19 24 volatile int spec_mat_f0_f[ TOTAL_SIZE_SPEC_MAT ];
20 25 volatile int spec_mat_f0_g[ TOTAL_SIZE_SPEC_MAT ];
21 26 volatile int spec_mat_f0_h[ TOTAL_SIZE_SPEC_MAT ];
22 27 //
23 28 float averaged_spec_mat_f0[ TOTAL_SIZE_SPEC_MAT ];
24 29 float compressed_spec_mat_f0[ TOTAL_SIZE_COMPRESSED_MATRIX_f0 ];
25 30
26 31 // BASIC PARAMETERS GLOBAL VAIRABLES
27 32 unsigned char LFR_BP1_F0[ NB_BINS_COMPRESSED_MATRIX_f0 * 9 ];
28 33
29 34 BP1_t data_BP1[ NB_BINS_COMPRESSED_MATRIX_f0 ];
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1 1 //*************************
2 2 // GPL reminder to be added
3 3 //*************************
4 4
5 5 #include <rtems.h>
6 6
7 7 /* configuration information */
8 8
9 9 #define CONFIGURE_INIT
10 10
11 11 #include <bsp.h> /* for device driver prototypes */
12 12
13 13 /* configuration information */
14 14
15 15 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
16 16 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
17 17
18 18 #define CONFIGURE_MAXIMUM_TASKS 10
19 19 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
20 20 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
21 21 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
22 22 #define CONFIGURE_INIT_TASK_PRIORITY 100
23 23 #define CONFIGURE_MAXIMUM_DRIVERS 16
24 24 #define CONFIGURE_MAXIMUM_PERIODS 1
25 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
25 26
26 27 #include <rtems/confdefs.h>
27 28
28 29 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
29 30 #ifdef RTEMS_DRVMGR_STARTUP
30 31 #ifdef LEON3
31 32 /* Add Timer and UART Driver */
32 33 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
33 34 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
34 35 #endif
35 36 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
36 37 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
37 38 #endif
38 39 #endif
39 40 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
40 41 #include <drvmgr/drvmgr_confdefs.h>
41 42 #endif
42 43
43 44 #include <fsw_init.h>
44 #include <fsw_config.c>
45
46 int fdSPW;
47 int fdUART;
45 #include <fsw_config.c>
48 46
49 47 char *link_status(int status);
50 48
51 49 char *lstates[6] = {"Error-reset",
52 50 "Error-wait",
53 51 "Ready",
54 52 "Started",
55 53 "Connecting",
56 54 "Run"
57 55 };
58
59 rtems_id Task_id[10]; /* array of task ids */
60 rtems_name Task_name[10]; /* array of task names */
61 56
62 57 rtems_task Init( rtems_task_argument ignored )
63 58 {
64 59 rtems_status_code status;
65 60
66 61 //send_console_outputs_on_serial_port();
67 62
68 63 InitLookUpTableForCRC(); // in tc_handler.h
69 64
70 65 create_message_queue();
71 66 create_all_tasks();
72 67 start_all_tasks();
73 68
74 69 configure_spw_link();
75 70 // configure timer for spectral matrices simulation
76 71 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
77 72 IRQ_SPARC_SM, spectral_matrices_isr );
78 73 // configure timer for waveforms simulation
79 74 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
80 75 IRQ_SPARC_WF, waveforms_isr );
81 76
82 77 LEON_Unmask_interrupt( IRQ_SM );
83 78 LEON_Unmask_interrupt( IRQ_WF );
84 79
85 80 status = rtems_task_delete(RTEMS_SELF);
86 81 }
87 82
88 rtems_task spw_spiq_task(rtems_task_argument unused)
83 rtems_task spiq_task(rtems_task_argument unused)
89 84 {
90 85 rtems_event_set event_out;
91 86 struct grspw_regs_str *grspw_regs;
92 87 grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW;
93 88
94 89 while(1){
95 90 PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
96 91 rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
97 92
98 93 if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL) // suspend RECV task
99 94 PRINTF("In SPIQ *** Error suspending RECV Task\n")
100 95
101 96 configure_spw_link();
102 97
103 98 if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task
104 99 PRINTF("In SPIQ *** Error resume RECV Task\n")
105 100 }
106 101 }
107 102
108 int create_message_queue()
109 {
110 misc_names[0] = rtems_build_name( 'D', 'O', 'I', 'T' );
111 return 0;
112 }
113
114 103 int create_all_tasks()
115 104 {
116 105 rtems_status_code status;
117 106
118 Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
107 Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
108 Task_name[2] = rtems_build_name( 'A', 'C', 'T', 'N' );
119 109 Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' );
120 110 Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' );
121 111 Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' );
122 112 Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' );
123 113 Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' );
124 114 Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' );
125 115
126 116 // RECV
127 117 status = rtems_task_create(
128 118 Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
129 119 RTEMS_DEFAULT_MODES,
130 120 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1]
121 );
122 // ACTN
123 status = rtems_task_create(
124 Task_name[2], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
125 RTEMS_DEFAULT_MODES,
126 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[2]
131 127 );
132 128 // SPIQ
133 129 status = rtems_task_create(
134 130 Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
135 131 RTEMS_DEFAULT_MODES,
136 132 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3]
137 133 );
138 134 // SMIQ
139 135 status = rtems_task_create(
140 136 Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
141 137 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
142 138 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4]
143 139 );
144 140 // STAT
145 141 status = rtems_task_create(
146 142 Task_name[5], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
147 143 RTEMS_DEFAULT_MODES,
148 144 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5]
149 145 );
150 146 // AVF0
151 147 status = rtems_task_create(
152 148 Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
153 149 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
154 150 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6]
155 151 );
156 152 // BPF0
157 153 status = rtems_task_create(
158 154 Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
159 155 RTEMS_DEFAULT_MODES,
160 156 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7]
161 157 );
162 158 // WFRM
163 159 status = rtems_task_create(
164 160 Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
