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1 | 1 | <?xml version="1.0" encoding="UTF-8" standalone="yes" ?> |
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2 | 2 | <CodeBlocks_layout_file> |
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3 | 3 | <ActiveTarget name="Debug" /> |
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4 |
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1 | NO CONTENT: modified file, binary diff hidden |
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1 | 1 | #ifndef CCSDS_H_INCLUDED |
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2 | 2 | #define CCSDS_H_INCLUDED |
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3 | 3 | |
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4 | 4 | #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4 |
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5 | 5 | #define CCSDS_TM_PKT_MAX_SIZE 4412 |
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6 | 6 | #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4 |
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7 | 7 | #define CCSDS_TC_PKT_MAX_SIZE 50 // size of the TC_LFR_UPDATE_INFO packet |
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8 | 8 | #define CCSDS_TC_TM_PACKET_OFFSET 7 |
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9 | 9 | #define CCSDS_PROCESS_ID 76 |
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10 | 10 | #define CCSDS_PACKET_CATEGORY 12 |
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11 | #define CCSDS_DESTINATION_ID 0x21 | |
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11 | #define CCSDS_NODE_ADDRESS 0x01 // SY_DPU_LFR_LA 1 is not allowed by the StarDundee brick, use 101 instead 0x65 | |
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12 | #define CCSDS_DESTINATION_ID 0x02 // SY_LFR_DPU_LA 2 is not allowed by the StarDundee brick, use 102 instead 0x66 | |
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12 | 13 | #define CCSDS_PROTOCOLE_ID 0x02 |
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13 | 14 | #define CCSDS_USER_APP 0x00 |
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14 | 15 | |
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15 | 16 | #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24 |
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16 | 17 | #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32 |
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17 | 18 | |
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18 | 19 | #define ILLEGAL_APID 0 |
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19 | 20 | #define WRONG_LEN_PACKET 1 |
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20 | 21 | #define INCOR_CHECKSUM 2 |
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21 | 22 | #define ILL_TYPE 3 |
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22 | 23 | #define ILL_SUBTYPE 4 |
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23 | 24 | #define WRONG_APP_DATA 5 |
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24 | 25 | #define WRONG_CMD_CODE 6 |
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25 | 26 | #define CCSDS_TM_VALID 7 |
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26 | 27 | // |
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27 | 28 | #define TC_NOT_EXE 40000 |
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28 | 29 | #define WRONG_SRC_ID 40001 |
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29 | 30 | #define FUNCT_NOT_IMPL 40002 |
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30 | 31 | #define FAIL_DETECTED 40003 |
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31 | 32 | #define NOT_ALLOWED 40004 |
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32 | 33 | #define CORRUPTED 40005 |
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33 | 34 | |
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34 | 35 | // // TC SUBTYPES |
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35 | 36 | #define TC_SUBTYPE_RESET 3 |
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36 | 37 | #define TC_SUBTYPE_LOAD_COMM 20 |
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37 | 38 | #define TC_SUBTYPE_LOAD_NORM 21 |
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38 | 39 | #define TC_SUBTYPE_LOAD_BURST 24 |
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39 | 40 | #define TC_SUBTYPE_LOAD_SBM1 27 |
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40 | 41 | #define TC_SUBTYPE_LOAD_SBM2 28 |
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41 | 42 | #define TC_SUBTYPE_DUMP 30 |
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42 | 43 | #define TC_SUBTYPE_ENTER 40 |
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43 | 44 | #define TC_SUBTYPE_UPDT_INFO 50 |
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44 | 45 | #define TC_SUBTYPE_EN_CAL 60 |
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45 | 46 | #define TC_SUBTYPE_DIS_CAL 61 |
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46 | 47 | #define TC_SUBTYPE_UPDT_TIME 129 |
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47 | 48 | |
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48 | 49 | #define SID_DEFAULT 0 |
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49 | 50 | #define SID_EXE_INC 5 |
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50 | 51 | #define SID_NOT_EXE 40000 |
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51 | 52 | #define SID_NOT_IMP 40002 |
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52 | 53 | #define SID_EXE_ERR 40003 |
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53 | 54 | #define SID_EXE_CORR 40005 |
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54 | 55 | |
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55 | 56 | #define SID_NORM_SWF_F0 3 |
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56 | 57 | #define SID_NORM_SWF_F1 4 |
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57 | 58 | #define SID_NORM_SWF_F2 5 |
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58 | 59 | #define SID_NORM_CWF_F3 1 |
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59 | 60 | #define SID_BURST_CWF_F2 2 |
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60 | 61 | #define SID_SBM1_CWF_F1 24 |
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61 | 62 | #define SID_SBM2_CWF_F2 25 |
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62 | 63 | #define SID_NORM_ASM_F0 11 |
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63 | 64 | #define SID_NORM_ASM_F1 12 |
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64 | 65 | #define SID_NORM_ASM_F2 13 |
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65 | 66 | #define SID_NORM_BP1_F0 14 |
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66 | 67 | #define SID_NORM_BP1_F1 15 |
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67 | 68 | #define SID_NORM_BP1_F2 16 |
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68 | 69 | #define SID_NORM_BP2_F0 19 |
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69 | 70 | #define SID_NORM_BP2_F1 20 |
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70 | 71 | #define SID_NORM_BP2_F2 21 |
