@@ -1,2 +1,2 | |||
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1 | 1 | 3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters |
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2 | bb9afa759d57093f7646d3be18f4a9923a4cbf84 header/lfr_common_headers | |
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2 | a0ca246cc2057880086d028aab3cf35be244efbc header/lfr_common_headers |
@@ -1,113 +1,113 | |||
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1 | 1 | TEMPLATE = app |
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2 | 2 | # CONFIG += console v8 sim |
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3 | 3 | # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch |
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4 | 4 | # lpp_dpu_destid |
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5 | CONFIG += console verbose lpp_dpu_destid | |
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5 | CONFIG += console verbose lpp_dpu_destid stack_report | |
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6 | 6 | CONFIG -= qt |
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7 | 7 | |
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8 | 8 | include(./sparc.pri) |
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9 | 9 | |
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10 | 10 | # flight software version |
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11 | 11 | SWVERSION=-1-0 |
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12 | 12 | DEFINES += SW_VERSION_N1=3 # major |
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13 | 13 | DEFINES += SW_VERSION_N2=0 # minor |
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14 | 14 | DEFINES += SW_VERSION_N3=0 # patch |
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15 | 15 | DEFINES += SW_VERSION_N4=9 # internal |
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16 | 16 | |
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17 | 17 | # <GCOV> |
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18 | 18 | #QMAKE_CFLAGS_RELEASE += -fprofile-arcs -ftest-coverage |
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19 | 19 | #LIBS += -lgcov /opt/GCOV/01A/lib/overload.o -lc |
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20 | 20 | #LIBS += -lgcov /opt/GCOV/HOWTO_gcov_for_lfr_test/01A/lib/overload.o -lc |
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21 | 21 | # </GCOV> |
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22 | 22 | |
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23 | 23 | # <CHANGE BEFORE FLIGHT> |
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24 | 24 | contains( CONFIG, lpp_dpu_destid ) { |
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25 | 25 | DEFINES += LPP_DPU_DESTID |
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26 | 26 | } |
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27 | 27 | # </CHANGE BEFORE FLIGHT> |
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28 | 28 | |
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29 | 29 | contains( CONFIG, debug_tch ) { |
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30 | 30 | DEFINES += DEBUG_TCH |
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31 | 31 | } |
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32 | 32 | DEFINES += MSB_FIRST_TCH |
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33 | 33 | |
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34 | 34 | contains( CONFIG, vhdl_dev ) { |
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35 | 35 | DEFINES += VHDL_DEV |
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36 | 36 | } |
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37 | 37 | |
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38 | 38 | contains( CONFIG, verbose ) { |
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39 | 39 | DEFINES += PRINT_MESSAGES_ON_CONSOLE |
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40 | 40 | } |
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41 | 41 | |
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42 | 42 | contains( CONFIG, debug_messages ) { |
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43 | 43 | DEFINES += DEBUG_MESSAGES |
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44 | 44 | } |
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45 | 45 | |
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46 | 46 | contains( CONFIG, cpu_usage_report ) { |
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47 | 47 | DEFINES += PRINT_TASK_STATISTICS |
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48 | 48 | } |
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49 | 49 | |
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50 | 50 | contains( CONFIG, stack_report ) { |
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51 | 51 | DEFINES += PRINT_STACK_REPORT |
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52 | 52 | } |
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53 | 53 | |
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54 | 54 | contains( CONFIG, boot_messages ) { |
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55 | 55 | DEFINES += BOOT_MESSAGES |
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56 | 56 | } |
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57 | 57 | |
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58 | 58 | #doxygen.target = doxygen |
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59 | 59 | #doxygen.commands = doxygen ../doc/Doxyfile |
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60 | 60 | #QMAKE_EXTRA_TARGETS += doxygen |
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61 | 61 | |
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62 | 62 | TARGET = fsw |
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63 | 63 | |
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64 | 64 | INCLUDEPATH += \ |
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65 | 65 | $${PWD}/../src \ |
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66 | 66 | $${PWD}/../header \ |
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67 | 67 | $${PWD}/../header/lfr_common_headers \ |
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68 | 68 | $${PWD}/../header/processing \ |
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69 | 69 | $${PWD}/../LFR_basic-parameters |
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70 | 70 | |
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71 | 71 | SOURCES += \ |
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72 | 72 | ../src/wf_handler.c \ |
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73 | 73 | ../src/tc_handler.c \ |
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74 | 74 | ../src/fsw_misc.c \ |
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75 | 75 | ../src/fsw_init.c \ |
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76 | 76 | ../src/fsw_globals.c \ |
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77 | 77 | ../src/fsw_spacewire.c \ |
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78 | 78 | ../src/tc_load_dump_parameters.c \ |
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79 | 79 | ../src/tm_lfr_tc_exe.c \ |
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80 | 80 | ../src/tc_acceptance.c \ |
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81 | 81 | ../src/processing/fsw_processing.c \ |
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82 | 82 | ../src/processing/avf0_prc0.c \ |
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83 | 83 | ../src/processing/avf1_prc1.c \ |
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84 | 84 | ../src/processing/avf2_prc2.c \ |
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85 | 85 | ../src/lfr_cpu_usage_report.c \ |
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86 | 86 | ../LFR_basic-parameters/basic_parameters.c |
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87 | 87 | |
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88 | 88 | HEADERS += \ |
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89 | 89 | ../header/wf_handler.h \ |
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90 | 90 | ../header/tc_handler.h \ |
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91 | 91 | ../header/grlib_regs.h \ |
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92 | 92 | ../header/fsw_misc.h \ |
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93 | 93 | ../header/fsw_init.h \ |
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94 | 94 | ../header/fsw_spacewire.h \ |
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95 | 95 | ../header/tc_load_dump_parameters.h \ |
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96 | 96 | ../header/tm_lfr_tc_exe.h \ |
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97 | 97 | ../header/tc_acceptance.h \ |
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98 | 98 | ../header/processing/fsw_processing.h \ |
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99 | 99 | ../header/processing/avf0_prc0.h \ |
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100 | 100 | ../header/processing/avf1_prc1.h \ |
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101 | 101 | ../header/processing/avf2_prc2.h \ |
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102 | 102 | ../header/fsw_params_wf_handler.h \ |
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103 | 103 | ../header/lfr_cpu_usage_report.h \ |
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104 | 104 | ../header/lfr_common_headers/ccsds_types.h \ |
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105 | 105 | ../header/lfr_common_headers/fsw_params.h \ |
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106 | 106 | ../header/lfr_common_headers/fsw_params_nb_bytes.h \ |
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107 | 107 | ../header/lfr_common_headers/fsw_params_processing.h \ |
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108 | 108 | ../header/lfr_common_headers/TC_types.h \ |
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109 | 109 | ../header/lfr_common_headers/tm_byte_positions.h \ |
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110 | 110 | ../LFR_basic-parameters/basic_parameters.h \ |
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111 | 111 | ../LFR_basic-parameters/basic_parameters_params.h \ |
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112 | 112 | ../header/GscMemoryLPP.hpp |
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113 | 113 |
@@ -1,50 +1,51 | |||
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1 | 1 | #ifndef FSW_INIT_H_INCLUDED |
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2 | 2 | #define FSW_INIT_H_INCLUDED |
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3 | 3 | |
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4 | 4 | #include <rtems.h> |
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5 | 5 | #include <leon.h> |
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6 | 6 | |
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7 | 7 | #include "fsw_params.h" |
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8 | 8 | #include "fsw_misc.h" |
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9 | 9 | #include "fsw_processing.h" |
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10 | 10 | |
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11 | 11 | #include "tc_handler.h" |
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12 | 12 | #include "wf_handler.h" |
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13 | 13 | #include "fsw_spacewire.h" |
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14 | 14 | |
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15 | 15 | #include "avf0_prc0.h" |
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16 | 16 | #include "avf1_prc1.h" |
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17 | 17 | #include "avf2_prc2.h" |
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18 | 18 | |
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19 | 19 | extern rtems_name Task_name[20]; /* array of task names */ |
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20 | 20 | extern rtems_id Task_id[20]; /* array of task ids */ |
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21 | extern unsigned char pa_bia_status_info; | |
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21 | 22 | |
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22 | 23 | // RTEMS TASKS |
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23 | 24 | rtems_task Init( rtems_task_argument argument); |
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24 | 25 | |
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25 | 26 | // OTHER functions |
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26 | 27 | void create_names( void ); |
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27 | 28 | int create_all_tasks( void ); |
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28 | 29 | int start_all_tasks( void ); |
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29 | 30 | // |
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30 | 31 | rtems_status_code create_message_queues( void ); |
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31 | 32 | rtems_status_code get_message_queue_id_send( rtems_id *queue_id ); |
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32 | 33 | rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ); |
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33 | 34 | rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id ); |
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34 | 35 | rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id ); |
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35 | 36 | rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id ); |
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36 | 37 | void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max ); |
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37 | 38 | void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize ); |
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38 | 39 | // |
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39 | 40 | int start_recv_send_tasks( void ); |
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40 | 41 | // |
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41 | 42 | void init_local_mode_parameters( void ); |
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42 | 43 | void reset_local_time( void ); |
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43 | 44 | |
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44 | 45 | extern void rtems_cpu_usage_report( void ); |
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45 | 46 | extern void rtems_cpu_usage_reset( void ); |
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46 | 47 | extern void rtems_stack_checker_report_usage( void ); |