165 161 RTEMS_DEFAULT_MODES,
166 162 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8]
167 163 );
168 164
169 165 return 0;
170 166 }
171 167
172 168 int start_all_tasks()
173 169 {
174 170 rtems_status_code status;
175 171
176 status = rtems_task_start( Task_id[3], spw_spiq_task, 1 );
172 status = rtems_task_start( Task_id[3], spiq_task, 1 );
177 173 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n")
178 174
179 status = rtems_task_start( Task_id[1], spw_recv_task, 1 );
180 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n")
175 status = rtems_task_start( Task_id[1], recv_task, 1 );
176 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n")
181 177
182 //status = rtems_task_start( Task_id[4], spw_bppr_task_rate_monotonic, 1 );
183 status = rtems_task_start( Task_id[4], spw_smiq_task, 1 );
178 status = rtems_task_start( Task_id[2], actn_task, 1 );
179 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_ACTN\n")
180
181 status = rtems_task_start( Task_id[4], smiq_task, 1 );
184 182 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n")
185 183
186 status = rtems_task_start( Task_id[5], spw_stat_task, 1 );
184 status = rtems_task_start( Task_id[5], stat_task, 1 );
187 185 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n")
188 186
189 status = rtems_task_start( Task_id[6], spw_avf0_task, 1 );
187 status = rtems_task_start( Task_id[6], avf0_task, 1 );
190 188 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n")
191 189
192 status = rtems_task_start( Task_id[7], spw_bpf0_task, 1 );
190 status = rtems_task_start( Task_id[7], bpf0_task, 1 );
193 191 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n")
194 192
195 status = rtems_task_start( Task_id[8], spw_wfrm_task, 1 );
193 status = rtems_task_start( Task_id[8], wfrm_task, 1 );
196 194 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n")
197 195
198 196 return 0;
199 197 }
200 198
201 199 int configure_spw_link()
202 200 {
203 201 rtems_status_code status;
204 202
205 203 close(fdSPW); // close the device if it is already open
206 204 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
207 205 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
208 206 while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){
209 207 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n")
210 208 close(fdSPW); // close the device
211 209 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
212 210 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
213 211 rtems_task_wake_after(100);
214 212 }
215 213
216 214 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
217 215
218 216 // sets a few parameters of the link
219 217 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit
220 218 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n")
221 219 //
222 220 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
223 221 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
224 222 //
225 223 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]); // sets the task ID to which an event is sent when a
226 224 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
227 225 //
228 226 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts
229 227 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
230 228 //
231 229 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
232 230 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
233 231
234 232 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit
235 233 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
236 234 //
237 235 //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key
238 236 //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
239 237 //
240 238 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
241 239
242 240 return RTEMS_SUCCESSFUL;
243 241 }
244 242
245 243 char *link_status(int status){
246 244 return lstates[status];
247 245 }
248 246
249 247 rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
250 248 {
251 249 rtems_status_code status;
252 250 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
253 251 if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n");
254 252 return status;
255 253 }
256 254
257 255
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@@ -1,73 +1,73
1 1 #include <fsw_misc.h>
2 2 #include <fsw_params.h>
3 3
4 4 extern rtems_id Task_id[]; /* array of task ids */
5 5 extern int fdSPW;
6 6
7 7 int configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
8 8 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
9 9 { // configure the timer for the waveforms simulation
10 10 rtems_status_code status;
11 11 rtems_isr_entry old_isr_handler;
12 12
13 13 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
14 14 //if (status==RTEMS_SUCCESSFUL) PRINTF("In configure_timer_for_wf_simulation *** rtems_interrupt_catch successfullly configured\n")
15 15
16 16 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
17 17 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any
18 18 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004; // LD load value from the reload register
19 19 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001; // EN enable the timer
20 20 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002; // RS restart
21 21 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008; // IE interrupt enable
22 22
23 23 return 1;
24 24 }
25 25
26 26 void print_statistics(spw_stats *stats)
27 27 {
28 28 //printf(" ******** STATISTICS ******** \n");
29 29 printf("Transmit link errors: %i\n", stats->tx_link_err);
30 30 printf("Receiver RMAP header CRC errors: %i\n", stats->rx_rmap_header_crc_err);
31 31 printf("Receiver RMAP data CRC errors: %i\n", stats->rx_rmap_data_crc_err);
32 32 printf("Receiver EEP errors: %i\n", stats->rx_eep_err);
33 33 printf("Receiver truncation errors: %i\n", stats->rx_truncated);
34 34 printf("Parity errors: %i\n", stats->parity_err);
35 35 printf("Escape errors: %i\n", stats->escape_err);
36 36 printf("Credit errors: %i\n", stats->credit_err);
37 37 printf("Disconnect errors: %i\n", stats->disconnect_err);
38 38 printf("Write synchronization errors: %i\n", stats->write_sync_err);
39 39 printf("Early EOP/EEP: %i\n", stats->early_ep);
40 40 printf("Invalid Node Address: %i\n", stats->invalid_address);
41 41 printf("Packets transmitted: %i\n", stats->packets_sent);
42 42 printf("Packets received: %i\n", stats->packets_received);