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71 | 72 | #define SID_BURST_BP1_F0 17 |
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72 | 73 | #define SID_BURST_BP2_F0 22 |
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73 | 74 | #define SID_BURST_BP1_F1 18 |
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74 | 75 | #define SID_BURST_BP2_F1 23 |
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75 | 76 | #define SID_SBM1_BP1_F0 28 |
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76 | 77 | #define SID_SBM1_BP2_F0 31 |
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77 | 78 | #define SID_SBM2_BP1_F0 29 |
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78 | 79 | #define SID_SBM2_BP2_F0 32 |
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79 | 80 | #define SID_SBM1_BP1_F1 30 |
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80 | 81 | #define SID_SBM1_BP2_F1 33 |
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81 | 82 | |
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82 | 83 | #define TM_LEN_EXE 20 - CCSDS_TC_TM_PACKET_OFFSET |
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83 | 84 | #define TM_LEN_NOT_EXE 26 - CCSDS_TC_TM_PACKET_OFFSET |
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84 | 85 | #define TM_LEN_NOT_IMP 24 - CCSDS_TC_TM_PACKET_OFFSET |
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85 | 86 | #define TM_LEN_EXE_ERR 24 - CCSDS_TC_TM_PACKET_OFFSET |
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86 | 87 | #define TM_LEN_EXE_CORR 32 - CCSDS_TC_TM_PACKET_OFFSET |
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87 | 88 | #define TM_HEADER_LEN 16 |
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88 | 89 | #define TM_LEN_SCI_NORM_SWF_340 340 * 12 + 6 + 10 - 1 |
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89 | 90 | #define TM_LEN_SCI_NORM_SWF_8 8 * 12 + 6 + 10 - 1 |
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90 | 91 | |
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91 | 92 | enum TM_TYPE{ |
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92 | 93 | TM_LFR_TC_EXE_OK, |
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93 | 94 | TM_LFR_TC_EXE_ERR, |
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94 | 95 | TM_LFR_HK, |
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95 | 96 | TM_LFR_SCI, |
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96 | 97 | TM_LFR_SCI_SBM, |
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97 | 98 | TM_LFR_PAR_DUMP |
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98 | 99 | }; |
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99 | 100 | |
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100 | 101 | struct TMHeader_str |
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101 | 102 | { |
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102 | 103 | volatile unsigned char targetLogicalAddress; |
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103 | 104 | volatile unsigned char protocolIdentifier; |
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104 | 105 | volatile unsigned char reserved; |
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105 | 106 | volatile unsigned char userApplication; |
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106 | 107 | volatile unsigned char packetID[2]; |
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107 | 108 | volatile unsigned char packetSequenceControl[2]; |
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108 | 109 | volatile unsigned char packetLength[2]; |
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109 | 110 | volatile unsigned char dataFieldHeader[10]; |
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110 | 111 | }; |
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111 | 112 | typedef struct TMHeader_str TMHeader_t; |
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112 | 113 | |
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113 | 114 | struct ExtendedTMHeader_str |
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114 | 115 | { |
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115 | 116 | volatile unsigned char targetLogicalAddress; |
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116 | 117 | volatile unsigned char protocolIdentifier; |
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117 | 118 | volatile unsigned char reserved; |
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118 | 119 | volatile unsigned char userApplication; |
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119 | 120 | volatile unsigned char packetID[2]; |
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120 | 121 | volatile unsigned char packetSequenceControl[2]; |
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121 | 122 | volatile unsigned char packetLength[2]; |
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122 | 123 | volatile unsigned char dataFieldHeader[10]; |
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123 | 124 | volatile unsigned char auxiliaryHeader[6]; |
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124 | 125 | }; |
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125 | 126 | typedef struct ExtendedTMHeader_str ExtendedTMHeader_t; |
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126 | 127 | |
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127 | 128 | struct ccsdsTelecommandPacket_str |
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128 | 129 | { |
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129 | 130 | //unsigned char targetLogicalAddress; // removed by the grspw module |
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130 | 131 | volatile unsigned char protocolIdentifier; |
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131 | 132 | volatile unsigned char reserved; |
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132 | 133 | volatile unsigned char userApplication; |
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133 | 134 | volatile unsigned char packetID[2]; |
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134 | 135 | volatile unsigned char packetSequenceControl[2]; |
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135 | 136 | volatile unsigned char packetLength[2]; |
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136 | 137 | volatile unsigned char dataFieldHeader[4]; |
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137 | 138 | volatile unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10]; |
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138 | 139 | }; |
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139 | 140 | typedef struct ccsdsTelecommandPacket_str ccsdsTelecommandPacket_t; |
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140 | 141 | |
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141 | 142 | #endif // CCSDS_H_INCLUDED |
@@ -1,299 +1,304 | |||
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1 | 1 | //************************* |
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2 | 2 | // GPL reminder to be added |
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3 | 3 | //************************* |