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47 | 48 | |
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48 | 49 | extern int sched_yield( void ); |
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49 | 50 | |
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50 | 51 | #endif // FSW_INIT_H_INCLUDED |
@@ -1,57 +1,58 | |||
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1 | 1 | #ifndef FSW_MISC_H_INCLUDED |
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2 | 2 | #define FSW_MISC_H_INCLUDED |
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3 | 3 | |
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4 | 4 | #include <rtems.h> |
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5 | 5 | #include <stdio.h> |
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6 | 6 | #include <grspw.h> |
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7 | 7 | #include <grlib_regs.h> |
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8 | 8 | |
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9 | 9 | #include "fsw_params.h" |
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10 | 10 | #include "fsw_spacewire.h" |
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11 | 11 | #include "lfr_cpu_usage_report.h" |
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12 | 12 | |
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13 | 13 | rtems_name name_hk_rate_monotonic; // name of the HK rate monotonic |
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14 | 14 | rtems_id HK_id; // id of the HK rate monotonic period |
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15 | 15 | |
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16 | 16 | void configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider, |
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17 | 17 | unsigned char interrupt_level, rtems_isr (*timer_isr)() ); |
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18 | 18 | void timer_start( gptimer_regs_t *gptimer_regs, unsigned char timer ); |
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19 | 19 | void timer_stop( gptimer_regs_t *gptimer_regs, unsigned char timer ); |
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20 | 20 | void timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider); |
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21 | 21 | |
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22 | 22 | // SERIAL LINK |
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23 | 23 | int send_console_outputs_on_apbuart_port( void ); |
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24 | 24 | int enable_apbuart_transmitter( void ); |
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25 | 25 | void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value); |
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26 | 26 | |
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27 | 27 | // RTEMS TASKS |
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28 | 28 | rtems_task stat_task( rtems_task_argument argument ); |
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29 | 29 | rtems_task hous_task( rtems_task_argument argument ); |
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30 | 30 | rtems_task dumb_task( rtems_task_argument unused ); |
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31 | 31 | |
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32 | 32 | void init_housekeeping_parameters( void ); |
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33 | 33 | void increment_seq_counter(unsigned short *packetSequenceControl); |
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34 | 34 | void getTime( unsigned char *time); |
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35 | 35 | unsigned long long int getTimeAsUnsignedLongLongInt( ); |
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36 | 36 | void send_dumb_hk( void ); |
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37 | 37 | void get_temperatures( unsigned char *temperatures ); |
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38 | 38 | void get_v_e1_e2_f3( unsigned char *spacecraft_potential ); |
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39 | 39 | void get_cpu_load( unsigned char *resource_statistics ); |
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40 | 40 | void set_hk_lfr_sc_potential_flag( bool state ); |
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41 | void set_hk_lfr_mag_fields_flag( bool state ); | |
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41 | 42 | void set_hk_lfr_calib_enable( bool state ); |
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42 | 43 | |
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43 | 44 | |
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44 | 45 | extern int sched_yield( void ); |
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45 | 46 | extern void rtems_cpu_usage_reset(); |
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46 | 47 | extern ring_node *current_ring_node_f3; |
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47 | 48 | extern ring_node *ring_node_to_send_cwf_f3; |
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48 | 49 | extern ring_node waveform_ring_f3[]; |
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49 | 50 | extern unsigned short sequenceCounterHK; |
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50 | 51 | |
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51 | 52 | extern unsigned char hk_lfr_q_sd_fifo_size_max; |
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52 | 53 | extern unsigned char hk_lfr_q_rv_fifo_size_max; |
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53 | 54 | extern unsigned char hk_lfr_q_p0_fifo_size_max; |
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54 | 55 | extern unsigned char hk_lfr_q_p1_fifo_size_max; |
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55 | 56 | extern unsigned char hk_lfr_q_p2_fifo_size_max; |
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56 | 57 | |
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57 | 58 | #endif // FSW_MISC_H_INCLUDED |
@@ -1,78 +1,79 | |||
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1 | 1 | /** Global variables of the LFR flight software. |
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2 | 2 | * |
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3 | 3 | * @file |
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4 | 4 | * @author P. LEROY |
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5 | 5 | * |
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6 | 6 | * Among global variables, there are: |
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7 | 7 | * - RTEMS names and id. |
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8 | 8 | * - APB configuration registers. |
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9 | 9 | * - waveforms global buffers, used by the waveform picker hardware module to store data. |
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10 | 10 | * - spectral matrices buffesr, used by the hardware module to store data. |
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11 | 11 | * - variable related to LFR modes parameters. |
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12 | 12 | * - the global HK packet buffer. |
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13 | 13 | * - the global dump parameter buffer. |
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14 | 14 | * |
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15 | 15 | */ |
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16 | 16 | |
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17 | 17 | #include <rtems.h> |
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18 | 18 | #include <grspw.h> |
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19 | 19 | |
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20 | 20 | #include "ccsds_types.h" |
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21 | 21 | #include "grlib_regs.h" |
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22 | 22 | #include "fsw_params.h" |
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23 | 23 | #include "fsw_params_wf_handler.h" |
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24 | 24 | |
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25 | 25 | // RTEMS GLOBAL VARIABLES |
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26 | 26 | rtems_name misc_name[5]; |
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27 | 27 | rtems_name Task_name[20]; /* array of task names */ |
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28 | 28 | rtems_id Task_id[20]; /* array of task ids */ |
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29 | 29 | int fdSPW = 0; |
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30 | 30 | int fdUART = 0; |
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31 | 31 | unsigned char lfrCurrentMode; |
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32 | unsigned char pa_bia_status_info; | |
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32 | 33 | |
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33 | 34 | // WAVEFORMS GLOBAL VARIABLES // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes = 24584 |
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34 | 35 | // 97 * 256 = 24832 => delta = 248 bytes = 62 words |
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35 | 36 | // WAVEFORMS GLOBAL VARIABLES // 2688 * 3 * 4 + 2 * 4 = 32256 + 8 bytes = 32264 |
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36 | 37 | // 127 * 256 = 32512 => delta = 248 bytes = 62 words |
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37 | 38 | // F0 F1 F2 F3 |
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38 | 39 | volatile int wf_buffer_f0[ NB_RING_NODES_F0 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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39 | 40 | volatile int wf_buffer_f1[ NB_RING_NODES_F1 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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40 | 41 | volatile int wf_buffer_f2[ NB_RING_NODES_F2 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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41 | 42 | volatile int wf_buffer_f3[ NB_RING_NODES_F3 * WFRM_BUFFER ] __attribute__((aligned(0x100))); |
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42 | 43 | |
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43 | 44 | //*********************************** |
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44 | 45 | // SPECTRAL MATRICES GLOBAL VARIABLES |
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45 | 46 | |
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46 | 47 | // alignment constraints for the spectral matrices buffers => the first data after the time (8 bytes) shall be aligned on 0x00 |
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47 | 48 | volatile int sm_f0[ NB_RING_NODES_SM_F0 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))); |
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48 | 49 | volatile int sm_f1[ NB_RING_NODES_SM_F1 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))); |
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49 | 50 | volatile int sm_f2[ NB_RING_NODES_SM_F2 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))); |
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50 | 51 | |
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51 | 52 | // APB CONFIGURATION REGISTERS |
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52 | 53 | time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT; |
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53 | 54 | gptimer_regs_t *gptimer_regs = (gptimer_regs_t *) REGS_ADDR_GPTIMER; |
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54 | 55 | waveform_picker_regs_0_1_18_t *waveform_picker_regs = (waveform_picker_regs_0_1_18_t*) REGS_ADDR_WAVEFORM_PICKER; |
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55 | 56 | spectral_matrix_regs_t *spectral_matrix_regs = (spectral_matrix_regs_t*) REGS_ADDR_SPECTRAL_MATRIX; |
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56 | 57 | |
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57 | 58 | // MODE PARAMETERS |
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58 | 59 | Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet; |
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59 | 60 | struct param_local_str param_local; |
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60 | 61 | |
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61 | 62 | // HK PACKETS |
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62 | 63 | Packet_TM_LFR_HK_t housekeeping_packet; |
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63 | 64 | // message queues occupancy |
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64 | 65 | unsigned char hk_lfr_q_sd_fifo_size_max; |
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65 | 66 | unsigned char hk_lfr_q_rv_fifo_size_max; |
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66 | 67 | unsigned char hk_lfr_q_p0_fifo_size_max; |
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67 | 68 | unsigned char hk_lfr_q_p1_fifo_size_max; |
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68 | 69 | unsigned char hk_lfr_q_p2_fifo_size_max; |
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69 | 70 | // sequence counters are incremented by APID (PID + CAT) and destination ID |
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70 | 71 | unsigned short sequenceCounters_SCIENCE_NORMAL_BURST; |
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71 | 72 | unsigned short sequenceCounters_SCIENCE_SBM1_SBM2; |
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72 | 73 | unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID]; |
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73 | 74 | unsigned short sequenceCounterHK; |
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74 | 75 | unsigned short sequenceCounterParameterDump; |
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75 | 76 | spw_stats spacewire_stats; |
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76 | 77 | spw_stats spacewire_stats_backup; |
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77 | 78 | |
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78 | 79 |
@@ -1,869 +1,872 | |||
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1 | 1 | /** This is the RTEMS initialization module. |
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2 | 2 | * |
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3 | 3 | * @file |
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4 | 4 | * @author P. LEROY |
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5 | 5 | * |
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6 | 6 | * This module contains two very different information: |