43 43 }
44 44
45 45 int send_console_outputs_on_serial_port() // Send the console outputs on the serial port
46 46 {
47 47 struct apbuart_regs_str *apbuart_regs;
48 48
49 49 apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
50 50 apbuart_regs->ctrl = apbuart_regs->ctrl & APBUART_CTRL_REG_MASK_DB;
51 51 PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
52 52
53 53 return 0;
54 54 }
55 55
56 rtems_task spw_stat_task(rtems_task_argument argument)
56 rtems_task stat_task(rtems_task_argument argument)
57 57 {
58 58 int i;
59 59 i = 0;
60 60 PRINTF("In STAT *** \n")
61 61 while(1){
62 62 rtems_task_wake_after(1000);
63 63 PRINTF1("%d\n", i)
64 64 if (i == 2) {
65 65 rtems_cpu_usage_report();
66 66 rtems_cpu_usage_reset();
67 67 i = 0;
68 68 }
69 69 else i++;
70 70 }
71 71 }
72 72
73 73
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@@ -1,423 +1,423
1 1 #include <fsw_processing.h>
2 2 #include <math.h>
3 3 #include <stdio.h>
4 4 #include <leon.h>
5 5
6 6 float k14_re = 1;
7 7 float k14_im = 1;
8 8 float k14_bis_re = 1;
9 9 float k14_bis_im = 1;
10 10 float k14_tris_re = 1;
11 11 float k14_tris_im = 1;
12 12 float k15_re = 1;
13 13 float k15_im = 1;
14 14 float k15_bis_re = 1;
15 15 float k15_bis_im = 1;
16 16 float k24_re = 1;
17 17 float k24_im = 1;
18 18 float k24_bis_re = 1;
19 19 float k24_bis_im = 1;
20 20 float k24_tris_re = 1;
21 21 float k24_tris_im = 1;
22 22 float k25_re = 1;
23 23 float k25_im = 1;
24 24 float k25_bis_re = 1;
25 25 float k25_bis_im = 1;
26 26 float k34_re = 1;
27 27 float k34_im = 1;
28 28 float k44 = 1;
29 29 float k55 = 1;
30 30 float k45_re = 1;
31 31 float k45_im = 1;
32 32 float alpha_M = M_PI/4;
33 33
34 34 extern volatile int spec_mat_f0_a[ ];
35 35 extern volatile int spec_mat_f0_b[ ];
36 36 extern volatile int spec_mat_f0_c[ ];
37 37 extern volatile int spec_mat_f0_d[ ];
38 38 extern volatile int spec_mat_f0_e[ ];
39 39 extern volatile int spec_mat_f0_f[ ];
40 40 extern volatile int spec_mat_f0_g[ ];
41 41 extern volatile int spec_mat_f0_h[ ];
42 42 extern float averaged_spec_mat_f0[ ];
43 43 extern float compressed_spec_mat_f0[ ];
44 44 extern unsigned char LFR_BP1_F0[ ];
45 45
46 46 extern BP1_t data_BP1[ ];
47 47
48 48 extern rtems_id Task_id[ ]; /* array of task ids */
49 49
50 50 spectral_matrices_regs_t *spectral_matrices_regs;
51 51
52 52 // Interrupt Service Routine for spectral matrices processing
53 53 rtems_isr spectral_matrices_isr( rtems_vector_number vector )
54 54 {
55 55 if (rtems_event_send( Task_id[TASKID_SMIQ], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
56 56 printf("In spectral_matrices_isr *** Error sending event to AVF0\n");
57 57 }
58 58
59 rtems_task spw_smiq_task(rtems_task_argument argument) // process the Spectral Matrices IRQ
59 rtems_task smiq_task(rtems_task_argument argument) // process the Spectral Matrices IRQ
60 60 {
61 61 rtems_event_set event_out;
62 62 gptimer_regs_t *gptimer_regs;
63 63 gptimer_regs = (gptimer_regs_t *) REGS_ADDR_GPTIMER;
64 64 unsigned char nb_interrupt_f0 = 0;
65 65
66 66 while(1){
67 67 rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
68 68 nb_interrupt_f0 = nb_interrupt_f0 + 1;
69 69 if (nb_interrupt_f0 == (NB_SM_TO_RECEIVE_BEFORE_AVF0-1) ){
70 70 if (rtems_event_send( Task_id[6], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
71 printf("In spw_smiq_task *** Error sending event to AVF0\n");
71 printf("In smiq_task *** Error sending event to AVF0\n");
72 72 nb_interrupt_f0 = 0;
73 73 }
74 74 gptimer_regs->timer[1].ctrl = gptimer_regs->timer[1].ctrl | 0x00000010;
75 75 }
76 76 }
77 77
78 78 rtems_task spw_bppr_task(rtems_task_argument argument)
79 79 {
80 80 rtems_status_code status;
81 81 rtems_event_set event_out;
82 82 static int nb_average_f0 = 0;
83 83 //static int nb_average_f1 = 0;
84 84 //static int nb_average_f2 = 0;
85 85
86 86 while(1)
87 87
88 88 spectral_matrices_regs = (struct spectral_matrices_regs_str *) REGS_ADDR_SPECTRAL_MATRICES;
89 89 spectral_matrices_regs->address0 = (volatile int) spec_mat_f0_a;
90 90 spectral_matrices_regs->address1 = (volatile int) spec_mat_f0_b;
91 91
92 92 printf("In BPPR ***\n");
93 93
94 94 while(1){ // wait for an event to begin with the processing
95 95 status = rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out);
96 96 if (status == RTEMS_SUCCESSFUL){
97 97 if ((spectral_matrices_regs->ctrl & 0x00000001)==1){
98 98 matrix_average(spec_mat_f0_a, averaged_spec_mat_f0);
99 99 spectral_matrices_regs->ctrl = spectral_matrices_regs->ctrl & 0xfffffffe;
100 100 //printf("f0_a\n");
101 101 nb_average_f0++;
102 102 }
103 103 if (((spectral_matrices_regs->ctrl>>1) & 0x00000001)==1){
104 104 matrix_average(spec_mat_f0_b, compressed_spec_mat_f0);
105 105 spectral_matrices_regs->ctrl = spectral_matrices_regs->ctrl & 0xfffffffd;
106 106 //printf("f0_b\n");
107 107 nb_average_f0++;
108 108 }
109 109 if (nb_average_f0 == NB_AVERAGE_NORMAL_f0){
110 110 matrix_compression(averaged_spec_mat_f0, 0, compressed_spec_mat_f0);
111 111 //printf("f0 compressed\n");
112 112 nb_average_f0 = 0;
113 113 matrix_reset(averaged_spec_mat_f0);
114 114 }
115 115 }
116 116 }
117 117 }
118 118
119 119 void matrix_average(volatile int *spec_mat, float *averaged_spec_mat)
120 120 {
121 121 int i;
122 122 for(i=0; i<TOTAL_SIZE_SPEC_MAT; i++){
123 123 averaged_spec_mat[i] = averaged_spec_mat[i] + spec_mat_f0_a[i]
124 124 + spec_mat_f0_b[i]
125 125 + spec_mat_f0_c[i]
126 126 + spec_mat_f0_d[i]
127 127 + spec_mat_f0_e[i]
128 128 + spec_mat_f0_f[i]
129 129 + spec_mat_f0_g[i]
130 130 + spec_mat_f0_h[i];
131 131 }
132 132 }
133 133
134 134 void matrix_reset(float *averaged_spec_mat)
135 135 {
136 136 int i;
137 137 for(i=0; i<TOTAL_SIZE_SPEC_MAT; i++){
138 138 averaged_spec_mat_f0[i] = 0;
139 139 }
140 140 }
141 141
142 142 void matrix_compression(float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat)
143 143 {
144 144 int i, j;
145 145 switch (fChannel){
146 146 case 0:
147 147 for(i=0;i<NB_BINS_COMPRESSED_MATRIX_f0;i++){
148 148 j = 17 + i * 8;
149 149 compressed_spec_mat[i] = (averaged_spec_mat[j]
150 150 + averaged_spec_mat[j+1]
151 151 + averaged_spec_mat[j+2]
152 152 + averaged_spec_mat[j+3]
153 153 + averaged_spec_mat[j+4]
154 154 + averaged_spec_mat[j+5]
155 155 + averaged_spec_mat[j+6]
156 156 + averaged_spec_mat[j+7])/(8*NB_AVERAGE_NORMAL_f0);
157 157 }
158 158 break;
159 159 case 1:
160 160 // case fChannel = f1 tp be completed later
161 161 break;
162 162 case 2:
163 163 // case fChannel = f1 tp be completed later
164 164 break;
165 165 default:
166 166 break;
167 167 }
168 168 }
169 169
170 170 void BP1_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1){
171 171 int i, j;
172 172 unsigned char tmp_u_char;
173 173 unsigned char * pt_char;
174 174 float PSDB, PSDE;
175 175 float NVEC_V0, NVEC_V1, NVEC_V2;
176 176 float significand;
177 177 int exponent;
178 178 float aux, tr_SB_SB, tmp;
179 179 float e_cross_b_re, e_cross_b_im;
180 180 float n_cross_e_scal_b_re = 0, n_cross_e_scal_b_im = 0;
181 181 float nx = 0, ny = 0;
182 182 float bz_bz_star = 0;
183 183 for(i=0; i<nb_bins_compressed_spec_mat; i++){
184 184 //==============================================
185 185 // BP1 PSD == B PAR_LFR_SC_BP1_PE_FL0 == 16 bits
186 186 PSDB = compressed_spec_mat[i*30] // S11
187 187 + compressed_spec_mat[i*30+10] // S22
188 188 + compressed_spec_mat[i*30+18]; // S33
189 189 significand = frexp(PSDB, &exponent);
190 190 pt_char = (unsigned char*) &PSDB;
191 191 LFR_BP1[i*9+8] = pt_char[0]; // bits 31 downto 24 of the float
192 192 LFR_BP1[i*9+7] = pt_char[1]; // bits 23 downto 16 of the float
193 193 //==============================================
194 194 // BP1 PSD == E PAR_LFR_SC_BP1_PB_FL0 == 16 bits
195 195 PSDE = compressed_spec_mat[i*30+24] * k44 // S44
196 196 + compressed_spec_mat[i*30+28] * k55 // S55
197 197 + compressed_spec_mat[i*30+26] * k45_re // S45
198 198 - compressed_spec_mat[i*30+27] * k45_im; // S45
199 199 pt_char = (unsigned char*) &PSDE;
200 200 LFR_BP1[i*9+6] = pt_char[0]; // bits 31 downto 24 of the float
201 201 LFR_BP1[i*9+5] = pt_char[1]; // bits 23 downto 16 of the float
202 202 //==============================================================================
203 203 // BP1 normal wave vector == PAR_LFR_SC_BP1_NVEC_V0_F0 == 8 bits
204 204 // == PAR_LFR_SC_BP1_NVEC_V1_F0 == 8 bits
205 205 // == PAR_LFR_SC_BP1_NVEC_V2_F0 == 1 bits
206 206 tmp = sqrt(
207 207 compressed_spec_mat[i*30+3]*compressed_spec_mat[i*30+3] //Im S12
208 208 +compressed_spec_mat[i*30+5]*compressed_spec_mat[i*30+5] //Im S13
209 209 +compressed_spec_mat[i*30+5]*compressed_spec_mat[i*30+13] //Im S23
210 210 );
211 211 NVEC_V0 = compressed_spec_mat[i*30+13] / tmp; // Im S23
212 212 NVEC_V1 = -compressed_spec_mat[i*30+5] / tmp; // Im S13
213 213 NVEC_V2 = compressed_spec_mat[i*30+1] / tmp; // Im S12
214 214 LFR_BP1[i*9+4] = (char) (NVEC_V0*256);
215 215 LFR_BP1[i*9+3] = (char) (NVEC_V1*256);
216 216 pt_char = (unsigned char*) &NVEC_V2;
217 217 LFR_BP1[i*9+2] = pt_char[0] & 0x80; // extract the sign of NVEC_V2
218 218 //=======================================================
219 219 // BP1 ellipticity == PAR_LFR_SC_BP1_ELLIP_F0 == 4 bits
220 220 aux = 2*tmp / PSDB; // compute the ellipticity
221 221 tmp_u_char = (unsigned char) (aux*(16-1)); // convert the ellipticity
222 222 LFR_BP1[i*9+2] = LFR_BP1[i*9+2] | ((tmp_u_char&0x0f)<<3); // keeps 4 bits of the resulting unsigned char
223 223 //==============================================================
224 224 // BP1 degree of polarization == PAR_LFR_SC_BP1_DOP_F0 == 3 bits
225 225 for(j = 0; j<NB_VALUES_PER_spec_mat;j++){
226 226 tr_SB_SB = compressed_spec_mat[i*30]*compressed_spec_mat[i*30]
227 227 + compressed_spec_mat[i*30+10]*compressed_spec_mat[i*30+10]
228 228 + compressed_spec_mat[i*30+18]*compressed_spec_mat[i*30+18]
229 229 + 2 * compressed_spec_mat[i*30+2]*compressed_spec_mat[i*30+2]
230 230 + 2 * compressed_spec_mat[i*30+3]*compressed_spec_mat[i*30+3]
231 231 + 2 * compressed_spec_mat[i*30+4]*compressed_spec_mat[i*30+4]
232 232 + 2 * compressed_spec_mat[i*30+5]*compressed_spec_mat[i*30+5]
233 233 + 2 * compressed_spec_mat[i*30+12]*compressed_spec_mat[i*30+12]
234 234 + 2 * compressed_spec_mat[i*30+13]*compressed_spec_mat[i*30+13];
235 235 }
236 236 aux = PSDB*PSDB;
237 237 tmp = ( 3*tr_SB_SB - aux ) / ( 2 * aux );
238 238 tmp_u_char = (unsigned char) (NVEC_V0*(8-1));
239 239 LFR_BP1[i*9+2] = LFR_BP1[i*9+2] | ((tmp_u_char&0x07)); // keeps 3 bits of the resulting unsigned char
240 240 //=======================================================================================
241 241 // BP1 z-component of the normalized Poynting flux == PAR_LFR_SC_BP1_SZ_F0 == 8 bits (7+1)
242 242 e_cross_b_re = compressed_spec_mat[i*30+20]*k34_re
243 243 + compressed_spec_mat[i*30+6]*k14_re
244 244 + compressed_spec_mat[i*30+8]*k15_re
245 245 + compressed_spec_mat[i*30+14]*k24_re
246 246 + compressed_spec_mat[i*30+16]*k25_re;
247 247 e_cross_b_im = compressed_spec_mat[i*30+21]*k34_im
248 248 + compressed_spec_mat[i*30+7]*k14_im
249 249 + compressed_spec_mat[i*30+9]*k15_im
250 250 + compressed_spec_mat[i*30+15]*k24_im
251 251 + compressed_spec_mat[i*30+17]*k25_im;
252 252 tmp = e_cross_b_re / PSDE; // compute ReaSz
253 253 LFR_BP1[i*9+1] = ((unsigned char) (tmp * 128)) & 0x7f; // is it always positive?
254 254 tmp = e_cross_b_re * e_cross_b_im;
255 255 pt_char = (unsigned char*) &tmp;
256 256 LFR_BP1[i*9+1] = LFR_BP1[i*9+1] | (pt_char[0] & 0x80); // extract the sign of ArgSz
257 257 //======================================================================
258 258 // BP1 phase velocity estimator == PAR_LFR_SC_BP1_VPHI_F0 == 8 bits (7+1)
259 259 nx = -sin(alpha_M)*NVEC_V0 - cos(alpha_M)*NVEC_V1;
260 260 ny = NVEC_V2;
261 261 bz_bz_star = cos(alpha_M) * cos(alpha_M) * compressed_spec_mat[i*30] // re S11
262 262 + sin(alpha_M) * sin(alpha_M) * compressed_spec_mat[i*30+10] // re S22
263 263 - 2 * sin(alpha_M) * cos(alpha_M) * compressed_spec_mat[i*30+2]; // re S12
264 264 n_cross_e_scal_b_re = nx * (compressed_spec_mat[i*30+8]*k15_bis_re
265 265 +compressed_spec_mat[i*30+6]*k14_bis_re
266 266 +compressed_spec_mat[i*30+16]*k25_bis_re
267 267 +compressed_spec_mat[i*30+14]*k24_bis_re)
268 268 + ny * (compressed_spec_mat[i*30+6]*k14_tris_re
269 269 +compressed_spec_mat[i*30+14]*k24_tris_re);
270 270 n_cross_e_scal_b_im = nx * (compressed_spec_mat[i*30+8]*k15_bis_im
271 271 +compressed_spec_mat[i*30+6]*k14_bis_im
272 272 +compressed_spec_mat[i*30+16]*k25_bis_im
273 273 +compressed_spec_mat[i*30+14]*k24_bis_im)
274 274 + ny * (compressed_spec_mat[i*30+6]*k14_tris_im
275 275 +compressed_spec_mat[i*30+14]*k24_tris_im);
276 276 tmp = n_cross_e_scal_b_re / bz_bz_star;
277 277 LFR_BP1[i*9+0] = ((unsigned char) (tmp * 128)) & 0x7f; // is it always positive?