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4 | 4 | |
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5 | 5 | #include <rtems.h> |
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6 | 6 | |
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7 | 7 | /* configuration information */ |
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8 | 8 | |
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9 | 9 | #define CONFIGURE_INIT |
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10 | 10 | |
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11 | 11 | #include <bsp.h> /* for device driver prototypes */ |
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12 | 12 | |
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13 | 13 | /* configuration information */ |
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14 | 14 | |
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15 | 15 | #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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16 | 16 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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17 | 17 | |
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18 | 18 | #define CONFIGURE_MAXIMUM_TASKS 10 |
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19 | 19 | #define CONFIGURE_RTEMS_INIT_TASKS_TABLE |
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20 | 20 | #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) |
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21 | 21 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 |
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22 | 22 | #define CONFIGURE_INIT_TASK_PRIORITY 100 |
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23 | 23 | #define CONFIGURE_MAXIMUM_DRIVERS 16 |
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24 | 24 | #define CONFIGURE_MAXIMUM_PERIODS 1 |
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25 | 25 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1 |
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26 | 26 | |
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27 | 27 | #include <rtems/confdefs.h> |
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28 | 28 | |
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29 | 29 | /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ |
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30 | 30 | #ifdef RTEMS_DRVMGR_STARTUP |
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31 | 31 | #ifdef LEON3 |
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32 | 32 | /* Add Timer and UART Driver */ |
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33 | 33 | #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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34 | 34 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER |
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35 | 35 | #endif |
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36 | 36 | #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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37 | 37 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART |
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38 | 38 | #endif |
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39 | 39 | #endif |
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40 | 40 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ |
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41 | 41 | #include <drvmgr/drvmgr_confdefs.h> |
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42 | 42 | #endif |
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43 | 43 | |
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44 | 44 | #include <fsw_init.h> |
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45 | 45 | #include <fsw_config.c> |
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46 | 46 | |
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47 | 47 | char *link_status(int status); |
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48 | 48 | |
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49 | 49 | char *lstates[6] = {"Error-reset", |
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50 | 50 | "Error-wait", |
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51 | 51 | "Ready", |
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52 | 52 | "Started", |
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53 | 53 | "Connecting", |
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54 | 54 | "Run" |
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55 | 55 | }; |
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56 | 56 | |
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57 | 57 | rtems_task Init( rtems_task_argument ignored ) |
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58 | 58 | { |
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59 | 59 | rtems_status_code status; |
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60 | 60 | rtems_isr_entry old_isr_handler; |
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61 | 61 | |
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62 | 62 | //send_console_outputs_on_serial_port(); |
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63 | 63 | |
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64 | 64 | initLookUpTableForCRC(); // in tc_handler.h |
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65 | 65 | init_default_mode_parameters(); |
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66 | 66 | create_message_queue(); |
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67 | 67 | create_all_tasks(); |
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68 | 68 | start_all_tasks(); |
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69 | 69 | |
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70 | 70 | configure_spw_link(); |
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71 | 71 | configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, |
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72 | 72 | IRQ_SPARC_SM, spectral_matrices_isr ); |
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73 | 73 | configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR, |
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74 | 74 | IRQ_SPARC_WF, waveforms_isr ); |
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75 | 75 | |
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76 | 76 | // irq handling of the time management unit |
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77 |
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77 | status = rtems_interrupt_catch( commutation_isr1, | |
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78 | 78 | IRQ_SPARC_TIME1, |
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79 | 79 | &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels |
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80 | 80 | if (status==RTEMS_SUCCESSFUL) |
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81 | 81 | PRINTF("commutation_isr1 *** rtems_interrupt_catch successfullly configured\n") |