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7 | 7 | * - specific instructions to configure the compilation of the RTEMS executive |
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8 | 8 | * - functions related to the fligth softwre initialization, especially the INIT RTEMS task |
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9 | 9 | * |
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10 | 10 | */ |
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11 | 11 | |
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12 | 12 | //************************* |
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13 | 13 | // GPL reminder to be added |
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14 | 14 | //************************* |
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15 | 15 | |
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16 | 16 | #include <rtems.h> |
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17 | 17 | |
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18 | 18 | /* configuration information */ |
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19 | 19 | |
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20 | 20 | #define CONFIGURE_INIT |
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21 | 21 | |
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22 | 22 | #include <bsp.h> /* for device driver prototypes */ |
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23 | 23 | |
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24 | 24 | /* configuration information */ |
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25 | 25 | |
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26 | 26 | #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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27 | 27 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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28 | 28 | |
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29 | 29 | #define CONFIGURE_MAXIMUM_TASKS 20 |
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30 | 30 | #define CONFIGURE_RTEMS_INIT_TASKS_TABLE |
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31 | 31 | #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) |
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32 | 32 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 |
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33 | 33 | #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100 |
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34 | 34 | #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT) |
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35 | 35 | #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT) |
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36 | 36 | #define CONFIGURE_MAXIMUM_DRIVERS 16 |
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37 | 37 | #define CONFIGURE_MAXIMUM_PERIODS 5 |
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38 | 38 | #define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s) |
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39 | 39 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5 |
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40 | 40 | #ifdef PRINT_STACK_REPORT |
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41 | 41 | #define CONFIGURE_STACK_CHECKER_ENABLED |
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42 | 42 | #endif |
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43 | 43 | |
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44 | 44 | #include <rtems/confdefs.h> |
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45 | 45 | |
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46 | 46 | /* If --drvmgr was enabled during the configuration of the RTEMS kernel */ |
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47 | 47 | #ifdef RTEMS_DRVMGR_STARTUP |
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48 | 48 | #ifdef LEON3 |
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49 | 49 | /* Add Timer and UART Driver */ |
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50 | 50 | #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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51 | 51 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER |
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52 | 52 | #endif |
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53 | 53 | #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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54 | 54 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART |
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55 | 55 | #endif |
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56 | 56 | #endif |
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57 | 57 | #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */ |
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58 | 58 | #include <drvmgr/drvmgr_confdefs.h> |
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59 | 59 | #endif |
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60 | 60 | |
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61 | 61 | #include "fsw_init.h" |
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62 | 62 | #include "fsw_config.c" |
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63 | 63 | #include "GscMemoryLPP.hpp" |
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64 | 64 | |
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65 | 65 | void initCache() |
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66 | 66 | { |
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67 | 67 | unsigned int cacheControlRegister; |
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68 | 68 | |
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69 | 69 | cacheControlRegister = getCacheControlRegister(); |
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70 | 70 | printf("(0) cacheControlRegister = %x\n", cacheControlRegister); |
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71 | 71 | |
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72 | 72 | resetCacheControlRegister(); |
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73 | 73 | |
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74 | 74 | enableInstructionCache(); |
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75 | 75 | enableDataCache(); |
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76 | 76 | enableInstructionBurstFetch(); |
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77 | 77 | |
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78 | 78 | cacheControlRegister = getCacheControlRegister(); |
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79 | 79 | printf("(1) cacheControlRegister = %x\n", cacheControlRegister); |
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80 | 80 | } |
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81 | 81 | |
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82 | 82 | rtems_task Init( rtems_task_argument ignored ) |
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83 | 83 | { |
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84 | 84 | /** This is the RTEMS INIT taks, it is the first task launched by the system. |
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85 | 85 | * |
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86 | 86 | * @param unused is the starting argument of the RTEMS task |
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87 | 87 | * |
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88 | 88 | * The INIT task create and run all other RTEMS tasks. |
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89 | 89 | * |
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90 | 90 | */ |
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91 | 91 | |
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92 | 92 | //*********** |
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93 | 93 | // INIT CACHE |
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94 | 94 | |
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95 | 95 | unsigned char *vhdlVersion; |
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96 | 96 | |
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97 | 97 | reset_lfr(); |
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98 | 98 | |
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99 | 99 | reset_local_time(); |
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100 | 100 | |
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101 | 101 | rtems_cpu_usage_reset(); |
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102 | 102 | |
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103 | 103 | rtems_status_code status; |
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104 | 104 | rtems_status_code status_spw; |
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105 | 105 | rtems_isr_entry old_isr_handler; |
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106 | 106 | |
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107 | 107 | // UART settings |
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108 | 108 | send_console_outputs_on_apbuart_port(); |
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109 | 109 | set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE); |
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110 | 110 | enable_apbuart_transmitter(); |
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111 | 111 | |
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112 | 112 | DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n") |
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113 | 113 | |
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114 | 114 | |
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115 | 115 | PRINTF("\n\n\n\n\n") |
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116 | 116 | |
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117 | 117 | initCache(); |
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118 | 118 | |
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119 | 119 | PRINTF("*************************\n") |
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120 | 120 | PRINTF("** LFR Flight Software **\n") |
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121 | 121 | PRINTF1("** %d.", SW_VERSION_N1) |
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122 | 122 | PRINTF1("%d." , SW_VERSION_N2) |
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123 | 123 | PRINTF1("%d." , SW_VERSION_N3) |
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124 | 124 | PRINTF1("%d **\n", SW_VERSION_N4) |
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125 | 125 | |
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126 | 126 | vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION); |
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127 | 127 | PRINTF("** VHDL **\n") |
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128 | 128 | PRINTF1("** %d.", vhdlVersion[1]) |
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129 | 129 | PRINTF1("%d." , vhdlVersion[2]) |
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130 | 130 | PRINTF1("%d **\n", vhdlVersion[3]) |
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131 | 131 | PRINTF("*************************\n") |
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132 | 132 | PRINTF("\n\n") |
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133 | 133 | |
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134 | 134 | init_parameter_dump(); |
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135 | 135 | init_kcoefficients_dump(); |
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136 | 136 | init_local_mode_parameters(); |
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137 | 137 | init_housekeeping_parameters(); |
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138 | 138 | init_k_coefficients_prc0(); |
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139 | 139 | init_k_coefficients_prc1(); |
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140 | 140 | init_k_coefficients_prc2(); |
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141 | pa_bia_status_info = 0x00; | |
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141 | 142 | |
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142 | 143 | // waveform picker initialization |
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143 | 144 | WFP_init_rings(); // initialize the waveform rings |
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144 | 145 | WFP_reset_current_ring_nodes(); |
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145 | 146 | reset_waveform_picker_regs(); |
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146 | 147 | |
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147 | 148 | // spectral matrices initialization |
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148 | 149 | SM_init_rings(); // initialize spectral matrices rings |
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149 | 150 | SM_reset_current_ring_nodes(); |
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150 | 151 | reset_spectral_matrix_regs(); |
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151 | 152 | |
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152 | 153 | // configure calibration |
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153 | 154 | configureCalibration( false ); // true means interleaved mode, false is for normal mode |
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154 | 155 | |
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155 | 156 | updateLFRCurrentMode(); |
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156 | 157 | |
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157 | 158 | BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode) |
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158 | 159 | |
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159 | 160 | create_names(); // create all names |
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160 | 161 | |
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161 | 162 | status = create_message_queues(); // create message queues |
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162 | 163 | if (status != RTEMS_SUCCESSFUL) |
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163 | 164 | { |
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164 | 165 | PRINTF1("in INIT *** ERR in create_message_queues, code %d", status) |
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165 | 166 | } |
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166 | 167 | |
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167 | 168 | status = create_all_tasks(); // create all tasks |
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168 | 169 | if (status != RTEMS_SUCCESSFUL) |