278 278 tmp = n_cross_e_scal_b_re * n_cross_e_scal_b_im;
279 279 pt_char = (unsigned char*) &tmp;
280 280 LFR_BP1[i*9+1] = LFR_BP1[i*9+0] | (pt_char[0] & 0x80); // extract the sign of ArgV
281 281 }
282 282
283 283 }
284 284
285 285 void BP2_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat){
286 286 // BP2 autocorrelation
287 287 int i, aux = 0;
288 288 for(i = 0; i<nb_bins_compressed_spec_mat; i++){
289 289 // S12
290 290 aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+10]);
291 291 compressed_spec_mat[i*30+2] = compressed_spec_mat[i*30+2] / aux;
292 292 compressed_spec_mat[i*30+3] = compressed_spec_mat[i*30+3] / aux;
293 293 // S13
294 294 aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+18]);
295 295 compressed_spec_mat[i*30+4] = compressed_spec_mat[i*30+4] / aux;
296 296 compressed_spec_mat[i*30+5] = compressed_spec_mat[i*30+5] / aux;
297 297 // S23
298 298 aux = sqrt(compressed_spec_mat[i*30+12]*compressed_spec_mat[i*30+18]);
299 299 compressed_spec_mat[i*30+12] = compressed_spec_mat[i*30+12] / aux;
300 300 compressed_spec_mat[i*30+13] = compressed_spec_mat[i*30+13] / aux;
301 301 // S45
302 302 aux = sqrt(compressed_spec_mat[i*30+24]*compressed_spec_mat[i*30+28]);
303 303 compressed_spec_mat[i*30+26] = compressed_spec_mat[i*30+26] / aux;
304 304 compressed_spec_mat[i*30+27] = compressed_spec_mat[i*30+27] / aux;
305 305 // S14
306 306 aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+24]);
307 307 compressed_spec_mat[i*30+6] = compressed_spec_mat[i*30+6] / aux;
308 308 compressed_spec_mat[i*30+7] = compressed_spec_mat[i*30+7] / aux;
309 309 // S15
310 310 aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[i*30+28]);
311 311 compressed_spec_mat[i*30+8] = compressed_spec_mat[i*30+8] / aux;
312 312 compressed_spec_mat[i*30+9] = compressed_spec_mat[i*30+9] / aux;
313 313 // S24
314 314 aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[i*30+24]);
315 315 compressed_spec_mat[i*30+14] = compressed_spec_mat[i*30+14] / aux;
316 316 compressed_spec_mat[i*30+15] = compressed_spec_mat[i*30+15] / aux;
317 317 // S25
318 318 aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[i*30+28]);
319 319 compressed_spec_mat[i*30+16] = compressed_spec_mat[i*30+16] / aux;
320 320 compressed_spec_mat[i*30+17] = compressed_spec_mat[i*30+17] / aux;
321 321 // S34
322 322 aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[i*30+24]);
323 323 compressed_spec_mat[i*30+20] = compressed_spec_mat[i*30+20] / aux;
324 324 compressed_spec_mat[i*30+21] = compressed_spec_mat[i*30+21] / aux;
325 325 // S35
326 326 aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[i*30+28]);
327 327 compressed_spec_mat[i*30+22] = compressed_spec_mat[i*30+22] / aux;
328 328 compressed_spec_mat[i*30+23] = compressed_spec_mat[i*30+23] / aux;
329 329 }
330 330 }
331 331
332 rtems_task spw_avf0_task(rtems_task_argument argument){
332 rtems_task avf0_task(rtems_task_argument argument){
333 333 int i;
334 334 static int nb_average;
335 335 rtems_event_set event_out;
336 336 rtems_status_code status;
337 337
338 338 spectral_matrices_regs = (struct spectral_matrices_regs_str *) REGS_ADDR_SPECTRAL_MATRICES;
339 339 spectral_matrices_regs->address0 = (volatile int) spec_mat_f0_a;
340 340 spectral_matrices_regs->address1 = (volatile int) spec_mat_f0_b;
341 341
342 342 nb_average = 0;
343 343
344 344 PRINTF("In AVFO *** \n")
345 345
346 346 while(1){
347 347 rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
348 348 for(i=0; i<TOTAL_SIZE_SPEC_MAT; i++){
349 349 averaged_spec_mat_f0[i] = averaged_spec_mat_f0[i] + spec_mat_f0_a[i]
350 350 + spec_mat_f0_b[i]
351 351 + spec_mat_f0_c[i]
352 352 + spec_mat_f0_d[i]
353 353 + spec_mat_f0_e[i]
354 354 + spec_mat_f0_f[i]
355 355 + spec_mat_f0_g[i]
356 356 + spec_mat_f0_h[i];
357 357 }
358 358 spectral_matrices_regs->ctrl = spectral_matrices_regs->ctrl & 0xfffffffe; // reset the appropriate bit in the register
359 359 nb_average = nb_average + NB_SM_TO_RECEIVE_BEFORE_AVF0;
360 360 if (nb_average == NB_AVERAGE_NORMAL_f0) {
361 361 nb_average = 0;
362 362 status = rtems_event_send( Task_id[7], RTEMS_EVENT_0 ); // sending an event to the task 7, BPF0
363 363 if (status != RTEMS_SUCCESSFUL) printf("IN TASK AVF0 *** Error sending RTEMS_EVENT_0, code %d\n", status);
364 364 }
365 365 }
366 366 }
367 367
368 rtems_task spw_bpf0_task(rtems_task_argument argument){
368 rtems_task bpf0_task(rtems_task_argument argument){
369 369 rtems_event_set event_out;
370 370
371 371 while(1){
372 372 rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
373 373 matrix_compression(averaged_spec_mat_f0, 0, compressed_spec_mat_f0);
374 374 BP1_set(compressed_spec_mat_f0, NB_BINS_COMPRESSED_MATRIX_f0, LFR_BP1_F0);
375 375 //PRINTF("IN TASK BPF0 *** Matrix compressed, parameters calculated\n")
376 376 }
377 377 }
378 378
379 379 //*******
380 380 // UNUSED
381 381 rtems_task spw_bppr_task_rate_monotonic(rtems_task_argument argument)
382 382 {/*
383 383 rtems_status_code status;
384 384 //static int nb_average_f1 = 0;
385 385 //static int nb_average_f2 = 0;
386 386
387 387 rtems_name name;
388 388 rtems_id period;
389 389 name = rtems_build_name( 'P', 'E', 'R', 'D' );
390 390 status = rtems_rate_monotonic_create( name, &period );
391 391 if( status != RTEMS_SUCCESSFUL ) {
392 392 printf( "rtems_rate_monotonic_create failed with status of %d\n", status );
393 393 //exit( 1 );
394 394 }
395 395
396 396 spectral_matrices_regs = (struct spectral_matrices_regs_str *) REGS_ADDR_SPECTRAL_MATRICES;
397 397 spectral_matrices_regs->address0 = (volatile int) spec_mat_f0_a;
398 398 spectral_matrices_regs->address1 = (volatile int) spec_mat_f0_b;
399 399
400 400 printf("In BPPR BIS ***\n");
401 401
402 402 while(1){ // launch the rate monotonic task
403 403 if ( rtems_rate_monotonic_period( period, 8 ) == RTEMS_TIMEOUT ){
404 404 printf("TIMEOUT\n");
405 405 //break;
406 406 }
407 407 status = rtems_event_send( Task_id[6], RTEMS_EVENT_0 ); // sending an event to the task 6, AVF0
408 408 if (status != RTEMS_SUCCESSFUL) printf("IN TASK BPPR BIS *** Error sending RTEMS_EVENT_0 to AVF0, code %d\n", status);
409 409 }
410 410
411 411 status = rtems_rate_monotonic_delete( period );
412 412 if ( status != RTEMS_SUCCESSFUL ) {
413 413 printf( "rtems_rate_monotonic_delete failed with status of %d.\n", status );
414 414 //exit( 1 );
415 415 }
416 416 status = rtems_task_delete( RTEMS_SELF ); // should not return
417 417 printf( "rtems_task_delete returned with status of %d.\n", status );
418 418 //exit( 1 );*/
419 419 }