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82 | 82 | |
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83 | 83 | status = rtems_interrupt_catch( commutation_isr2, |
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84 | 84 | IRQ_SPARC_TIME2, |
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85 | 85 | &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels |
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86 | 86 | if (status==RTEMS_SUCCESSFUL) |
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87 | 87 | PRINTF("commutation_isr2 *** rtems_interrupt_catch successfullly configured\n") |
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88 | 88 | |
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89 | 89 | LEON_Unmask_interrupt( IRQ_TIME1 ); |
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90 |
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90 | LEON_Unmask_interrupt( IRQ_TIME2 ); | |
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91 | 91 | |
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92 | 92 | status = rtems_task_delete(RTEMS_SELF); |
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93 | 93 | } |
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94 | 94 | |
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95 | 95 | rtems_task spiq_task(rtems_task_argument unused) |
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96 | 96 | { |
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97 | 97 | rtems_event_set event_out; |
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98 | 98 | struct grspw_regs_str *grspw_regs; |
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99 | 99 | grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW; |
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100 | 100 | |
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101 | 101 | while(1){ |
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102 | 102 | PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n") |
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103 | 103 | rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT |
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104 | 104 | |
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105 | 105 | if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL) // suspend RECV task |
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106 | 106 | PRINTF("In SPIQ *** Error suspending RECV Task\n") |
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107 | 107 | |
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108 | 108 | configure_spw_link(); |
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109 | 109 | |
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110 | 110 | if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task |
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111 | 111 | PRINTF("In SPIQ *** Error resume RECV Task\n") |
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112 | 112 | } |
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113 | 113 | } |
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114 | 114 | |
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115 | 115 | void init_default_mode_parameters() |
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116 | 116 | { |
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117 | 117 | // COMMON PARAMETERS |
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118 | 118 | param_common[0] = 0x00; |
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119 | 119 | param_common[1] = 0x10; // default value 0 0 0 1 0 0 0 0 |
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120 | 120 | // NORMAL MODE |
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121 | 121 | param_norm.sy_lfr_n_swf_l = 2048; // nb sample |
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122 | 122 | param_norm.sy_lfr_n_swf_p = 300; // sec |
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123 | 123 | param_norm.sy_lfr_n_asm_p = 3600; // sec |
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124 | 124 | param_norm.sy_lfr_n_bp_p0 = 4; // sec |
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125 | 125 | param_norm.sy_lfr_n_bp_p1 = 20; // sec |
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126 | 126 | // BURST MODE |
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127 | 127 | param_burst.sy_lfr_b_bp_p0 = 1; // sec |
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128 | 128 | param_burst.sy_lfr_b_bp_p1 = 5; // sec |
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129 | 129 | // SBM1 MODE |
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130 | 130 | param_sbm1.sy_lfr_s1_bp_p0 = 1; // sec |
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131 | 131 | param_sbm1.sy_lfr_s1_bp_p1 = 1; // sec |
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132 | 132 | // SBM2 MODE |
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133 | 133 | param_sbm2.sy_lfr_s2_bp_p0 = 1; // sec |
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134 | 134 | param_sbm2.sy_lfr_s2_bp_p0 = 5; // sec |
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135 | 135 | } |
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136 | 136 | |
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137 | 137 | int create_all_tasks() |
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138 | 138 | { |
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139 | 139 | rtems_status_code status; |
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140 | 140 | |
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141 | 141 | Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' ); |
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142 | 142 | Task_name[2] = rtems_build_name( 'A', 'C', 'T', 'N' ); |
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143 | 143 | Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' ); |
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144 | 144 | Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' ); |
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145 | 145 | Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' ); |
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146 | 146 | Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' ); |
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147 | 147 | Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' ); |
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148 | 148 | Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' ); |
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149 |
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149 | Task_name[9] = rtems_build_name( 'D', 'U', 'M', 'B' ); | |
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150 | 150 | |
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151 | 151 | // RECV |
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152 | 152 | status = rtems_task_create( |
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153 | 153 | Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2, |
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154 | 154 | RTEMS_DEFAULT_MODES, |