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169 | 170 | { |
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170 | 171 | PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status) |
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171 | 172 | } |
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172 | 173 | |
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173 | 174 | // ************************** |
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174 | 175 | // <SPACEWIRE INITIALIZATION> |
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175 | 176 | grspw_timecode_callback = &timecode_irq_handler; |
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176 | 177 | |
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177 | 178 | status_spw = spacewire_open_link(); // (1) open the link |
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178 | 179 | if ( status_spw != RTEMS_SUCCESSFUL ) |
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179 | 180 | { |
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180 | 181 | PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw ) |
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181 | 182 | } |
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182 | 183 | |
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183 | 184 | if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link |
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184 | 185 | { |
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185 | 186 | status_spw = spacewire_configure_link( fdSPW ); |
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186 | 187 | if ( status_spw != RTEMS_SUCCESSFUL ) |
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187 | 188 | { |
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188 | 189 | PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw ) |
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189 | 190 | } |
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190 | 191 | } |
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191 | 192 | |
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192 | 193 | if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link |
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193 | 194 | { |
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194 | 195 | status_spw = spacewire_start_link( fdSPW ); |
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195 | 196 | if ( status_spw != RTEMS_SUCCESSFUL ) |
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196 | 197 | { |
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197 | 198 | PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw ) |
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198 | 199 | } |
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199 | 200 | } |
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200 | 201 | // </SPACEWIRE INITIALIZATION> |
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201 | 202 | // *************************** |
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202 | 203 | |
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203 | 204 | status = start_all_tasks(); // start all tasks |
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204 | 205 | if (status != RTEMS_SUCCESSFUL) |
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205 | 206 | { |
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206 | 207 | PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status) |
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207 | 208 | } |
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208 | 209 | |
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209 | 210 | // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization |
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210 | 211 | status = start_recv_send_tasks(); |
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211 | 212 | if ( status != RTEMS_SUCCESSFUL ) |
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212 | 213 | { |
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213 | 214 | PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status ) |
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214 | 215 | } |
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215 | 216 | |
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216 | 217 | // suspend science tasks, they will be restarted later depending on the mode |
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217 | 218 | status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY) |
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218 | 219 | if (status != RTEMS_SUCCESSFUL) |
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219 | 220 | { |
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220 | 221 | PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status) |
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221 | 222 | } |
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222 | 223 | |
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223 | 224 | //****************************** |
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224 | 225 | // <SPECTRAL MATRICES SIMULATOR> |
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225 | 226 | LEON_Mask_interrupt( IRQ_SM_SIMULATOR ); |
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226 | 227 | configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, |
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227 | 228 | IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu ); |
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228 | 229 | // </SPECTRAL MATRICES SIMULATOR> |
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229 | 230 | //******************************* |
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230 | 231 | |
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231 | 232 | // configure IRQ handling for the waveform picker unit |
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232 | 233 | status = rtems_interrupt_catch( waveforms_isr, |
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233 | 234 | IRQ_SPARC_WAVEFORM_PICKER, |
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234 | 235 | &old_isr_handler) ; |
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235 | 236 | // configure IRQ handling for the spectral matrices unit |
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236 | 237 | status = rtems_interrupt_catch( spectral_matrices_isr, |
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237 | 238 | IRQ_SPARC_SPECTRAL_MATRIX, |
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238 | 239 | &old_isr_handler) ; |
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239 | 240 | |
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240 | 241 | // if the spacewire link is not up then send an event to the SPIQ task for link recovery |
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241 | 242 | if ( status_spw != RTEMS_SUCCESSFUL ) |
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242 | 243 | { |
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243 | 244 | status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ); |
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244 | 245 | if ( status != RTEMS_SUCCESSFUL ) { |
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245 | 246 | PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status ) |
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246 | 247 | } |
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247 | 248 | } |
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248 | 249 | |
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249 | 250 | BOOT_PRINTF("delete INIT\n") |
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250 | 251 | |
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252 | set_hk_lfr_sc_potential_flag( true ); | |
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253 | ||
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251 | 254 | status = rtems_task_delete(RTEMS_SELF); |
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252 | 255 | |
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253 | 256 | } |
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254 | 257 | |
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255 | 258 | void init_local_mode_parameters( void ) |
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256 | 259 | { |
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257 | 260 | /** This function initialize the param_local global variable with default values. |
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258 | 261 | * |
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259 | 262 | */ |
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260 | 263 | |
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261 | 264 | unsigned int i; |
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262 | 265 | |
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263 | 266 | // LOCAL PARAMETERS |
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264 | 267 | |
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265 | 268 | BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max) |
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266 | 269 | BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max) |
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267 | 270 | BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX) |
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268 | 271 | |
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269 | 272 | // init sequence counters |
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270 | 273 | |
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271 | 274 | for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++) |
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272 | 275 | { |
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273 | 276 | sequenceCounters_TC_EXE[i] = 0x00; |
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274 | 277 | } |
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275 | 278 | sequenceCounters_SCIENCE_NORMAL_BURST = 0x00; |
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276 | 279 | sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00; |
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277 | 280 | sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8; |
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278 | 281 | sequenceCounterParameterDump = TM_PACKET_SEQ_CTRL_STANDALONE << 8; |
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279 | 282 | } |
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280 | 283 | |
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281 | 284 | void reset_local_time( void ) |
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282 | 285 | { |
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283 | 286 | time_management_regs->ctrl = time_management_regs->ctrl | 0x02; // [0010] software reset, coarse time = 0x80000000 |
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284 | 287 | } |
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285 | 288 | |
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286 | 289 | void create_names( void ) // create all names for tasks and queues |
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287 | 290 | { |
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288 | 291 | /** This function creates all RTEMS names used in the software for tasks and queues. |
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289 | 292 | * |
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290 | 293 | * @return RTEMS directive status codes: |
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291 | 294 | * - RTEMS_SUCCESSFUL - successful completion |
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292 | 295 | * |
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293 | 296 | */ |
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294 | 297 | |
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295 | 298 | // task names |
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296 | 299 | Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); |
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297 | 300 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); |
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298 | 301 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); |
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299 | 302 | Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' ); |
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300 | 303 | Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' ); |
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301 | 304 | Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' ); |
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302 | 305 | Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' ); |
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303 | 306 | Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' ); |
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304 | 307 | Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' ); |
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305 | 308 | Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' ); |
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306 | 309 | Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' ); |
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307 | 310 | Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' ); |
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308 | 311 | Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' ); |
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309 | 312 | Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' ); |
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310 | 313 | Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' ); |
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311 | 314 | Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' ); |
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312 | 315 | Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' ); |
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313 | 316 | Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' ); |
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314 | 317 | Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' ); |
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315 | 318 | |
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316 | 319 | // rate monotonic period names |
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317 | 320 | name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' ); |
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318 | 321 | |
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319 | 322 | misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' ); |