420 420
421 421
422 422
423 423
Show file before | Show file after | Hide comments
@@ -1,331 +1,396
1 1 #include <tc_handler.h>
2 2 #include <fsw_params.h>
3 3
4 4 char *errorCCSDSMsg[8] = { "ILLEGAL_APID 0",
5 5 "WRONG_LEN_PACKET 1",
6 6 "INCOR_CHECKSUM 2",
7 7 "ILL_TYPE 3",
8 8 "ILL_SUBTYPE 4",
9 9 "WRONG_APP_DATA 5",
10 10 "WRONG_CMD_CODE 6",
11 11 "CCSDS_TM_VALID 7"
12 12 };
13 13
14 14 //**********************
15 15 // GENERAL USE FUNCTIONS
16 16 unsigned int Crc_opt( unsigned char D, unsigned int Chk)
17 17 {
18 18 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
19 19 }
20 20
21 21 void InitLookUpTableForCRC()
22 22 {
23 23 unsigned int i, tmp;
24 24 for (i=0; i<256; i++)
25 25 {
26 26 tmp = 0;
27 27 if((i & 1) != 0) tmp = tmp ^ 0x1021;
28 28 if((i & 2) != 0) tmp = tmp ^ 0x2042;
29 29 if((i & 4) != 0) tmp = tmp ^ 0x4084;
30 30 if((i & 8) != 0) tmp = tmp ^ 0x8108;
31 31 if((i & 16) != 0) tmp = tmp ^ 0x1231;
32 32 if((i & 32) != 0) tmp = tmp ^ 0x2462;
33 33 if((i & 64) != 0) tmp = tmp ^ 0x48c4;
34 34 if((i & 128) != 0) tmp = tmp ^ 0x9188;
35 35 lookUpTableForCRC[i] = tmp;
36 36 }
37 37 }
38 38
39 39 void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
40 40 {
41 41 unsigned int Chk;
42 42 int j;
43 43 Chk = 0xffff; // reset the syndrom to all ones
44 44 for (j=0; j<sizeOfData; j++) {
45 45 Chk = Crc_opt(data[j], Chk);
46 46 }
47 47 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
48 48 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
49 49 }
50 50
51 51
52 52 //*********************
53 53 // ACCEPTANCE FUNCTIONS
54 unsigned int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV,
55 TMHeader_t *TM_Header, unsigned int *hlen, char *data)
54 int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
56 55 {
56 rtems_status_code status;
57 spw_ioctl_pkt_send spw_ioctl_send;
58 TMHeader_t TM_header;
57 59 unsigned int code = 0;
58 unsigned int data_length = 0;
59 60 unsigned char computed_CRC[2];
60 unsigned char subtype = 0;
61 char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
61 62
62 subtype = TC->dataFieldHeader[2];
63 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, TC_LEN_RCV + 5 );
64 code = acceptTM( TC, TC_LEN_RCV ) ;
65 //PRINTF1("in TC_checker *** %s\n", errorCCSDSMsg[code]);
63 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
64 code = acceptTM( TC, tc_len_recv ) ;
66 65 if ( (code == 0) | (code == 1) | (code == 2)
67 66 | (code == 3) | (code == 4) | (code == 5) )
68 67 { // generate TM_LFR_TC_EXE_CORRUPTED
69 68 // BUILD HEADER
70 TM_build_header( TM_LFR_TC_EXE_ERR, SID_EXE_CORR, TM_LEN_EXE_CORR, 0, 0, TM_Header);
69 TM_build_header( TM_LFR_TC_EXE_ERR, SID_EXE_CORR, TM_LEN_EXE_CORR, 0, 0, &TM_header);
71 70 // BUILD DATA
72 71 TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
73 data_length = TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
74 }
75 if (subtype == SID_TC_UPDT_TIME){
76 // BUILD HEADER
77 TM_build_header( TM_LFR_TC_EXE_OK, SID_DEFAULT, TM_LEN_EXE, 0, 0, TM_Header);
78 // BUILD DATA
79 TM_build_data( TC, data, SID_DEFAULT, computed_CRC);
80 data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
72 // PREPARE TM SENDING
73 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
74 spw_ioctl_send.hdr = (char*) &TM_header;
75 spw_ioctl_send.dlen = TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
76 spw_ioctl_send.data = data;
77 // SEND PACKET
78 write_spw(&spw_ioctl_send);
81 79 }
82 80 else { // TM_LFR_TC_EXE_NOT_IMPLEMENTED
83 // BUILD HEADER
84 TM_build_header( TM_LFR_TC_EXE_ERR, SID_NOT_IMP, TM_LEN_NOT_IMP, 0, 0, TM_Header);
85 // BUILD DATA
86 TM_build_data( TC, data, SID_NOT_IMP, computed_CRC);
87 data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
81 status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET);
82 return -1;
88 83 }
89
90 return data_length;
84 return -1;
91 85 }
92 86
93 87 unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
94 88 {
95 89 unsigned char pid = 0;
96 90 unsigned char category = 0;
97 91 unsigned int length = 0;
98 92 unsigned char packetType = 0;
99 93 unsigned char packetSubtype = 0;
100 94 unsigned char * CCSDSContent;
101 95
102 96 // APID check *** APID on 2 bytes
103 97 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx
104 98 category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
105 99 if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID;
106 100 if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID;
107 101
108 102 // packet length check
109 103 length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1];
110 104 if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
111 105 if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
112 106
113 107 packetType = TMPacket->dataFieldHeader[1];
114 108 packetSubtype = TMPacket->dataFieldHeader[2];
115 109 // service type, subtype and packet length check
116 110 if (packetType == 181){
117 111 switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
118 112 case 3:
119 113 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
120 114 break;
121 115 case 20:
122 116 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
123 117 break;
124 118 case 21:
125 119 if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
126 120 break;
127 121 case 24:
128 122 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
129 123 break;
130 124 case 27:
131 125 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
132 126 break;
133 127 case 28:
134 128 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
135 129 break;
136 130 case 30:
137 131 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
138 132 break;
139 133 case 40:
140 134 if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
141 135 break;
142 136 case 50:
143 137 if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
144 138 break;
145 139 case 60:
146 140 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
147 141 break;
148 142 case 61:
149 143 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
150 144 break;
151 145 default:
152 146 return ILL_SUBTYPE;
153 147 break;
154 148 }
155 149 }
156 150 else if (packetType == 9){
157 151 if (packetSubtype!=129) return ILL_SUBTYPE;
158 152 if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
159 153 }
160 154 else return ILL_TYPE;
161 155
162 156 // source ID check // Source ID not documented in the ICD
163 157
164 158 // packet error control, CRC check
165 159 CCSDSContent = (unsigned char*) TMPacket->packetID;
166 160 GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