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155 | 155 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1] |
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156 | 156 | ); |
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157 | 157 | // ACTN |
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158 | 158 | status = rtems_task_create( |
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159 | 159 | Task_name[2], 50, RTEMS_MINIMUM_STACK_SIZE * 2, |
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160 | 160 | RTEMS_DEFAULT_MODES, |
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161 | 161 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[2] |
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162 | 162 | ); |
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163 | 163 | // SPIQ |
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164 | 164 | status = rtems_task_create( |
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165 | 165 | Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2, |
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166 | 166 | RTEMS_DEFAULT_MODES, |
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167 | 167 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3] |
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168 | 168 | ); |
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169 | 169 | // SMIQ |
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170 | 170 | status = rtems_task_create( |
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171 | 171 | Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2, |
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172 | 172 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
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173 | 173 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4] |
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174 | 174 | ); |
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175 | 175 | // STAT |
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176 | 176 | status = rtems_task_create( |
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177 | 177 | Task_name[5], 150, RTEMS_MINIMUM_STACK_SIZE * 2, |
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178 | 178 | RTEMS_DEFAULT_MODES, |
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179 | 179 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5] |
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180 | 180 | ); |
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181 | 181 | // AVF0 |
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182 | 182 | status = rtems_task_create( |
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183 | 183 | Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2, |
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184 | 184 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
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185 | 185 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6] |
|
186 | 186 | ); |
|
187 | 187 | // BPF0 |
|
188 | 188 | status = rtems_task_create( |
|
189 | 189 | Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
190 | 190 | RTEMS_DEFAULT_MODES, |
|
191 | 191 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7] |
|
192 | 192 | ); |
|
193 | 193 | // WFRM |
|
194 | 194 | status = rtems_task_create( |
|
195 | 195 | Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
196 | 196 | RTEMS_DEFAULT_MODES, |
|
197 | 197 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8] |
|
198 | 198 | ); |
|
199 | 199 | // DUMB |
|
200 |
|
|
|
200 | status = rtems_task_create( | |
|
201 | 201 | Task_name[9], 200, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
202 | 202 | RTEMS_DEFAULT_MODES, |
|
203 | 203 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[9] |
|
204 |
|
|
|
204 | ); | |
|
205 | 205 | |
|
206 | 206 | return 0; |
|
207 | 207 | } |
|
208 | 208 | |
|
209 | 209 | int start_all_tasks() |
|
210 | 210 | { |
|
211 | 211 | rtems_status_code status; |
|
212 | 212 | |
|
213 | 213 | status = rtems_task_start( Task_id[3], spiq_task, 1 ); |
|
214 | 214 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n") |
|
215 | 215 | |
|
216 | 216 | status = rtems_task_start( Task_id[1], recv_task, 1 ); |
|
217 | 217 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n") |
|
218 | 218 | |
|
219 | 219 | status = rtems_task_start( Task_id[2], actn_task, 1 ); |
|
220 | 220 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_ACTN\n") |
|
221 | 221 | |
|
222 | 222 | status = rtems_task_start( Task_id[4], smiq_task, 1 ); |
|
223 | 223 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n") |
|
224 | 224 | |
|
225 | 225 | status = rtems_task_start( Task_id[5], stat_task, 1 ); |
|
226 | 226 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n") |
|
227 | 227 | |
|
228 | 228 | status = rtems_task_start( Task_id[6], avf0_task, 1 ); |
|
229 | 229 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n") |
|
230 | 230 | |
|
231 | 231 | status = rtems_task_start( Task_id[7], bpf0_task, 1 ); |
|
232 | 232 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n") |
|
233 | 233 | |
|
234 | 234 | status = rtems_task_start( Task_id[8], wfrm_task, 1 ); |
|
235 | 235 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n") |
|
236 | 236 | |
|
237 |
|
|
|
238 |
|
|
|
237 | status = rtems_task_start( Task_id[9], dumb_task, 1 ); | |
|
238 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_DUMB\n") | |
|
239 | 239 | |
|
240 | 240 | return 0; |
|
241 | 241 | } |
|
242 | 242 | |
|
243 | 243 | int configure_spw_link() |
|
244 | 244 | { |
|
245 | 245 | rtems_status_code status; |
|
246 | 246 | |
|
247 | 247 | close(fdSPW); // close the device if it is already open |
|
248 | 248 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware |
|
249 | 249 | if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") |
|
250 | 250 | while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){ |
|
251 | 251 | PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n") |
|
252 | 252 | close(fdSPW); // close the device |
|
253 | 253 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware |
|
254 | 254 | if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") |
|
255 | 255 | rtems_task_wake_after(100); |
|
256 | 256 | } |
|
257 | 257 | |
|
258 | 258 | PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") |
|
259 | 259 | |
|
260 | 260 | // sets a few parameters of the link |
|
261 | 261 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit |
|
262 | 262 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n") |
|
263 | 263 | // |
|
264 | 264 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception |
|
265 | 265 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") |
|
266 | 266 | // |
|
267 | 267 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]); // sets the task ID to which an event is sent when a |
|
268 | 268 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs |
|
269 | 269 | // |
|
270 | 270 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts |
|
271 | 271 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") |
|
272 | 272 | // |
|
273 | 273 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit |
|
274 | 274 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") |
|
275 | 275 | |
|
276 | 276 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit |
|
277 | 277 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n") |
|
278 | // | |
|
279 |
|
|
|
280 | //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | |
|
281 | // | |
|
278 | ||
|
279 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key | |
|
280 | PRINTF1("destination address set to: %d\n", CCSDS_DESTINATION_ID) | |
|
281 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | |
|
282 | ||
|
283 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_NODEADDR, CCSDS_NODE_ADDRESS); // sets the destination key | |
|
284 | PRINTF1("node address set to: %d\n", CCSDS_NODE_ADDRESS) | |
|
285 | if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") | |
|
286 | ||
|
282 | 287 | PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") |
|
283 | 288 | |
|
284 | 289 | return RTEMS_SUCCESSFUL; |
|
285 | 290 | } |
|
286 | 291 | |
|
287 | 292 | char *link_status(int status){ |
|
288 | 293 | return lstates[status]; |
|
289 | 294 | } |
|
290 | 295 | |
|
291 | 296 | rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send) |
|
292 | 297 | { |
|
293 | 298 | rtems_status_code status; |
|
294 | 299 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send ); |
|
295 | 300 | if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n"); |
|
296 | 301 | return status; |
|
297 | 302 | } |
|
298 | 303 | |
|
299 | 304 |
@@ -1,520 +1,520 | |||
|
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 | 54 | int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv) |
|
55 | 55 | { |
|
56 | 56 | rtems_status_code status; |
|
57 | 57 | spw_ioctl_pkt_send spw_ioctl_send; |
|
58 | 58 | TMHeader_t TM_header; |
|
59 | 59 | unsigned int code = 0; |
|
60 | 60 | unsigned char computed_CRC[2]; |
|
61 | 61 | char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ]; |
|
62 | 62 | |
|
63 | 63 | GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 ); |
|
64 | 64 | code = acceptTM( TC, tc_len_recv ) ; |
|
65 | 65 | if ( (code == 0) | (code == 1) | (code == 2) |
|
66 | 66 | | (code == 3) | (code == 4) | (code == 5) ) |
|
67 | 67 | { // generate TM_LFR_TC_EXE_CORRUPTED |
|
68 | 68 | // BUILD HEADER |
|
69 | 69 | TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_EXE_CORR, 0, 0, &TM_header); |
|
70 | 70 | // BUILD DATA |
|
71 | 71 | TM_build_data( TC, data, SID_EXE_CORR, computed_CRC); |
|
72 | 72 | // PREPARE TM SENDING |
|
73 | 73 | spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header |
|
74 | 74 | spw_ioctl_send.hdr = (char*) &TM_header; |
|
75 | 75 | spw_ioctl_send.dlen = 16; |
|
76 | 76 | spw_ioctl_send.data = data; |
|
77 | 77 | // SEND PACKET |
|
78 | 78 | write_spw(&spw_ioctl_send); |
|
79 | 79 | } |
|
80 | 80 | else { // send valid TC to the action launcher |
|
81 | 81 | status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3); |
|
82 | 82 | return -1; |
|
83 | 83 | } |
|
84 | 84 | return -1; |
|
85 | 85 | } |
|
86 | 86 | |
|
87 | 87 | unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV) |
|
88 | 88 | { |
|
89 | 89 | unsigned char pid = 0; |
|
90 | 90 | unsigned char category = 0; |
|
91 | 91 | unsigned int length = 0; |
|
92 | 92 | unsigned char packetType = 0; |
|
93 | 93 | unsigned char packetSubtype = 0; |
|
94 | 94 | unsigned char * CCSDSContent; |
|
95 | 95 | |
|
96 | 96 | // APID check *** APID on 2 bytes |
|
97 | 97 | pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx |
|
98 | 98 | category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210 |
|
99 | 99 | if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID; |
|
100 | 100 | if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID; |
|
101 | 101 | |
|
102 | 102 | // packet length check |
|
103 | 103 | length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1]; |
|
104 | 104 | if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD |
|
105 | 105 | if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size |
|
106 | 106 | |
|
107 | 107 | packetType = TMPacket->dataFieldHeader[1]; |
|
108 | 108 | packetSubtype = TMPacket->dataFieldHeader[2]; |
|
109 | 109 | // service type, subtype and packet length check |
|
110 | 110 | if (packetType == 181){ |
|
111 | 111 | switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61 |
|
112 | 112 | case 3: |
|
113 | 113 | if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
114 | 114 | break; |
|
115 | 115 | case 20: |
|
116 | 116 | if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
117 | 117 | break; |
|
118 | 118 | case 21: |
|
119 | 119 | if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
120 | 120 | break; |
|
121 | 121 | case 24: |
|
122 | 122 | if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
123 | 123 | break; |
|
124 | 124 | case 27: |
|
125 | 125 | if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
126 | 126 | break; |
|
127 | 127 | case 28: |
|
128 | 128 | if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
129 | 129 | break; |
|
130 | 130 | case 30: |
|
131 | 131 | if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
132 | 132 | break; |
|
133 | 133 | case 40: |
|
134 | 134 | if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
135 | 135 | break; |
|
136 | 136 | case 50: |
|
137 | 137 | if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
138 | 138 | break; |
|
139 | 139 | case 60: |
|
140 | 140 | if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
141 | 141 | break; |
|
142 | 142 | case 61: |
|
143 | 143 | if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
144 | 144 | break; |
|
145 | 145 | default: |
|
146 | 146 | return ILL_SUBTYPE; |
|
147 | 147 | break; |
|
148 | 148 | } |
|
149 | 149 | } |
|
150 | 150 | else if (packetType == 9){ |
|
151 | 151 | if (packetSubtype!=129) return ILL_SUBTYPE; |
|
152 | 152 | if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET; |
|
153 | 153 | } |
|
154 | 154 | else return ILL_TYPE; |
|
155 | 155 | |
|
156 | 156 | // source ID check // Source ID not documented in the ICD |
|
157 | 157 | |
|
158 | 158 | // packet error control, CRC check |
|
159 | 159 | CCSDSContent = (unsigned char*) TMPacket->packetID; |
|
160 | 160 | GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC |
|
161 | 161 | if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM; |
|
162 | 162 | if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM; |
|
163 | 163 | |
|
164 | 164 | return CCSDS_TM_VALID; |
|
165 | 165 | } |
|
166 | 166 | |
|
167 | 167 | unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength, |
|
168 | 168 | unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader) |
|
169 | 169 | { |
|
170 | 170 | TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
171 | 171 | TMHeader->protocolIdentifier = 0x02; |
|
172 | 172 | TMHeader->reserved = 0x00; |
|
173 | 173 | TMHeader->userApplication = 0x00; |
|
174 | 174 | TMHeader->packetID[0] = 0x0c; |
|
175 | 175 | TMHeader->packetSequenceControl[0] = 0xc0; |
|
176 | 176 | TMHeader->packetSequenceControl[1] = 0x00; |
|
177 | 177 | TMHeader->packetLength[0] = (unsigned char) (packetLength>>8); |
|
178 | 178 | TMHeader->packetLength[1] = (unsigned char) packetLength; |