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320 | 323 | misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' ); |
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321 | 324 | misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' ); |
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322 | 325 | misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' ); |
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323 | 326 | misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' ); |
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324 | 327 | } |
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325 | 328 | |
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326 | 329 | int create_all_tasks( void ) // create all tasks which run in the software |
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327 | 330 | { |
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328 | 331 | /** This function creates all RTEMS tasks used in the software. |
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329 | 332 | * |
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330 | 333 | * @return RTEMS directive status codes: |
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331 | 334 | * - RTEMS_SUCCESSFUL - task created successfully |
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332 | 335 | * - RTEMS_INVALID_ADDRESS - id is NULL |
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333 | 336 | * - RTEMS_INVALID_NAME - invalid task name |
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334 | 337 | * - RTEMS_INVALID_PRIORITY - invalid task priority |
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335 | 338 | * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured |
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336 | 339 | * - RTEMS_TOO_MANY - too many tasks created |
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337 | 340 | * - RTEMS_UNSATISFIED - not enough memory for stack/FP context |
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338 | 341 | * - RTEMS_TOO_MANY - too many global objects |
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339 | 342 | * |
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340 | 343 | */ |
|
341 | 344 | |
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342 | 345 | rtems_status_code status; |
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343 | 346 | |
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344 | 347 | //********** |
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345 | 348 | // SPACEWIRE |
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346 | 349 | // RECV |
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347 | 350 | status = rtems_task_create( |
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348 | 351 | Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE, |
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349 | 352 | RTEMS_DEFAULT_MODES, |
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350 | 353 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] |
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351 | 354 | ); |
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352 | 355 | if (status == RTEMS_SUCCESSFUL) // SEND |
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353 | 356 | { |
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354 | 357 | status = rtems_task_create( |
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355 | 358 | Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2, |
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356 | 359 | RTEMS_DEFAULT_MODES, |
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357 | 360 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND] |
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358 | 361 | ); |
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359 | 362 | } |
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360 | 363 | if (status == RTEMS_SUCCESSFUL) // WTDG |
|
361 | 364 | { |
|
362 | 365 | status = rtems_task_create( |
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363 | 366 | Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE, |
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364 | 367 | RTEMS_DEFAULT_MODES, |
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365 | 368 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG] |
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366 | 369 | ); |
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367 | 370 | } |
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368 | 371 | if (status == RTEMS_SUCCESSFUL) // ACTN |
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369 | 372 | { |
|
370 | 373 | status = rtems_task_create( |
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371 | 374 | Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE, |
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372 | 375 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
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373 | 376 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN] |
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374 | 377 | ); |
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375 | 378 | } |
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376 | 379 | if (status == RTEMS_SUCCESSFUL) // SPIQ |
|
377 | 380 | { |
|
378 | 381 | status = rtems_task_create( |
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379 | 382 | Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE, |
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380 | 383 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
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381 | 384 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] |
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382 | 385 | ); |
|
383 | 386 | } |
|
384 | 387 | |
|
385 | 388 | //****************** |
|
386 | 389 | // SPECTRAL MATRICES |
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387 | 390 | if (status == RTEMS_SUCCESSFUL) // AVF0 |
|
388 | 391 | { |
|
389 | 392 | status = rtems_task_create( |
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390 | 393 | Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE, |
|
391 | 394 | RTEMS_DEFAULT_MODES, |
|
392 | 395 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] |
|
393 | 396 | ); |
|
394 | 397 | } |
|
395 | 398 | if (status == RTEMS_SUCCESSFUL) // PRC0 |
|
396 | 399 | { |
|
397 | 400 | status = rtems_task_create( |
|
398 | 401 | Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
399 | 402 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
400 | 403 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0] |
|
401 | 404 | ); |
|
402 | 405 | } |
|
403 | 406 | if (status == RTEMS_SUCCESSFUL) // AVF1 |
|
404 | 407 | { |
|
405 | 408 | status = rtems_task_create( |
|
406 | 409 | Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE, |
|
407 | 410 | RTEMS_DEFAULT_MODES, |
|
408 | 411 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1] |
|
409 | 412 | ); |
|
410 | 413 | } |
|
411 | 414 | if (status == RTEMS_SUCCESSFUL) // PRC1 |
|
412 | 415 | { |
|
413 | 416 | status = rtems_task_create( |
|
414 | 417 | Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
415 | 418 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
416 | 419 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1] |
|
417 | 420 | ); |
|
418 | 421 | } |
|
419 | 422 | if (status == RTEMS_SUCCESSFUL) // AVF2 |
|
420 | 423 | { |
|
421 | 424 | status = rtems_task_create( |
|
422 | 425 | Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE, |
|
423 | 426 | RTEMS_DEFAULT_MODES, |
|
424 | 427 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2] |
|
425 | 428 | ); |
|
426 | 429 | } |
|
427 | 430 | if (status == RTEMS_SUCCESSFUL) // PRC2 |
|
428 | 431 | { |
|
429 | 432 | status = rtems_task_create( |
|
430 | 433 | Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2, |
|
431 | 434 | RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, |
|
432 | 435 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2] |
|
433 | 436 | ); |
|
434 | 437 | } |
|
435 | 438 | |
|
436 | 439 | //**************** |
|
437 | 440 | // WAVEFORM PICKER |
|
438 | 441 | if (status == RTEMS_SUCCESSFUL) // WFRM |
|
439 | 442 | { |
|
440 | 443 | status = rtems_task_create( |
|
441 | 444 | Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE, |
|
442 | 445 | RTEMS_DEFAULT_MODES, |
|
443 | 446 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM] |
|
444 | 447 | ); |
|
445 | 448 | } |
|
446 | 449 | if (status == RTEMS_SUCCESSFUL) // CWF3 |
|
447 | 450 | { |
|
448 | 451 | status = rtems_task_create( |
|
449 | 452 | Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE, |
|
450 | 453 | RTEMS_DEFAULT_MODES, |
|
451 | 454 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3] |
|
452 | 455 | ); |
|
453 | 456 | } |
|
454 | 457 | if (status == RTEMS_SUCCESSFUL) // CWF2 |
|
455 | 458 | { |
|
456 | 459 | status = rtems_task_create( |
|
457 | 460 | Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE, |
|
458 | 461 | RTEMS_DEFAULT_MODES, |
|
459 | 462 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2] |
|
460 | 463 | ); |
|
461 | 464 | } |
|
462 | 465 | if (status == RTEMS_SUCCESSFUL) // CWF1 |
|
463 | 466 | { |
|
464 | 467 | status = rtems_task_create( |
|
465 | 468 | Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE, |
|
466 | 469 | RTEMS_DEFAULT_MODES, |
|
467 | 470 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1] |
|
468 | 471 | ); |
|
469 | 472 | } |
|
470 | 473 | if (status == RTEMS_SUCCESSFUL) // SWBD |
|
471 | 474 | { |
|
472 | 475 | status = rtems_task_create( |
|
473 | 476 | Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE, |
|
474 | 477 | RTEMS_DEFAULT_MODES, |
|
475 | 478 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD] |
|
476 | 479 | ); |
|
477 | 480 | } |
|
478 | 481 | |
|
479 | 482 | //***** |
|
480 | 483 | // MISC |
|
481 | 484 | if (status == RTEMS_SUCCESSFUL) // STAT |
|
482 | 485 | { |
|
483 | 486 | status = rtems_task_create( |
|
484 | 487 | Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE, |
|
485 | 488 | RTEMS_DEFAULT_MODES, |
|
486 | 489 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] |
|
487 | 490 | ); |
|
488 | 491 | } |
|
489 | 492 | if (status == RTEMS_SUCCESSFUL) // DUMB |
|
490 | 493 | { |
|
491 | 494 | status = rtems_task_create( |
|
492 | 495 | Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE, |
|
493 | 496 | RTEMS_DEFAULT_MODES, |
|
494 | 497 | RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] |
|
495 | 498 | ); |
|
496 | 499 | } |
|
497 | 500 | if (status == RTEMS_SUCCESSFUL) // HOUS |
|
498 | 501 | { |
|
499 | 502 | status = rtems_task_create( |
|
500 | 503 | Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE, |
|
501 | 504 | RTEMS_DEFAULT_MODES, |
|
502 | 505 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS] |
|
503 | 506 | ); |
|
504 | 507 | } |
|
505 | 508 | |
|
506 | 509 | return status; |
|
507 | 510 | } |
|
508 | 511 | |
|
509 | 512 | int start_recv_send_tasks( void ) |
|
510 | 513 | { |
|
511 | 514 | rtems_status_code status; |
|
512 | 515 | |
|
513 | 516 | status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 ); |
|
514 | 517 | if (status!=RTEMS_SUCCESSFUL) { |
|
515 | 518 | BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n") |
|
516 | 519 | } |
|
517 | 520 | |
|
518 | 521 | if (status == RTEMS_SUCCESSFUL) // SEND |
|
519 | 522 | { |
|
520 | 523 | status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 ); |
|
521 | 524 | if (status!=RTEMS_SUCCESSFUL) { |
|
522 | 525 | BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n") |
|
523 | 526 | } |
|
524 | 527 | } |
|
525 | 528 | |
|
526 | 529 | return status; |
|
527 | 530 | } |
|
528 | 531 | |
|
529 | 532 | int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS |
|
530 | 533 | { |
|
531 | 534 | /** This function starts all RTEMS tasks used in the software. |
|
532 | 535 | * |
|
533 | 536 | * @return RTEMS directive status codes: |
|
534 | 537 | * - RTEMS_SUCCESSFUL - ask started successfully |
|
535 | 538 | * - RTEMS_INVALID_ADDRESS - invalid task entry point |
|
536 | 539 | * - RTEMS_INVALID_ID - invalid task id |
|
537 | 540 | * - RTEMS_INCORRECT_STATE - task not in the dormant state |
|
538 | 541 | * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task |
|
539 | 542 | * |
|
540 | 543 | */ |
|
541 | 544 | // starts all the tasks fot eh flight software |
|
542 | 545 | |
|
543 | 546 | rtems_status_code status; |
|
544 | 547 | |
|
545 | 548 | //********** |
|
546 | 549 | // SPACEWIRE |
|
547 | 550 | status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); |
|
548 | 551 | if (status!=RTEMS_SUCCESSFUL) { |
|
549 | 552 | BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n") |
|
550 | 553 | } |
|
551 | 554 | |
|
552 | 555 | if (status == RTEMS_SUCCESSFUL) // WTDG |
|
553 | 556 | { |
|
554 | 557 | status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 ); |
|
555 | 558 | if (status!=RTEMS_SUCCESSFUL) { |
|
556 | 559 | BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n") |
|
557 | 560 | } |
|
558 | 561 | } |
|
559 | 562 | |
|
560 | 563 | if (status == RTEMS_SUCCESSFUL) // ACTN |
|
561 | 564 | { |
|
562 | 565 | status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 ); |
|
563 | 566 | if (status!=RTEMS_SUCCESSFUL) { |
|
564 | 567 | BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n") |
|
565 | 568 | } |
|
566 | 569 | } |
|
567 | 570 | |
|
568 | 571 | //****************** |
|
569 | 572 | // SPECTRAL MATRICES |
|
570 | 573 | if (status == RTEMS_SUCCESSFUL) // AVF0 |
|
571 | 574 | { |
|
572 | 575 | status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY ); |
|
573 | 576 | if (status!=RTEMS_SUCCESSFUL) { |
|
574 | 577 | BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n") |
|
575 | 578 | } |
|
576 | 579 | } |
|
577 | 580 | if (status == RTEMS_SUCCESSFUL) // PRC0 |
|
578 | 581 | { |
|
579 | 582 | status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY ); |
|
580 | 583 | if (status!=RTEMS_SUCCESSFUL) { |
|
581 | 584 | BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n") |
|
582 | 585 | } |
|
583 | 586 | } |
|
584 | 587 | if (status == RTEMS_SUCCESSFUL) // AVF1 |
|
585 | 588 | { |
|
586 | 589 | status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY ); |
|
587 | 590 | if (status!=RTEMS_SUCCESSFUL) { |
|
588 | 591 | BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n") |
|
589 | 592 | } |
|
590 | 593 | } |
|
591 | 594 | if (status == RTEMS_SUCCESSFUL) // PRC1 |
|
592 | 595 | { |
|
593 | 596 | status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY ); |
|
594 | 597 | if (status!=RTEMS_SUCCESSFUL) { |
|
595 | 598 | BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n") |
|
596 | 599 | } |
|
597 | 600 | } |
|
598 | 601 | if (status == RTEMS_SUCCESSFUL) // AVF2 |
|
599 | 602 | { |
|
600 | 603 | status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 ); |
|
601 | 604 | if (status!=RTEMS_SUCCESSFUL) { |
|
602 | 605 | BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n") |