167 161 if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM;
168 162 if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM;
169 163
170 164 return CCSDS_TM_VALID;
171 165 }
172 166
173 167 unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int SID, unsigned int packetLength,
174 168 unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
175 169 {
176 170 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
177 171 TMHeader->protocolIdentifier = 0x02;
178 172 TMHeader->reserved = 0x00;
179 173 TMHeader->userApplication = 0x00;
180 174 TMHeader->packetID[0] = 0x0c;
181 175 TMHeader->packetSequenceControl[0] = 0xc0;
182 176 TMHeader->packetSequenceControl[1] = 0x00;
183 177 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
184 178 TMHeader->packetLength[1] = (unsigned char) packetLength;
185 179 TMHeader->dataFieldHeader[0] = 0x10;
186 180 TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
187 181 switch (tm_type){
188 182 case(TM_LFR_TC_EXE_OK):
189 183 TMHeader->packetID[1] = 0xc1;
190 184 TMHeader->dataFieldHeader[1] = 1; // type
191 185 TMHeader->dataFieldHeader[2] = 7; // subtype
192 186 break;
193 187 case(TM_LFR_TC_EXE_ERR):
194 188 TMHeader->packetID[1] = 0xc1;
195 189 TMHeader->dataFieldHeader[1] = 1; // type
196 190 TMHeader->dataFieldHeader[2] = 8; // subtype
197 191 break;
198 192 case(TM_LFR_HK):
199 193 TMHeader->packetID[1] = 0xc4;
200 194 TMHeader->dataFieldHeader[1] = 3; // type
201 195 TMHeader->dataFieldHeader[2] = 25; // subtype
202 196 break;
203 197 case(TM_LFR_SCI):
204 198 TMHeader->packetID[1] = 0xcc;
205 199 TMHeader->dataFieldHeader[1] = 21; // type
206 200 TMHeader->dataFieldHeader[2] = 3; // subtype
207 201 break;
208 202 case(TM_LFR_SCI_SBM):
209 203 TMHeader->packetID[1] = 0xfc;
210 204 TMHeader->dataFieldHeader[1] = 21; // type
211 205 TMHeader->dataFieldHeader[2] = 3; // subtype
212 206 break;
213 207 case(TM_LFR_PAR_DUMP):
214 208 TMHeader->packetID[1] = 0xc9;
215 209 TMHeader->dataFieldHeader[1] = 181; // type
216 210 TMHeader->dataFieldHeader[2] = 31; // subtype
217 211 break;
218 212 default:
219 213 return 0;
220 214 }
221 215 /*TMHeader->dataFieldHeader[4] = (unsigned char) (coarseTime>>24);
222 216 TMHeader->dataFieldHeader[5] = (unsigned char) (coarseTime>>16);
223 217 TMHeader->dataFieldHeader[6] = (unsigned char) (coarseTime>>8);
224 218 TMHeader->dataFieldHeader[7] = (unsigned char) (coarseTime);
225 219 TMHeader->dataFieldHeader[8] = (unsigned char) (fineTime>>8);
226 220 TMHeader->dataFieldHeader[9] = (unsigned char) (fineTime);*/
227 221 TMHeader->dataFieldHeader[4] = 0xaa;
228 222 TMHeader->dataFieldHeader[5] = 0xbb;
229 223 TMHeader->dataFieldHeader[6] = 0xcc;
230 224 TMHeader->dataFieldHeader[7] = 0xdd;
231 225 TMHeader->dataFieldHeader[8] = 0xee;
232 226 TMHeader->dataFieldHeader[9] = 0xff;
233 227 return 1;
234 228 }
235 229
236 230 unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
237 231 {
238 232 unsigned int packetLength;
239 233 packetLength = TC->packetLength[0] * 256 + TC->packetLength[1];
240 234 switch (SID){
241 235 case (SID_NOT_EXE):
242 236 break;
243 237 case (SID_NOT_IMP):
244 238 data[0] = 0x9c;
245 239 data[1] = 0x42;
246 240 data[2] = TC->packetID[0];
247 241 data[3] = TC->packetID[1];
248 242 data[4] = TC->packetSequenceControl[0];
249 243 data[5] = TC->packetSequenceControl[1];
250 244 data[6] = TC->dataFieldHeader[1]; // type
251 245 data[7] = TC->dataFieldHeader[2]; // subtype
252 246 break;
253 247 case (SID_EXE_ERR):
254 248 break;
255 249 case (SID_EXE_CORR):
256 250 data[0] = 0x9c;
257 251 data[1] = 0x45;
258 252 data[2] = TC->packetID[0];
259 253 data[3] = TC->packetID[1];
260 254 data[4] = TC->packetSequenceControl[0];
261 255 data[5] = TC->packetSequenceControl[1];
262 256 data[6] = TC->dataFieldHeader[1]; // type
263 257 data[7] = TC->dataFieldHeader[2]; // subtype
264 258 data[8] = currentTC_LEN_RCV[0];
265 259 data[9] = currentTC_LEN_RCV[1];
266 260 data[10] = TC->packetLength[0];
267 261 data[11] = TC->packetLength[1];
268 262 data[12] = TC->dataAndCRC[packetLength];
269 263 data[13] = TC->dataAndCRC[packetLength+1];
270 264 data[14] = computed_CRC[0];
271 265 data[15] = computed_CRC[1];
272 266 break;
273 267 default:
274 268 return 0;
275 269 }
276 270 return 1;
277 271 }
278 272
279 unsigned char actionLauncher(unsigned int sid)
280 {
281 return 0;
282 }
283
284 273 //***********
285 274 // RTEMS TASK
286 rtems_task spw_recv_task( rtems_task_argument unused )
287 {
288 rtems_status_code status;
275 rtems_task recv_task( rtems_task_argument unused )
276 {
289 277 int len = 0;
290 278 unsigned int i = 0;
291 279 unsigned int data_length = 0;
292 280 ccsdsTelecommandPacket_t currentTC;
293 spw_ioctl_pkt_send spw_ioctl_send;
294 TMHeader_t TM_header;
295 281 char data[100];
296 282
297 283 for(i=0; i<100; i++) data[i] = 0;
298 284
299 285 PRINTF("In RECV *** \n")
300 286
301 while(1){
287 while(1)
288 {
302 289 len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
303 290 if (len == -1){ // error during the read call
304 291 PRINTF("In RECV *** last read call returned -1\n")
305 292 if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL)
306 293 PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
307 294 if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL)
308 295 PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
309 296 }
310 297 else {
311 298 //PRINTF1("In RECV *** Got Message of length %d\n", len)
312 299 currentTC_LEN_RCV[0] = 0x00;
313 300 currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // build the corresponding packet size field
314 301 currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes
315 302 // CHECK THE TC AND BUILD THE APPROPRIATE TM
316 data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt,
317 &TM_header, &spw_ioctl_send.hlen, data);
318 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
319 spw_ioctl_send.hdr = (char*) &TM_header;
320 spw_ioctl_send.dlen = data_length;
321 spw_ioctl_send.data = data;
322 //printf("hlen %d, dlen %d\n", spw_ioctl_send.hlen, spw_ioctl_send.dlen);
323 // SEND PACKET
324 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
325 if (status!=RTEMS_SUCCESSFUL) printf("In TC_checker *** Error SPACEWIRE_IOCTRL_SEND\n");
326 //PRINTF1("In TC_checker *** packet of size %d sent\n", spw_ioctl_send.sent)
303 data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
304 if (data_length!=-1)
305 {
306 }
327 307 }
328 308 }
329 309 }
330 310
311 rtems_task actn_task( rtems_task_argument unused )
312 {
313 rtems_status_code status; // RTEMS status code