|
179 | 179 | TMHeader->dataFieldHeader[0] = 0x10; |
|
180 | 180 | TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID; |
|
181 | 181 | switch (tm_type){ |
|
182 | 182 | case(TM_LFR_TC_EXE_OK): |
|
183 | 183 | TMHeader->packetID[1] = 0xc1; |
|
184 | 184 | TMHeader->dataFieldHeader[1] = 1; // type |
|
185 | 185 | TMHeader->dataFieldHeader[2] = 7; // subtype |
|
186 | 186 | break; |
|
187 | 187 | case(TM_LFR_TC_EXE_ERR): |
|
188 | 188 | TMHeader->packetID[1] = 0xc1; |
|
189 | 189 | TMHeader->dataFieldHeader[1] = 1; // type |
|
190 | 190 | TMHeader->dataFieldHeader[2] = 8; // subtype |
|
191 | 191 | break; |
|
192 | 192 | case(TM_LFR_HK): |
|
193 | 193 | TMHeader->packetID[1] = 0xc4; |
|
194 | 194 | TMHeader->dataFieldHeader[1] = 3; // type |
|
195 | 195 | TMHeader->dataFieldHeader[2] = 25; // subtype |
|
196 | 196 | break; |
|
197 | 197 | case(TM_LFR_SCI): |
|
198 | 198 | TMHeader->packetID[1] = 0xcc; |
|
199 | 199 | TMHeader->dataFieldHeader[1] = 21; // type |
|
200 | 200 | TMHeader->dataFieldHeader[2] = 3; // subtype |
|
201 | 201 | break; |
|
202 | 202 | case(TM_LFR_SCI_SBM): |
|
203 | 203 | TMHeader->packetID[1] = 0xfc; |
|
204 | 204 | TMHeader->dataFieldHeader[1] = 21; // type |
|
205 | 205 | TMHeader->dataFieldHeader[2] = 3; // subtype |
|
206 | 206 | break; |
|
207 | 207 | case(TM_LFR_PAR_DUMP): |
|
208 | 208 | TMHeader->packetID[1] = 0xc9; |
|
209 | 209 | TMHeader->dataFieldHeader[1] = 181; // type |
|
210 | 210 | TMHeader->dataFieldHeader[2] = 31; // subtype |
|
211 | 211 | break; |
|
212 | 212 | default: |
|
213 | 213 | return 0; |
|
214 | 214 | } |
|
215 | 215 | TMHeader->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
216 | 216 | TMHeader->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
217 | 217 | TMHeader->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
218 | 218 | TMHeader->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time); |
|
219 | 219 | TMHeader->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8); |
|
220 | 220 | TMHeader->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time); |
|
221 | 221 | return 1; |
|
222 | 222 | } |
|
223 | 223 | |
|
224 | 224 | unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC) |
|
225 | 225 | { |
|
226 | 226 | unsigned int packetLength; |
|
227 | 227 | packetLength = TC->packetLength[0] * 256 + TC->packetLength[1]; |
|
228 | 228 | switch (SID){ |
|
229 | 229 | case (SID_NOT_EXE): |
|
230 | 230 | break; |
|
231 | 231 | case (SID_NOT_IMP): |
|
232 | 232 | data[0] = 0x9c; |
|
233 | 233 | data[1] = 0x42; |
|
234 | 234 | data[2] = TC->packetID[0]; |
|
235 | 235 | data[3] = TC->packetID[1]; |
|
236 | 236 | data[4] = TC->packetSequenceControl[0]; |
|
237 | 237 | data[5] = TC->packetSequenceControl[1]; |
|
238 | 238 | data[6] = TC->dataFieldHeader[1]; // type |
|
239 | 239 | data[7] = TC->dataFieldHeader[2]; // subtype |
|
240 | 240 | break; |
|
241 | 241 | case (SID_EXE_ERR): |
|
242 | 242 | break; |
|
243 | 243 | case (SID_EXE_CORR): |
|
244 | 244 | data[0] = 0x9c; |
|
245 | 245 | data[1] = 0x45; |
|
246 | 246 | data[2] = TC->packetID[0]; |
|
247 | 247 | data[3] = TC->packetID[1]; |
|
248 | 248 | data[4] = TC->packetSequenceControl[0]; |
|
249 | 249 | data[5] = TC->packetSequenceControl[1]; |
|
250 | 250 | data[6] = TC->dataFieldHeader[1]; // type |
|
251 | 251 | data[7] = TC->dataFieldHeader[2]; // subtype |
|
252 | 252 | data[8] = currentTC_LEN_RCV[0]; |
|
253 | 253 | data[9] = currentTC_LEN_RCV[1]; |
|
254 | 254 | data[10] = TC->packetLength[0]; |
|
255 | 255 | data[11] = TC->packetLength[1]; |
|
256 | 256 | data[12] = TC->dataAndCRC[packetLength]; |
|
257 | 257 | data[13] = TC->dataAndCRC[packetLength+1]; |
|
258 | 258 | data[14] = computed_CRC[0]; |
|
259 | 259 | data[15] = computed_CRC[1]; |
|
260 | 260 | break; |
|
261 | 261 | default: |
|
262 | 262 | return 0; |
|
263 | 263 | } |
|
264 | 264 | return 1; |
|
265 | 265 | } |
|
266 | 266 | |
|
267 | 267 | //*********** |
|
268 | 268 | // RTEMS TASK |
|
269 | 269 | rtems_task recv_task( rtems_task_argument unused ) |
|
270 | 270 | { |
|
271 | 271 | int len = 0; |
|
272 | 272 | unsigned int i = 0; |
|
273 | 273 | unsigned int data_length = 0; |
|
274 | 274 | ccsdsTelecommandPacket_t currentTC; |
|
275 | 275 | char data[100]; |
|
276 | 276 | |
|
277 | 277 | for(i=0; i<100; i++) data[i] = 0; |
|
278 | 278 | |
|
279 | 279 | PRINTF("In RECV *** \n") |
|
280 | 280 | |
|
281 | 281 | while(1) |
|
282 | 282 | { |
|
283 | 283 | len = read(fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking |
|
284 | 284 | if (len == -1){ // error during the read call |
|
285 | 285 | PRINTF("In RECV *** last read call returned -1\n") |
|
286 | 286 | if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) |
|
287 | 287 | PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n") |
|
288 | 288 | if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) |
|
289 | 289 | PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n") |
|
290 | 290 | } |
|
291 | 291 | else { |
|
292 |
PRINTF1(" |
|
|
292 | PRINTF1("Got pck of length %d\n", len+1) | |
|
293 | 293 | currentTC_LEN_RCV[0] = 0x00; |
|
294 | 294 | currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // build the corresponding packet size field |
|
295 | 295 | currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes |
|
296 | 296 | // CHECK THE TC AND BUILD THE APPROPRIATE TM |
|
297 | 297 | data_length = TC_checker(¤tTC, currentTC_LEN_RCV_AsUnsignedInt); |
|
298 | 298 | if (data_length!=-1) |
|
299 | 299 | { |
|
300 | 300 | } |
|
301 | 301 | } |
|
302 | 302 | } |
|
303 | 303 | } |
|
304 | 304 | |
|
305 | 305 | rtems_task actn_task( rtems_task_argument unused ) |
|
306 | 306 | { |
|
307 | 307 | int result = 0; |
|
308 | 308 | rtems_status_code status; // RTEMS status code |
|
309 | 309 | ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task |
|
310 | 310 | size_t size; // size of the incoming TC packet |
|
311 | 311 | unsigned char subtype = 0; // subtype of the current TC packet |
|
312 | 312 | |
|
313 | 313 | PRINTF("In ACTN *** \n") |
|
314 | 314 | |
|
315 | 315 | while(1) |
|
316 | 316 | { |
|
317 | 317 | status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size, |
|
318 | 318 | RTEMS_WAIT, RTEMS_NO_TIMEOUT); |
|
319 | 319 | if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status) |
|
320 | 320 | else |
|
321 | 321 | { |
|
322 | 322 | subtype = TC.dataFieldHeader[2]; |
|
323 | 323 | switch(subtype) |
|
324 | 324 | { |
|
325 | 325 | case TC_SUBTYPE_RESET: |
|
326 | 326 | result = action_default( &TC ); |
|
327 | 327 | break; |
|
328 | 328 | // |
|
329 | 329 | case TC_SUBTYPE_LOAD_COMM: |
|
330 | 330 | result = action_default( &TC ); |
|
331 | 331 | break; |
|
332 | 332 | // |
|
333 | 333 | case TC_SUBTYPE_LOAD_NORM: |
|
334 | 334 | result = action_load_norm( &TC ); |
|
335 | 335 | send_tm_lfr_tc_exe_success( &TC ); |
|
336 | 336 | break; |
|
337 | 337 | // |
|
338 | 338 | case TC_SUBTYPE_LOAD_BURST: |
|
339 | 339 | result = action_default( &TC ); |
|
340 | 340 | break; |
|
341 | 341 | // |
|
342 | 342 | case TC_SUBTYPE_LOAD_SBM1: |
|
343 | 343 | result = action_default( &TC ); |
|
344 | 344 | break; |
|
345 | 345 | // |
|