|
603 | 606 | } |
|
604 | 607 | } |
|
605 | 608 | if (status == RTEMS_SUCCESSFUL) // PRC2 |
|
606 | 609 | { |
|
607 | 610 | status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 ); |
|
608 | 611 | if (status!=RTEMS_SUCCESSFUL) { |
|
609 | 612 | BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n") |
|
610 | 613 | } |
|
611 | 614 | } |
|
612 | 615 | |
|
613 | 616 | //**************** |
|
614 | 617 | // WAVEFORM PICKER |
|
615 | 618 | if (status == RTEMS_SUCCESSFUL) // WFRM |
|
616 | 619 | { |
|
617 | 620 | status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 ); |
|
618 | 621 | if (status!=RTEMS_SUCCESSFUL) { |
|
619 | 622 | BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n") |
|
620 | 623 | } |
|
621 | 624 | } |
|
622 | 625 | if (status == RTEMS_SUCCESSFUL) // CWF3 |
|
623 | 626 | { |
|
624 | 627 | status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 ); |
|
625 | 628 | if (status!=RTEMS_SUCCESSFUL) { |
|
626 | 629 | BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n") |
|
627 | 630 | } |
|
628 | 631 | } |
|
629 | 632 | if (status == RTEMS_SUCCESSFUL) // CWF2 |
|
630 | 633 | { |
|
631 | 634 | status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 ); |
|
632 | 635 | if (status!=RTEMS_SUCCESSFUL) { |
|
633 | 636 | BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n") |
|
634 | 637 | } |
|
635 | 638 | } |
|
636 | 639 | if (status == RTEMS_SUCCESSFUL) // CWF1 |
|
637 | 640 | { |
|
638 | 641 | status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 ); |
|
639 | 642 | if (status!=RTEMS_SUCCESSFUL) { |
|
640 | 643 | BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n") |
|
641 | 644 | } |
|
642 | 645 | } |
|
643 | 646 | if (status == RTEMS_SUCCESSFUL) // SWBD |
|
644 | 647 | { |
|
645 | 648 | status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 ); |
|
646 | 649 | if (status!=RTEMS_SUCCESSFUL) { |
|
647 | 650 | BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n") |
|
648 | 651 | } |
|
649 | 652 | } |
|
650 | 653 | |
|
651 | 654 | //***** |
|
652 | 655 | // MISC |
|
653 | 656 | if (status == RTEMS_SUCCESSFUL) // HOUS |
|
654 | 657 | { |
|
655 | 658 | status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 ); |
|
656 | 659 | if (status!=RTEMS_SUCCESSFUL) { |
|
657 | 660 | BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n") |
|
658 | 661 | } |
|
659 | 662 | } |
|
660 | 663 | if (status == RTEMS_SUCCESSFUL) // DUMB |
|
661 | 664 | { |
|
662 | 665 | status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); |
|
663 | 666 | if (status!=RTEMS_SUCCESSFUL) { |
|
664 | 667 | BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n") |
|
665 | 668 | } |
|
666 | 669 | } |
|
667 | 670 | if (status == RTEMS_SUCCESSFUL) // STAT |
|
668 | 671 | { |
|
669 | 672 | status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 ); |
|
670 | 673 | if (status!=RTEMS_SUCCESSFUL) { |
|
671 | 674 | BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n") |
|
672 | 675 | } |
|
673 | 676 | } |
|
674 | 677 | |
|
675 | 678 | return status; |
|
676 | 679 | } |
|
677 | 680 | |
|
678 | 681 | rtems_status_code create_message_queues( void ) // create the two message queues used in the software |
|
679 | 682 | { |
|
680 | 683 | rtems_status_code status_recv; |
|
681 | 684 | rtems_status_code status_send; |
|
682 | 685 | rtems_status_code status_q_p0; |
|
683 | 686 | rtems_status_code status_q_p1; |
|
684 | 687 | rtems_status_code status_q_p2; |
|
685 | 688 | rtems_status_code ret; |
|
686 | 689 | rtems_id queue_id; |
|
687 | 690 | |
|
688 | 691 | //**************************************** |
|
689 | 692 | // create the queue for handling valid TCs |
|
690 | 693 | status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV], |
|
691 | 694 | MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE, |
|
692 | 695 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
693 | 696 | if ( status_recv != RTEMS_SUCCESSFUL ) { |
|
694 | 697 | PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv) |
|
695 | 698 | } |
|
696 | 699 | |
|
697 | 700 | //************************************************ |
|
698 | 701 | // create the queue for handling TM packet sending |
|
699 | 702 | status_send = rtems_message_queue_create( misc_name[QUEUE_SEND], |
|
700 | 703 | MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND, |
|
701 | 704 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
702 | 705 | if ( status_send != RTEMS_SUCCESSFUL ) { |
|
703 | 706 | PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send) |
|
704 | 707 | } |
|
705 | 708 | |
|
706 | 709 | //***************************************************************************** |
|
707 | 710 | // create the queue for handling averaged spectral matrices for processing @ f0 |
|
708 | 711 | status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0], |
|
709 | 712 | MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0, |
|
710 | 713 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
711 | 714 | if ( status_q_p0 != RTEMS_SUCCESSFUL ) { |
|
712 | 715 | PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0) |
|
713 | 716 | } |
|
714 | 717 | |
|
715 | 718 | //***************************************************************************** |
|
716 | 719 | // create the queue for handling averaged spectral matrices for processing @ f1 |
|
717 | 720 | status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1], |
|
718 | 721 | MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1, |
|
719 | 722 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
720 | 723 | if ( status_q_p1 != RTEMS_SUCCESSFUL ) { |
|
721 | 724 | PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1) |
|
722 | 725 | } |
|
723 | 726 | |
|
724 | 727 | //***************************************************************************** |
|
725 | 728 | // create the queue for handling averaged spectral matrices for processing @ f2 |
|
726 | 729 | status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2], |
|
727 | 730 | MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2, |
|
728 | 731 | RTEMS_FIFO | RTEMS_LOCAL, &queue_id ); |
|
729 | 732 | if ( status_q_p2 != RTEMS_SUCCESSFUL ) { |
|
730 | 733 | PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2) |
|
731 | 734 | } |
|
732 | 735 | |
|
733 | 736 | if ( status_recv != RTEMS_SUCCESSFUL ) |
|
734 | 737 | { |
|
735 | 738 | ret = status_recv; |
|
736 | 739 | } |
|
737 | 740 | else if( status_send != RTEMS_SUCCESSFUL ) |
|
738 | 741 | { |
|
739 | 742 | ret = status_send; |
|
740 | 743 | } |
|
741 | 744 | else if( status_q_p0 != RTEMS_SUCCESSFUL ) |
|
742 | 745 | { |
|
743 | 746 | ret = status_q_p0; |
|
744 | 747 | } |
|
745 | 748 | else if( status_q_p1 != RTEMS_SUCCESSFUL ) |
|
746 | 749 | { |
|
747 | 750 | ret = status_q_p1; |
|
748 | 751 | } |
|
749 | 752 | else |
|
750 | 753 | { |
|
751 | 754 | ret = status_q_p2; |
|
752 | 755 | } |
|
753 | 756 | |
|
754 | 757 | return ret; |
|
755 | 758 | } |
|
756 | 759 | |
|
757 | 760 | rtems_status_code get_message_queue_id_send( rtems_id *queue_id ) |
|
758 | 761 | { |
|
759 | 762 | rtems_status_code status; |
|
760 | 763 | rtems_name queue_name; |
|
761 | 764 | |
|
762 | 765 | queue_name = rtems_build_name( 'Q', '_', 'S', 'D' ); |
|
763 | 766 | |
|
764 | 767 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
765 | 768 | |
|
766 | 769 | return status; |
|
767 | 770 | } |
|
768 | 771 | |
|
769 | 772 | rtems_status_code get_message_queue_id_recv( rtems_id *queue_id ) |
|
770 | 773 | { |
|
771 | 774 | rtems_status_code status; |
|
772 | 775 | rtems_name queue_name; |
|
773 | 776 | |
|
774 | 777 | queue_name = rtems_build_name( 'Q', '_', 'R', 'V' ); |
|
775 | 778 | |
|
776 | 779 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
777 | 780 | |
|
778 | 781 | return status; |
|
779 | 782 | } |
|
780 | 783 | |
|
781 | 784 | rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id ) |
|
782 | 785 | { |
|
783 | 786 | rtems_status_code status; |
|
784 | 787 | rtems_name queue_name; |
|
785 | 788 | |
|
786 | 789 | queue_name = rtems_build_name( 'Q', '_', 'P', '0' ); |
|
787 | 790 | |
|
788 | 791 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
789 | 792 | |
|
790 | 793 | return status; |
|
791 | 794 | } |
|
792 | 795 | |
|
793 | 796 | rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id ) |
|
794 | 797 | { |
|
795 | 798 | rtems_status_code status; |
|
796 | 799 | rtems_name queue_name; |
|
797 | 800 | |
|
798 | 801 | queue_name = rtems_build_name( 'Q', '_', 'P', '1' ); |
|
799 | 802 | |
|
800 | 803 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
801 | 804 | |
|
802 | 805 | return status; |
|
803 | 806 | } |
|
804 | 807 | |
|
805 | 808 | rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id ) |
|
806 | 809 | { |
|
807 | 810 | rtems_status_code status; |
|
808 | 811 | rtems_name queue_name; |
|
809 | 812 | |
|
810 | 813 | queue_name = rtems_build_name( 'Q', '_', 'P', '2' ); |
|
811 | 814 | |
|
812 | 815 | status = rtems_message_queue_ident( queue_name, 0, queue_id ); |
|
813 | 816 | |
|
814 | 817 | return status; |
|
815 | 818 | } |
|
816 | 819 | |
|
817 | 820 | void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max ) |
|
818 | 821 | { |
|
819 | 822 | u_int32_t count; |
|
820 | 823 | rtems_status_code status; |
|
821 | 824 | |
|
822 | 825 | status = rtems_message_queue_get_number_pending( queue_id, &count ); |
|
823 | 826 | |
|
824 | 827 | count = count + 1; |
|
825 | 828 | |
|
826 | 829 | if (status != RTEMS_SUCCESSFUL) |
|
827 | 830 | { |
|
828 | 831 | PRINTF1("in update_queue_max_count *** ERR = %d\n", status) |
|
829 | 832 | } |
|
830 | 833 | else |
|
831 | 834 | { |
|
832 | 835 | if (count > *fifo_size_max) |
|
833 | 836 | { |
|
834 | 837 | *fifo_size_max = count; |
|
835 | 838 | } |
|
836 | 839 | } |
|
837 | 840 | } |
|
838 | 841 | |
|
839 | 842 | void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize ) |
|
840 | 843 | { |
|
841 | 844 | unsigned char i; |
|
842 | 845 | |
|
843 | 846 | //*************** |
|
844 | 847 | // BUFFER ADDRESS |
|
845 | 848 | for(i=0; i<nbNodes; i++) |
|
846 | 849 | { |
|
847 | 850 | ring[i].coarseTime = 0xffffffff; |
|
848 | 851 | ring[i].fineTime = 0xffffffff; |
|
849 | 852 | ring[i].sid = 0x00; |
|
850 | 853 | ring[i].status = 0x00; |
|
851 | 854 | ring[i].buffer_address = (int) &buffer[ i * bufferSize ]; |
|
852 | 855 | } |
|
853 | 856 | |
|
854 | 857 | //***** |
|
855 | 858 | // NEXT |
|
856 | 859 | ring[ nbNodes - 1 ].next = (ring_node*) &ring[ 0 ]; |
|
857 | 860 | for(i=0; i<nbNodes-1; i++) |
|
858 | 861 | { |
|
859 | 862 | ring[i].next = (ring_node*) &ring[ i + 1 ]; |
|
860 | 863 | } |
|
861 | 864 | |
|
862 | 865 | //********* |
|
863 | 866 | // PREVIOUS |
|
864 | 867 | ring[ 0 ].previous = (ring_node*) &ring[ nbNodes - 1 ]; |
|
865 | 868 | for(i=1; i<nbNodes; i++) |
|
866 | 869 | { |
|
867 | 870 | ring[i].previous = (ring_node*) &ring[ i - 1 ]; |
|
868 | 871 | } |
|
869 | 872 | } |
@@ -1,551 +1,564 | |||
|
1 | 1 | /** General usage functions and RTEMS tasks. |
|
2 | 2 | * |
|
3 | 3 | * @file |
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4 | 4 | * @author P. LEROY |
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5 | 5 | * |
|
6 | 6 | */ |
|
7 | 7 | |
|
8 | 8 | #include "fsw_misc.h" |
|
9 | 9 | |
|
10 | 10 | void configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider, |
|
11 | 11 | unsigned char interrupt_level, rtems_isr (*timer_isr)() ) |
|
12 | 12 | { |
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13 | 13 | /** This function configures a GPTIMER timer instantiated in the VHDL design. |
|
14 | 14 | * |
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15 | 15 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
16 | 16 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
17 | 17 | * @param clock_divider is the divider of the 1 MHz clock that will be configured. |
|
18 | 18 | * @param interrupt_level is the interrupt level that the timer drives. |
|
19 | 19 | * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer. |
|
20 | 20 | * |
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21 | 21 | * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76 |
|
22 | 22 | * |
|
23 | 23 | */ |
|
24 | 24 | |
|
25 | 25 | rtems_status_code status; |
|
26 | 26 | rtems_isr_entry old_isr_handler; |
|
27 | 27 | |
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28 | 28 | gptimer_regs->timer[timer].ctrl = 0x00; // reset the control register |
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29 | 29 | |
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30 | 30 | status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels |
|
31 | 31 | if (status!=RTEMS_SUCCESSFUL) |
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32 | 32 | { |
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33 | 33 | PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n") |
|
34 | 34 | } |
|
35 | 35 | |
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36 | 36 | timer_set_clock_divider( gptimer_regs, timer, clock_divider); |
|
37 | 37 | } |
|
38 | 38 | |
|
39 | 39 | void timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer) |
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40 | 40 | { |
|
41 | 41 | /** This function starts a GPTIMER timer. |
|
42 | 42 | * |
|
43 | 43 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
44 | 44 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
45 | 45 | * |
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46 | 46 | */ |
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47 | 47 | |
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48 | 48 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any |
|
49 | 49 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004; // LD load value from the reload register |
|
50 | 50 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001; // EN enable the timer |
|
51 | 51 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002; // RS restart |
|
52 | 52 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008; // IE interrupt enable |
|
53 | 53 | } |
|
54 | 54 | |
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55 | 55 | void timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer) |
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56 | 56 | { |
|
57 | 57 | /** This function stops a GPTIMER timer. |
|
58 | 58 | * |
|
59 | 59 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
60 | 60 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
|
61 | 61 | * |
|
62 | 62 | */ |
|
63 | 63 | |
|
64 | 64 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe; // EN enable the timer |
|
65 | 65 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef; // IE interrupt enable |
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66 | 66 | gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any |
|
67 | 67 | } |
|
68 | 68 | |
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69 | 69 | void timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider) |