314 ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
315 size_t size; // size of the incoming TC packet
316 unsigned char subtype = 0; // subtype of the current TC packet
331 317
318 while(1)
319 {
320 status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
321 RTEMS_WAIT, RTEMS_NO_TIMEOUT);
322 if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status)
323 else
324 {
325 subtype = TC.dataFieldHeader[2];
326 switch(subtype)
327 {
328 case TC_SUBTYPE_RESET:
329 break;
330 case TC_SUBTYPE_LOAD_COMM:
331 break;
332 case TC_SUBTYPE_LOAD_NORM:
333 break;
334 case TC_SUBTYPE_LOAD_BURST:
335 break;
336 case TC_SUBTYPE_LOAD_SBM1:
337 break;
338 case TC_SUBTYPE_LOAD_SBM2:
339 break;
340 case TC_SUBTYPE_DUMP:
341 default_action( &TC );
342 break;
343 case TC_SUBTYPE_ENTER:
344 break;
345 case TC_SUBTYPE_UPDT_INFO:
346 break;
347 case TC_SUBTYPE_EN_CAL:
348 break;
349 case TC_SUBTYPE_DIS_CAL:
350 break;
351 case TC_SUBTYPE_UPDT_TIME:
352 break;
353 default:
354 break;
355 }
356 }
357 }
358 }
359
360 int create_message_queue()
361 {
362 rtems_status_code status;
363 misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
364 status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
365 RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
366 if (status!=RTEMS_SUCCESSFUL) PRINTF("in create_message_queue *** error creating message queue\n")
367
368 return 0;
369 }
370
371 //***********
372 // TC ACTIONS
373 int default_action(ccsdsTelecommandPacket_t *TC)
374 {
375 char data[100]; // buffer for the generic TM packet
376 TMHeader_t TM_header; // TM header
377 spw_ioctl_pkt_send spw_ioctl_send; // structure to send the TM packet if any
378 // BUILD HEADER
379 TM_build_header( TM_LFR_TC_EXE_ERR, SID_NOT_IMP, TM_LEN_NOT_IMP, 0, 0, &TM_header);
380 // BUILD DATA
381 TM_build_data( TC, data, SID_NOT_IMP, NULL);
382 // filling the strture for the spcawire transmission
383 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
384 spw_ioctl_send.hdr = (char*) &TM_header;
385 spw_ioctl_send.dlen = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
386 spw_ioctl_send.data = data;
387 // SEND DATA
388 write_spw(&spw_ioctl_send);
389
390 return 0;
391 }
392
393
394
395
396
Show file before | Show file after | Hide comments
@@ -1,113 +1,113
1 1 #include <wf_handler.h>
2 2
3 3 rtems_isr waveforms_isr( rtems_vector_number vector )
4 4 {
5 5 if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
6 6 printf("In spectral_matrices_isr *** Error sending event to WFRM\n");
7 7 }
8 8
9 rtems_task spw_wfrm_task(rtems_task_argument argument)
9 rtems_task wfrm_task(rtems_task_argument argument)
10 10 {
11 11 unsigned int length;
12 12 unsigned int i = 0;
13 13 spw_ioctl_pkt_send spw_ioctl_send;
14 14 rtems_event_set event_out;
15 15 gptimer_regs_t *gptimer_regs;
16 16 gptimer_regs = (gptimer_regs_t *) REGS_ADDR_GPTIMER;
17 17 ExtendedTMHeader_t header;
18 18
19 19 header.targetLogicalAddress = CCSDS_DESTINATION_ID;
20 20 header.protocolIdentifier = CCSDS_PROTOCOLE_ID;
21 21 header.reserved = 0x00;
22 22 header.userApplication = CCSDS_USER_APP;
23 23 header.packetID[0] = 0x0c;
24 24 header.packetID[1] = 0xcc;
25 25 header.packetSequenceControl[0] = 0x00;
26 26 header.packetSequenceControl[1] = 0x00;
27 27 header.packetLength[0] = 0x00;
28 28 header.packetLength[1] = 0x00;
29 29 header.dataFieldHeader[0] = 0x10;
30 30 header.dataFieldHeader[1] = 0x15; // service type
31 31 header.dataFieldHeader[2] = 0x03; // service subtype
32 32 header.dataFieldHeader[3] = CCSDS_DESTINATION_ID;
33 33 header.dataFieldHeader[4] = 0xaa;
34 34 header.dataFieldHeader[5] = 0xbb;
35 35 header.dataFieldHeader[6] = 0xcc;
36 36 header.dataFieldHeader[7] = 0xdd;
37 37 header.dataFieldHeader[8] = 0xee;
38 38 header.dataFieldHeader[9] = 0xff;
39 39
40 40 header.auxiliaryHeader[0] = 0x00;
41 41 header.auxiliaryHeader[1] = 0x1f;
42 42 header.auxiliaryHeader[2] = 0x07; // PKT_CNT
43 43 header.auxiliaryHeader[3] = 0x00; // PKT_NR
44 44 header.auxiliaryHeader[4] = 0x00; // BLK_NR MSB
45 45 header.auxiliaryHeader[5] = 0x00; // BLK_NR LSB
46 46
47 47 // BUILD THE PACKET HEADER
48 48 spw_ioctl_send.hlen = TM_HEADER_LEN + 4 + 6; // + 4 is for the protocole extra header, + 6 is for the auxiliary header
49 49 spw_ioctl_send.hdr = (char*) &header;
50 50
51 51 while(1){
52 52 rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
53 53 for (i=0; i<7; i++) // send F0
54 54 {
55 55 // BUILD THE DATA
56 56 if (i==6) {
57 57 spw_ioctl_send.dlen = 8 * NB_BYTES_SWF_BLK;
58 58 length = TM_LEN_SCI_NORM_SWF_340;
59 59 }
60 60 else {
61 61 spw_ioctl_send.dlen = 340 * NB_BYTES_SWF_BLK;
62 62 length = TM_LEN_SCI_NORM_SWF_8;
63 63 }
64 64 spw_ioctl_send.data = (char*) &wf_snap_f0[i * 340 * NB_BYTES_SWF_BLK];
65 65 // BUILD THE HEADER
66 66 header.packetLength[0] = (unsigned char) (length>>8);
67 67 header.packetLength[1] = (unsigned char) (length);
68 68 header.auxiliaryHeader[0] = SID_NORM_SWF_F0; // SID
69 69 // SEND PACKET
70 70 write_spw(&spw_ioctl_send);
71 71 }
72 72 for (i=0; i<7; i++) // send F1
73 73 {
74 74 // BUILD THE DATA
75 75 if (i==6) {
76 76 spw_ioctl_send.dlen = 8 * NB_BYTES_SWF_BLK;
77 77 length = TM_LEN_SCI_NORM_SWF_340;
78 78 }
79 79 else {
80 80 spw_ioctl_send.dlen = 340 * NB_BYTES_SWF_BLK;
81 81 length = TM_LEN_SCI_NORM_SWF_8;
82 82 }
83 83 spw_ioctl_send.data = (char*) &wf_snap_f1[i * 340 * NB_BYTES_SWF_BLK];
84 84 // BUILD THE HEADER
85 85 header.packetLength[0] = (unsigned char) (length>>8);
86 86 header.packetLength[1] = (unsigned char) (length);
87 87 header.auxiliaryHeader[0] = SID_NORM_SWF_F1; // SID
88 88 // SEND PACKET
89 89 write_spw(&spw_ioctl_send);
90 90 }
91 91 for (i=0; i<7; i++) // send F0
92 92 {
93 93 // BUILD THE DATA
94 94 if (i==6) {
95 95 spw_ioctl_send.dlen = 8 * NB_BYTES_SWF_BLK;
96 96 length = TM_LEN_SCI_NORM_SWF_340;
97 97 }
98 98 else {
99 99 spw_ioctl_send.dlen = 340 * NB_BYTES_SWF_BLK;
100 100 length = TM_LEN_SCI_NORM_SWF_8;
101 101 }
102 102 spw_ioctl_send.data = (char*) &wf_snap_f2[i * 340 * NB_BYTES_SWF_BLK];
103 103 // BUILD THE HEADER
104 104 header.packetLength[0] = (unsigned char) (length>>8);
105 105 header.packetLength[1] = (unsigned char) (length);
106 106 header.auxiliaryHeader[0] = SID_NORM_SWF_F2; // SID
107 107 // SEND PACKET
108 108 write_spw(&spw_ioctl_send);
109 109 }
110 110 // irq processed, reset the related register of the timer unit
111 111 gptimer_regs->timer[2].ctrl = gptimer_regs->timer[2].ctrl | 0x00000010;
112 112 }
113 113 }
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