346 | 346 | case TC_SUBTYPE_LOAD_SBM2: |
|
347 | 347 | result = action_default( &TC ); |
|
348 | 348 | break; |
|
349 | 349 | // |
|
350 | 350 | case TC_SUBTYPE_DUMP: |
|
351 | 351 | result = action_default( &TC ); |
|
352 | 352 | break; |
|
353 | 353 | // |
|
354 | 354 | case TC_SUBTYPE_ENTER: |
|
355 | 355 | result = action_enter( &TC ); |
|
356 | 356 | send_tm_lfr_tc_exe_success( &TC ); |
|
357 | 357 | break; |
|
358 | 358 | // |
|
359 | 359 | case TC_SUBTYPE_UPDT_INFO: |
|
360 | 360 | result = action_default( &TC ); |
|
361 | 361 | break; |
|
362 | 362 | // |
|
363 | 363 | case TC_SUBTYPE_EN_CAL: |
|
364 | 364 | result = action_default( &TC ); |
|
365 | 365 | break; |
|
366 | 366 | // |
|
367 | 367 | case TC_SUBTYPE_DIS_CAL: |
|
368 | 368 | result = action_default( &TC ); |
|
369 | 369 | break; |
|
370 | 370 | // |
|
371 | 371 | case TC_SUBTYPE_UPDT_TIME: |
|
372 | 372 | result = action_updt_time( &TC ); |
|
373 | 373 | send_tm_lfr_tc_exe_success( &TC ); |
|
374 | 374 | break; |
|
375 | 375 | // |
|
376 | 376 | default: |
|
377 | 377 | break; |
|
378 | 378 | } |
|
379 | 379 | } |
|
380 | 380 | } |
|
381 | 381 | } |
|
382 | 382 | |
|
383 | 383 | int create_message_queue() |
|
384 | 384 | { |
|
385 | 385 | rtems_status_code status; |
|
386 | 386 | misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' ); |
|
387 | 387 | status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE, |
|
388 | 388 | RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] ); |
|
389 | 389 | if (status!=RTEMS_SUCCESSFUL) PRINTF("in create_message_queue *** error creating message queue\n") |
|
390 | 390 | |
|
391 | 391 | return 0; |
|
392 | 392 | } |
|
393 | 393 | |
|
394 | 394 | //*********** |
|
395 | 395 | // TC ACTIONS |
|
396 | 396 | int action_default(ccsdsTelecommandPacket_t *TC) |
|
397 | 397 | { |
|
398 | 398 | char data[100]; // buffer for the generic TM packet |
|
399 | 399 | TMHeader_t TM_header; // TM header |
|
400 | 400 | spw_ioctl_pkt_send spw_ioctl_send; // structure to send the TM packet if any |
|
401 | 401 | // BUILD HEADER |
|
402 | 402 | TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP, 0, 0, &TM_header); |
|
403 | 403 | // BUILD DATA |
|
404 | 404 | TM_build_data( TC, data, SID_NOT_IMP, NULL); |
|
405 | 405 | // filling the strture for the spcawire transmission |
|
406 | 406 | spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header |
|
407 | 407 | spw_ioctl_send.hdr = (char*) &TM_header; |
|
408 | 408 | spw_ioctl_send.dlen = 8; |
|
409 | 409 | spw_ioctl_send.data = data; |
|
410 | 410 | // SEND DATA |
|
411 | 411 | write_spw(&spw_ioctl_send); |
|
412 | 412 | |
|
413 | 413 | return 0; |
|
414 | 414 | } |
|
415 | 415 | |
|
416 | 416 | int action_enter(ccsdsTelecommandPacket_t *TC) |
|
417 | 417 | { |
|
418 | 418 | unsigned char lfr_mode = TC->dataAndCRC[1]; |
|
419 | 419 | printf("enter mode %d\n", lfr_mode); |
|
420 | 420 | switch(lfr_mode) |
|
421 | 421 | { |
|
422 | 422 | case(LFR_MODE_STANDBY): |
|
423 | 423 | LEON_Mask_interrupt( IRQ_WF ); |
|
424 | 424 | LEON_Mask_interrupt( IRQ_SM ); |
|
425 | 425 | break; |
|
426 | 426 | case(LFR_MODE_NORMAL): |
|
427 | 427 | LEON_Unmask_interrupt( IRQ_WF ); |
|
428 | 428 | LEON_Unmask_interrupt( IRQ_SM ); |
|
429 | 429 | break; |
|
430 | 430 | case(LFR_MODE_BURST): |
|
431 | 431 | break; |
|
432 | 432 | case(LFR_MODE_SBM1): |
|
433 | 433 | break; |
|
434 | 434 | case(LFR_MODE_SBM2): |
|
435 | 435 | break; |
|
436 | 436 | } |
|
437 | 437 | return 0; |
|
438 | 438 | } |
|
439 | 439 | |
|
440 | 440 | int action_load_norm(ccsdsTelecommandPacket_t *TC) |
|
441 | 441 | { |
|
442 | 442 | param_norm.sy_lfr_n_swf_l = TC->dataAndCRC[0] * 256 + TC->dataAndCRC[1]; |
|
443 | 443 | param_norm.sy_lfr_n_swf_p = TC->dataAndCRC[2] * 256 + TC->dataAndCRC[3]; |
|
444 | 444 | param_norm.sy_lfr_n_asm_p = TC->dataAndCRC[4] * 256 + TC->dataAndCRC[5]; |
|
445 | 445 | param_norm.sy_lfr_n_bp_p0 = TC->dataAndCRC[6]; |
|
446 | 446 | param_norm.sy_lfr_n_bp_p1 = TC->dataAndCRC[7]; |
|
447 | 447 | /*printf("sy_lfr_n_ => swf_l %d, swf_p %d, asm_p %d, bsp_p0 %d, bsp_p1 %d\n", |
|
448 | 448 | param_norm.sy_lfr_n_swf_l, param_norm.sy_lfr_n_swf_p, |
|
449 | 449 | param_norm.sy_lfr_n_asm_p, param_norm.sy_lfr_n_bp_p0, param_norm.sy_lfr_n_bp_p1);*/ |
|
450 | 450 | return 0; |
|
451 | 451 | } |
|
452 | 452 | |
|
453 | 453 | int action_updt_time(ccsdsTelecommandPacket_t *TC) |
|
454 | 454 | { |
|
455 | 455 | time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24) |
|
456 | 456 | + (TC->dataAndCRC[1] << 16) |
|
457 | 457 | + (TC->dataAndCRC[2] << 8) |
|
458 | 458 | + TC->dataAndCRC[3]; |
|
459 | 459 | //time_management_regs->ctrl = time_management_regs->ctrl | 1; |
|
460 | 460 | return 0; |
|
461 | 461 | } |
|
462 | 462 | |
|
463 | 463 | int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC) |
|
464 | 464 | { |
|
465 | 465 | TMHeader_t TM_header; |
|
466 | 466 | char data[4]; |
|
467 | 467 | spw_ioctl_pkt_send spw_ioctl_send; |
|
468 | 468 | |
|
469 | 469 | TM_build_header( TM_LFR_TC_EXE_OK, TM_LEN_EXE, |
|
470 | 470 | time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header); |
|
471 | 471 | |
|
472 | 472 | data[0] = TC->packetID[0]; |
|
473 | 473 | data[1] = TC->packetID[1]; |
|
474 | 474 | data[2] = TC->packetSequenceControl[0]; |
|
475 | 475 | data[3] = TC->packetSequenceControl[1]; |
|
476 | 476 | |
|
477 | 477 | // filling the structure for the spacewire transmission |
|
478 | 478 | spw_ioctl_send.hlen = TM_HEADER_LEN + 3; // + 4 is for the protocole extra header |
|
479 | 479 | spw_ioctl_send.hdr = (char*) &TM_header; |
|
480 | 480 | spw_ioctl_send.dlen = 3; |
|
481 | 481 | spw_ioctl_send.data = data; |
|
482 | 482 | |
|
483 | 483 | // SEND DATA |
|
484 | 484 | write_spw(&spw_ioctl_send); |
|
485 | 485 | |
|
486 | 486 | return 0; |
|
487 | 487 | } |
|
488 | 488 | |
|
489 | 489 | //*************************** |
|
490 | 490 | // Interrupt Service Routines |
|
491 | 491 | rtems_isr commutation_isr1( rtems_vector_number vector ) |
|
492 | 492 | { |
|
493 | 493 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) |
|
494 | 494 | printf("In spectral_matrices_isr *** Error sending event to DUMB\n"); |
|
495 | 495 | } |
|
496 | 496 | |
|
497 | 497 | rtems_isr commutation_isr2( rtems_vector_number vector ) |
|
498 | 498 | { |
|
499 | 499 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) |
|
500 | 500 | printf("In spectral_matrices_isr *** Error sending event to DUMB\n"); |
|
501 | 501 | } |
|
502 | 502 | |
|
503 | 503 | rtems_task dumb_task( rtems_task_argument unused ) |
|
504 | 504 | { |
|
505 | 505 | unsigned int coarse_time; |
|
506 | 506 | unsigned int fine_time; |
|
507 | 507 | rtems_event_set event_out; |
|
508 | 508 | |
|
509 | 509 | PRINTF("In DUMB *** \n") |
|
510 | 510 | |
|
511 | 511 | while(1){ |
|
512 | 512 | rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0 |
|
513 | 513 | coarse_time = time_management_regs->coarse_time; |
|
514 | 514 | fine_time = time_management_regs->fine_time; |
|
515 | 515 | printf("commutation_isr*, coarse time = %x, fine time = %x\n", coarse_time, fine_time); |
|
516 | 516 | } |
|
517 | 517 | } |
|
518 | 518 | |
|
519 | 519 | |
|
520 | 520 |
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