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70 | 70 | { |
|
71 | 71 | /** This function sets the clock divider of a GPTIMER timer. |
|
72 | 72 | * |
|
73 | 73 | * @param gptimer_regs points to the APB registers of the GPTIMER IP core. |
|
74 | 74 | * @param timer is the number of the timer in the IP core (several timers can be instantiated). |
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75 | 75 | * @param clock_divider is the divider of the 1 MHz clock that will be configured. |
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76 | 76 | * |
|
77 | 77 | */ |
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78 | 78 | |
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79 | 79 | gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz |
|
80 | 80 | } |
|
81 | 81 | |
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82 | 82 | int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port |
|
83 | 83 | { |
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84 | 84 | struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART; |
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85 | 85 | |
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86 | 86 | apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE; |
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87 | 87 | |
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88 | 88 | return 0; |
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89 | 89 | } |
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90 | 90 | |
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91 | 91 | int enable_apbuart_transmitter( void ) // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register |
|
92 | 92 | { |
|
93 | 93 | struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART; |
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94 | 94 | |
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95 | 95 | apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE; |
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96 | 96 | |
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97 | 97 | return 0; |
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98 | 98 | } |
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99 | 99 | |
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100 | 100 | void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value) |
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101 | 101 | { |
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102 | 102 | /** This function sets the scaler reload register of the apbuart module |
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103 | 103 | * |
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104 | 104 | * @param regs is the address of the apbuart registers in memory |
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105 | 105 | * @param value is the value that will be stored in the scaler register |
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106 | 106 | * |
|
107 | 107 | * The value shall be set by the software to get data on the serial interface. |
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108 | 108 | * |
|
109 | 109 | */ |
|
110 | 110 | |
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111 | 111 | struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs; |
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112 | 112 | |
|
113 | 113 | apbuart_regs->scaler = value; |
|
114 | 114 | BOOT_PRINTF1("OK *** apbuart port scaler reload register set to 0x%x\n", value) |
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115 | 115 | } |
|
116 | 116 | |
|
117 | 117 | //************ |
|
118 | 118 | // RTEMS TASKS |
|
119 | 119 | |
|
120 | 120 | rtems_task stat_task(rtems_task_argument argument) |
|
121 | 121 | { |
|
122 | 122 | int i; |
|
123 | 123 | int j; |
|
124 | 124 | i = 0; |
|
125 | 125 | j = 0; |
|
126 | 126 | BOOT_PRINTF("in STAT *** \n") |
|
127 | 127 | while(1){ |
|
128 | 128 | rtems_task_wake_after(1000); |
|
129 | 129 | PRINTF1("%d\n", j) |
|
130 | 130 | if (i == CPU_USAGE_REPORT_PERIOD) { |
|
131 | 131 | // #ifdef PRINT_TASK_STATISTICS |
|
132 | 132 | // rtems_cpu_usage_report(); |
|
133 | 133 | // rtems_cpu_usage_reset(); |
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134 | 134 | // #endif |
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135 | 135 | i = 0; |
|
136 | 136 | } |
|
137 | 137 | else i++; |
|
138 | 138 | j++; |
|
139 | 139 | } |
|
140 | 140 | } |
|
141 | 141 | |
|
142 | 142 | rtems_task hous_task(rtems_task_argument argument) |
|
143 | 143 | { |
|
144 | 144 | rtems_status_code status; |
|
145 | 145 | rtems_status_code spare_status; |
|
146 | 146 | rtems_id queue_id; |
|
147 | 147 | rtems_rate_monotonic_period_status period_status; |
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148 | 148 | |
|
149 | 149 | status = get_message_queue_id_send( &queue_id ); |
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150 | 150 | if (status != RTEMS_SUCCESSFUL) |
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151 | 151 | { |
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152 | 152 | PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status) |
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153 | 153 | } |
|
154 | 154 | |
|
155 | 155 | BOOT_PRINTF("in HOUS ***\n") |
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156 | 156 | |
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157 | 157 | if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) { |
|
158 | 158 | status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id ); |
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159 | 159 | if( status != RTEMS_SUCCESSFUL ) { |
|
160 | 160 | PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status ) |
|
161 | 161 | } |
|
162 | 162 | } |
|
163 | 163 | |
|
164 | 164 | status = rtems_rate_monotonic_cancel(HK_id); |
|
165 | 165 | if( status != RTEMS_SUCCESSFUL ) { |
|
166 | 166 | PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status ) |
|
167 | 167 | } |
|
168 | 168 | else { |
|
169 | 169 | DEBUG_PRINTF("OK *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n") |
|
170 | 170 | } |
|
171 | 171 | |
|
172 | 172 | // startup phase |
|
173 | 173 | status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks ); |
|
174 | 174 | status = rtems_rate_monotonic_get_status( HK_id, &period_status ); |
|
175 | 175 | DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state) |
|
176 | 176 | while(period_status.state != RATE_MONOTONIC_EXPIRED ) // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway |
|
177 | 177 | { |
|
178 | 178 | if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization |
|
179 | 179 | { |
|
180 | 180 | break; // break if LFR is synchronized |
|
181 | 181 | } |
|
182 | 182 | else |
|
183 | 183 | { |
|
184 | 184 | status = rtems_rate_monotonic_get_status( HK_id, &period_status ); |
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185 | 185 | // sched_yield(); |
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186 | 186 | status = rtems_task_wake_after( 10 ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 100 ms = 10 * 10 ms |
|
187 | 187 | } |
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188 | 188 | } |
|
189 | 189 | status = rtems_rate_monotonic_cancel(HK_id); |
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190 | 190 | DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state) |
|
191 | 191 | |
|
192 | 192 | while(1){ // launch the rate monotonic task |
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193 | 193 | status = rtems_rate_monotonic_period( HK_id, HK_PERIOD ); |
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194 | 194 | if ( status != RTEMS_SUCCESSFUL ) { |
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195 | 195 | PRINTF1( "in HOUS *** ERR period: %d\n", status); |
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196 | 196 | spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 ); |
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197 | 197 | } |
|
198 | 198 | else { |
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199 | 199 | housekeeping_packet.packetSequenceControl[0] = (unsigned char) (sequenceCounterHK >> 8); |
|
200 | 200 | housekeeping_packet.packetSequenceControl[1] = (unsigned char) (sequenceCounterHK ); |
|
201 | 201 | increment_seq_counter( &sequenceCounterHK ); |
|
202 | 202 | |
|
203 | 203 | housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
204 | 204 | housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
205 | 205 | housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
206 | 206 | housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time); |
|
207 | 207 | housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8); |
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208 | 208 | housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time); |
|
209 | 209 | |
|
210 | 210 | spacewire_update_statistics(); |
|
211 | 211 | |
|
212 | 212 | housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max; |
|
213 | 213 | housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max; |
|
214 | 214 | housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max; |
|
215 | 215 | housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max; |
|
216 | 216 | housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max; |
|
217 | 217 | |
|
218 | 218 | housekeeping_packet.sy_lfr_common_parameters_spare = parameter_dump_packet.sy_lfr_common_parameters_spare; |
|
219 | 219 | housekeeping_packet.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
220 | 220 | get_temperatures( housekeeping_packet.hk_lfr_temp_scm ); |
|
221 | 221 | get_v_e1_e2_f3( housekeeping_packet.hk_lfr_sc_v_f3 ); |
|
222 | 222 | get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load ); |
|
223 | 223 | |
|
224 | 224 | // SEND PACKET |
|
225 | 225 | status = rtems_message_queue_send( queue_id, &housekeeping_packet, |
|
226 | 226 | PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES); |
|
227 | 227 | if (status != RTEMS_SUCCESSFUL) { |
|
228 | 228 | PRINTF1("in HOUS *** ERR send: %d\n", status) |
|
229 | 229 | } |
|
230 | 230 | } |
|
231 | 231 | } |
|
232 | 232 | |
|
233 | 233 | PRINTF("in HOUS *** deleting task\n") |
|
234 | 234 | |
|
235 | 235 | status = rtems_task_delete( RTEMS_SELF ); // should not return |
|
236 | 236 | printf( "rtems_task_delete returned with status of %d.\n", status ); |
|
237 | 237 | return; |
|
238 | 238 | } |
|
239 | 239 | |
|
240 | 240 | rtems_task dumb_task( rtems_task_argument unused ) |
|
241 | 241 | { |
|
242 | 242 | /** This RTEMS taks is used to print messages without affecting the general behaviour of the software. |
|
243 | 243 | * |
|
244 | 244 | * @param unused is the starting argument of the RTEMS task |
|
245 | 245 | * |
|
246 | 246 | * The DUMB taks waits for RTEMS events and print messages depending on the incoming events. |
|
247 | 247 | * |
|
248 | 248 | */ |
|
249 | 249 | |
|
250 | 250 | unsigned int i; |
|
251 | 251 | unsigned int intEventOut; |
|
252 | 252 | unsigned int coarse_time = 0; |
|
253 | 253 | unsigned int fine_time = 0; |
|
254 | 254 | rtems_event_set event_out; |
|
255 | 255 | |
|
256 | 256 | char *DumbMessages[12] = {"in DUMB *** default", // RTEMS_EVENT_0 |
|
257 | 257 | "in DUMB *** timecode_irq_handler", // RTEMS_EVENT_1 |
|
258 | 258 | "in DUMB *** f3 buffer changed", // RTEMS_EVENT_2 |
|
259 | 259 | "in DUMB *** in SMIQ *** Error sending event to AVF0", // RTEMS_EVENT_3 |
|
260 | 260 | "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ", // RTEMS_EVENT_4 |
|
261 | 261 | "in DUMB *** waveforms_simulator_isr", // RTEMS_EVENT_5 |
|
262 | 262 | "VHDL SM *** two buffers f0 ready", // RTEMS_EVENT_6 |
|
263 | 263 | "ready for dump", // RTEMS_EVENT_7 |
|
264 | 264 | "VHDL ERR *** spectral matrix", // RTEMS_EVENT_8 |
|
265 | 265 | "tick", // RTEMS_EVENT_9 |
|
266 | 266 | "VHDL ERR *** waveform picker", // RTEMS_EVENT_10 |
|
267 | 267 | "VHDL ERR *** unexpected ready matrix values" // RTEMS_EVENT_11 |
|
268 | 268 | }; |
|
269 | 269 | |
|
270 | 270 | BOOT_PRINTF("in DUMB *** \n") |
|
271 | 271 | |
|
272 | 272 | while(1){ |
|
273 | 273 | rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 |
|
274 | 274 | | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7 |
|
275 | 275 | | RTEMS_EVENT_8 | RTEMS_EVENT_9, |
|
276 | 276 | RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT |
|
277 | 277 | intEventOut = (unsigned int) event_out; |
|
278 | 278 | for ( i=0; i<32; i++) |
|
279 | 279 | { |
|
280 | 280 | if ( ((intEventOut >> i) & 0x0001) != 0) |
|
281 | 281 | { |
|
282 | 282 | coarse_time = time_management_regs->coarse_time; |
|
283 | 283 | fine_time = time_management_regs->fine_time; |
|
284 | 284 | printf("in DUMB *** coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]); |
|
285 | 285 | if (i==8) |
|
286 | 286 | { |
|
287 | 287 | } |
|
288 | 288 | if (i==10) |
|
289 | 289 | { |
|
290 | 290 | } |
|
291 | 291 | } |
|
292 | 292 | } |
|
293 | 293 | } |
|
294 | 294 | } |
|
295 | 295 | |
|
296 | 296 | //***************************** |
|
297 | 297 | // init housekeeping parameters |
|
298 | 298 | |
|
299 | 299 | void init_housekeeping_parameters( void ) |
|
300 | 300 | { |
|
301 | 301 | /** This function initialize the housekeeping_packet global variable with default values. |
|
302 | 302 | * |
|
303 | 303 | */ |
|
304 | 304 | |
|
305 | 305 | unsigned int i = 0; |
|
306 | 306 | unsigned char *parameters; |
|
307 | 307 | unsigned char sizeOfHK; |
|
308 | 308 | |
|
309 | 309 | sizeOfHK = sizeof( Packet_TM_LFR_HK_t ); |
|
310 | 310 | |
|
311 | 311 | parameters = (unsigned char*) &housekeeping_packet; |
|
312 | 312 | |
|
313 | 313 | for(i = 0; i< sizeOfHK; i++) |
|
314 | 314 | { |
|
315 | 315 | parameters[i] = 0x00; |
|
316 | 316 | } |
|
317 | 317 | |
|
318 | 318 | housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
319 | 319 | housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
320 | 320 | housekeeping_packet.reserved = DEFAULT_RESERVED; |
|
321 | 321 | housekeeping_packet.userApplication = CCSDS_USER_APP; |
|
322 | 322 | housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8); |
|
323 | 323 | housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK); |
|
324 | 324 | housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
325 | 325 | housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
326 | 326 | housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8); |
|
327 | 327 | housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK ); |
|
328 | 328 | housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
329 | 329 | housekeeping_packet.serviceType = TM_TYPE_HK; |
|
330 | 330 | housekeeping_packet.serviceSubType = TM_SUBTYPE_HK; |
|
331 | 331 | housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND; |
|
332 | 332 | housekeeping_packet.sid = SID_HK; |
|
333 | 333 | |
|
334 | 334 | // init status word |
|
335 | 335 | housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0; |
|
336 | 336 | housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1; |
|
337 | 337 | // init software version |
|
338 | 338 | housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1; |
|
339 | 339 | housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2; |
|
340 | 340 | housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3; |
|
341 | 341 | housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4; |
|
342 | 342 | // init fpga version |
|
343 | 343 | parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION); |
|
344 | 344 | housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1 |
|
345 | 345 | housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2 |
|
346 | 346 | housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3 |
|
347 | 347 | |
|
348 | 348 | housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND; |
|
349 | 349 | housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV; |
|
350 | 350 | housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0; |
|
351 | 351 | housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1; |
|
352 | 352 | housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2; |
|
353 | 353 | } |
|
354 | 354 | |
|
355 | 355 | void increment_seq_counter( unsigned short *packetSequenceControl ) |
|
356 | 356 | { |
|
357 | 357 | /** This function increment the sequence counter passes in argument. |
|
358 | 358 | * |
|
359 | 359 | * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0. |
|
360 | 360 | * |
|
361 | 361 | */ |
|
362 | 362 | |
|
363 | 363 | unsigned short segmentation_grouping_flag; |
|
364 | 364 | unsigned short sequence_cnt; |
|
365 | 365 | |
|
366 | 366 | segmentation_grouping_flag = TM_PACKET_SEQ_CTRL_STANDALONE << 8; // keep bits 7 downto 6 |
|
367 | 367 | sequence_cnt = (*packetSequenceControl) & 0x3fff; // [0011 1111 1111 1111] |
|
368 | 368 | |
|
369 | 369 | if ( sequence_cnt < SEQ_CNT_MAX) |
|
370 | 370 | { |
|
371 | 371 | sequence_cnt = sequence_cnt + 1; |
|
372 | 372 | } |
|
373 | 373 | else |
|
374 | 374 | { |
|
375 | 375 | sequence_cnt = 0; |
|
376 | 376 | } |
|
377 | 377 | |
|
378 | 378 | *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ; |
|
379 | 379 | } |
|
380 | 380 | |
|
381 | 381 | void getTime( unsigned char *time) |
|
382 | 382 | { |
|
383 | 383 | /** This function write the current local time in the time buffer passed in argument. |
|
384 | 384 | * |
|
385 | 385 | */ |
|
386 | 386 | |
|
387 | 387 | time[0] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
388 | 388 | time[1] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
389 | 389 | time[2] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
390 | 390 | time[3] = (unsigned char) (time_management_regs->coarse_time); |
|
391 | 391 | time[4] = (unsigned char) (time_management_regs->fine_time>>8); |
|
392 | 392 | time[5] = (unsigned char) (time_management_regs->fine_time); |
|
393 | 393 | } |
|
394 | 394 | |
|
395 | 395 | unsigned long long int getTimeAsUnsignedLongLongInt( ) |
|
396 | 396 | { |
|
397 | 397 | /** This function write the current local time in the time buffer passed in argument. |
|
398 | 398 | * |
|
399 | 399 | */ |
|
400 | 400 | unsigned long long int time; |
|
401 | 401 | |
|
402 | 402 | time = ( (unsigned long long int) (time_management_regs->coarse_time & 0x7fffffff) << 16 ) |
|
403 | 403 | + time_management_regs->fine_time; |
|
404 | 404 | |
|
405 | 405 | return time; |
|
406 | 406 | } |
|
407 | 407 | |
|
408 | 408 | void send_dumb_hk( void ) |
|
409 | 409 | { |
|
410 | 410 | Packet_TM_LFR_HK_t dummy_hk_packet; |
|
411 | 411 | unsigned char *parameters; |
|
412 | 412 | unsigned int i; |
|
413 | 413 | rtems_id queue_id; |
|
414 | 414 | |
|
415 | 415 | dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
416 | 416 | dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
417 | 417 | dummy_hk_packet.reserved = DEFAULT_RESERVED; |
|
418 | 418 | dummy_hk_packet.userApplication = CCSDS_USER_APP; |
|
419 | 419 | dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8); |
|
420 | 420 | dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK); |
|
421 | 421 | dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
422 | 422 | dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
423 | 423 | dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8); |
|
424 | 424 | dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK ); |
|
425 | 425 | dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
426 | 426 | dummy_hk_packet.serviceType = TM_TYPE_HK; |
|
427 | 427 | dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK; |
|
428 | 428 | dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND; |
|
429 | 429 | dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24); |
|
430 | 430 | dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16); |
|
431 | 431 | dummy_hk_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8); |
|
432 | 432 | dummy_hk_packet.time[3] = (unsigned char) (time_management_regs->coarse_time); |
|
433 | 433 | dummy_hk_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8); |
|
434 | 434 | dummy_hk_packet.time[5] = (unsigned char) (time_management_regs->fine_time); |
|
435 | 435 | dummy_hk_packet.sid = SID_HK; |
|
436 | 436 | |
|
437 | 437 | // init status word |
|
438 | 438 | dummy_hk_packet.lfr_status_word[0] = 0xff; |
|
439 | 439 | dummy_hk_packet.lfr_status_word[1] = 0xff; |
|
440 | 440 | // init software version |
|
441 | 441 | dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1; |
|
442 | 442 | dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2; |
|
443 | 443 | dummy_hk_packet.lfr_sw_version[2] = SW_VERSION_N3; |
|
444 | 444 | dummy_hk_packet.lfr_sw_version[3] = SW_VERSION_N4; |
|
445 | 445 | // init fpga version |
|
446 | 446 | parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0); |
|
447 | 447 | dummy_hk_packet.lfr_fpga_version[0] = parameters[1]; // n1 |
|
448 | 448 | dummy_hk_packet.lfr_fpga_version[1] = parameters[2]; // n2 |
|
449 | 449 | dummy_hk_packet.lfr_fpga_version[2] = parameters[3]; // n3 |
|
450 | 450 | |
|
451 | 451 | parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load; |
|
452 | 452 | |
|
453 | 453 | for (i=0; i<100; i++) |
|
454 | 454 | { |
|
455 | 455 | parameters[i] = 0xff; |
|
456 | 456 | } |
|
457 | 457 | |
|
458 | 458 | get_message_queue_id_send( &queue_id ); |
|
459 | 459 | |
|
460 | 460 | rtems_message_queue_send( queue_id, &dummy_hk_packet, |
|
461 | 461 | PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES); |
|
462 | 462 | } |
|
463 | 463 | |
|
464 | 464 | void get_temperatures( unsigned char *temperatures ) |
|
465 | 465 | { |
|
466 | 466 | unsigned char* temp_scm_ptr; |
|
467 | 467 | unsigned char* temp_pcb_ptr; |
|
468 | 468 | unsigned char* temp_fpga_ptr; |
|
469 | 469 | |
|
470 | 470 | // SEL1 SEL0 |
|
471 | 471 | // 0 0 => PCB |
|
472 | 472 | // 0 1 => FPGA |
|
473 | 473 | // 1 0 => SCM |
|
474 | 474 | |
|
475 | 475 | temp_scm_ptr = (unsigned char *) &time_management_regs->temp_scm; |
|
476 | 476 | temp_pcb_ptr = (unsigned char *) &time_management_regs->temp_pcb; |
|
477 | 477 | temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga; |
|
478 | 478 | |
|
479 | 479 | temperatures[0] = temp_scm_ptr[2]; |
|
480 | 480 | temperatures[1] = temp_scm_ptr[3]; |
|
481 | 481 | temperatures[2] = temp_pcb_ptr[2]; |
|
482 | 482 | temperatures[3] = temp_pcb_ptr[3]; |
|
483 | 483 | temperatures[4] = temp_fpga_ptr[2]; |
|
484 | 484 | temperatures[5] = temp_fpga_ptr[3]; |
|
485 | 485 | } |
|
486 | 486 | |
|
487 | 487 | void get_v_e1_e2_f3( unsigned char *spacecraft_potential ) |
|
488 | 488 | { |
|
489 | 489 | unsigned char* v_ptr; |
|
490 | 490 | unsigned char* e1_ptr; |
|
491 | 491 | unsigned char* e2_ptr; |
|
492 | 492 | |
|
493 | 493 | v_ptr = (unsigned char *) &waveform_picker_regs->v; |
|
494 | 494 | e1_ptr = (unsigned char *) &waveform_picker_regs->e1; |
|
495 | 495 | e2_ptr = (unsigned char *) &waveform_picker_regs->e2; |
|
496 | 496 | |
|
497 | 497 | spacecraft_potential[0] = v_ptr[2]; |
|
498 | 498 | spacecraft_potential[1] = v_ptr[3]; |
|
499 | 499 | spacecraft_potential[2] = e1_ptr[2]; |
|
500 | 500 | spacecraft_potential[3] = e1_ptr[3]; |
|
501 | 501 | spacecraft_potential[4] = e2_ptr[2]; |
|
502 | 502 | spacecraft_potential[5] = e2_ptr[3]; |
|
503 | 503 | } |
|
504 | 504 | |
|
505 | 505 | void get_cpu_load( unsigned char *resource_statistics ) |
|
506 | 506 | { |
|
507 | 507 | unsigned char cpu_load; |
|
508 | 508 | |
|
509 | 509 | cpu_load = lfr_rtems_cpu_usage_report(); |
|
510 | 510 | |
|
511 | 511 | // HK_LFR_CPU_LOAD |
|
512 | 512 | resource_statistics[0] = cpu_load; |
|
513 | 513 | |
|
514 | 514 | // HK_LFR_CPU_LOAD_MAX |
|
515 | 515 | if (cpu_load > resource_statistics[1]) |
|
516 | 516 | { |
|
517 | 517 | resource_statistics[1] = cpu_load; |
|
518 | 518 | } |
|
519 | 519 | |
|
520 | 520 | // CPU_LOAD_AVE |
|
521 | 521 | resource_statistics[2] = 0; |
|
522 | 522 | |
|
523 | 523 | #ifndef PRINT_TASK_STATISTICS |
|
524 | 524 | rtems_cpu_usage_reset(); |
|
525 | 525 | #endif |
|
526 | 526 | |
|
527 | 527 | } |
|
528 | 528 | |
|
529 | 529 | void set_hk_lfr_sc_potential_flag( bool state ) |
|
530 | 530 | { |
|
531 | 531 | if (state == true) |
|
532 | 532 | { |
|
533 | 533 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x40; // [0100 0000] |
|
534 | 534 | } |
|
535 | 535 | else |
|
536 | 536 | { |
|
537 | 537 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xbf; // [1011 1111] |
|
538 | 538 | } |
|
539 | 539 | } |
|
540 | 540 | |
|
541 | void set_hk_lfr_mag_fields_flag( bool state ) | |
|
542 | { | |
|
543 | if (state == true) | |
|
544 | { | |
|
545 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x20; // [0010 0000] | |
|
546 | } | |
|
547 | else | |
|
548 | { | |
|
549 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xd7; // [1101 1111] | |
|
550 | } | |
|
551 | } | |
|
552 | ||
|
541 | 553 | void set_hk_lfr_calib_enable( bool state ) |
|
542 | 554 | { |
|
543 | 555 | if (state == true) |
|
544 | 556 | { |
|
545 | 557 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x08; // [0000 1000] |
|
546 | 558 | } |
|
547 | 559 | else |
|
548 | 560 | { |
|
549 | 561 | housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xf7; // [1111 0111] |
|
550 | 562 | } |
|
551 | 563 | } |
|
564 |
@@ -1,1283 +1,1289 | |||
|
1 | 1 | /** Functions related to the SpaceWire interface. |
|
2 | 2 | * |
|
3 | 3 | * @file |
|
4 | 4 | * @author P. LEROY |
|
5 | 5 | * |
|
6 | 6 | * A group of functions to handle SpaceWire transmissions: |
|
7 | 7 | * - configuration of the SpaceWire link |
|
8 | 8 | * - SpaceWire related interruption requests processing |
|
9 | 9 | * - transmission of TeleMetry packets by a dedicated RTEMS task |
|
10 | 10 | * - reception of TeleCommands by a dedicated RTEMS task |
|
11 | 11 | * |
|
12 | 12 | */ |
|
13 | 13 | |
|
14 | 14 | #include "fsw_spacewire.h" |
|
15 | 15 | |
|
16 | 16 | rtems_name semq_name; |
|
17 | 17 | rtems_id semq_id; |
|
18 | 18 | |
|
19 | 19 | //***************** |
|
20 | 20 | // waveform headers |
|
21 | 21 | Header_TM_LFR_SCIENCE_CWF_t headerCWF; |
|
22 | 22 | Header_TM_LFR_SCIENCE_SWF_t headerSWF; |
|
23 | 23 | Header_TM_LFR_SCIENCE_ASM_t headerASM; |
|
24 | 24 | |
|
25 | 25 | //*********** |
|
26 | 26 | // RTEMS TASK |
|
27 | 27 | rtems_task spiq_task(rtems_task_argument unused) |
|
28 | 28 | { |
|
29 | 29 | /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver. |
|
30 | 30 | * |
|
31 | 31 | * @param unused is the starting argument of the RTEMS task |
|
32 | 32 | * |
|
33 | 33 | */ |
|
34 | 34 | |
|
35 | 35 | rtems_event_set event_out; |
|
36 | 36 | rtems_status_code status; |
|
37 | 37 | int linkStatus; |
|
38 | 38 | |
|
39 | 39 | BOOT_PRINTF("in SPIQ *** \n") |
|
40 | 40 | |
|
41 | 41 | while(true){ |
|
42 | 42 | rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT |
|
43 | 43 | PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n") |
|
44 | 44 | |
|
45 | 45 | // [0] SUSPEND RECV AND SEND TASKS |
|
46 | 46 | status = rtems_task_suspend( Task_id[ TASKID_RECV ] ); |
|
47 | 47 | if ( status != RTEMS_SUCCESSFUL ) { |
|
48 | 48 | PRINTF("in SPIQ *** ERR suspending RECV Task\n") |
|
49 | 49 | } |
|
50 | 50 | status = rtems_task_suspend( Task_id[ TASKID_SEND ] ); |
|
51 | 51 | if ( status != RTEMS_SUCCESSFUL ) { |
|
52 | 52 | PRINTF("in SPIQ *** ERR suspending SEND Task\n") |
|
53 | 53 | } |
|
54 | 54 | |
|
55 | 55 | // [1] CHECK THE LINK |
|
56 | 56 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1) |
|
57 | 57 | if ( linkStatus != 5) { |
|
58 | 58 | PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus) |
|
59 | 59 | status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms |
|
60 | 60 | } |
|
61 | 61 | |
|
62 | 62 | // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT |
|
63 | 63 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2) |
|
64 | 64 | if ( linkStatus != 5 ) // [2.a] not in run state, reset the link |
|
65 | 65 | { |
|
66 | 66 | spacewire_compute_stats_offsets(); |
|
67 | 67 | status = spacewire_reset_link( ); |
|
68 | 68 | } |
|
69 | 69 | else // [2.b] in run state, start the link |
|
70 | 70 | { |
|
71 | 71 | status = spacewire_stop_and_start_link( fdSPW ); // start the link |
|
72 | 72 | if ( status != RTEMS_SUCCESSFUL) |
|
73 | 73 | { |
|
74 | 74 | PRINTF1("in SPIQ *** ERR spacewire_stop_and_start_link %d\n", status) |
|
75 | 75 | } |
|
76 | 76 | } |
|
77 | 77 | |
|
78 | 78 | // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS |
|
79 | 79 | if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully |
|
80 | 80 | { |
|
81 | 81 | status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 ); |
|
82 | 82 | if ( status != RTEMS_SUCCESSFUL ) { |
|
83 | 83 | PRINTF("in SPIQ *** ERR resuming SEND Task\n") |
|
84 | 84 | } |
|
85 | 85 | status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 ); |
|
86 | 86 | if ( status != RTEMS_SUCCESSFUL ) { |
|
87 | 87 | PRINTF("in SPIQ *** ERR resuming RECV Task\n") |
|
88 | 88 | } |
|
89 | 89 | } |
|
90 | 90 | else // [3.b] the link is not in run state, go in STANDBY mode |
|
91 | 91 | { |
|
92 | 92 | status = enter_mode( LFR_MODE_STANDBY, 0 ); |
|
93 | 93 | if ( status != RTEMS_SUCCESSFUL ) { |
|
94 | 94 | PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status) |
|
95 | 95 | } |
|
96 | 96 | // wake the WTDG task up to wait for the link recovery |
|
97 | 97 | status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 ); |
|
98 | 98 | status = rtems_task_suspend( RTEMS_SELF ); |
|
99 | 99 | } |
|
100 | 100 | } |
|
101 | 101 | } |
|
102 | 102 | |
|
103 | 103 | rtems_task recv_task( rtems_task_argument unused ) |
|
104 | 104 | { |
|
105 | 105 | /** This RTEMS task is dedicated to the reception of incoming TeleCommands. |
|
106 | 106 | * |
|
107 | 107 | * @param unused is the starting argument of the RTEMS task |
|
108 | 108 | * |
|
109 | 109 | * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked: |
|
110 | 110 | * 1. It reads the incoming data. |
|
111 | 111 | * 2. Launches the acceptance procedure. |
|
112 | 112 | * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue. |
|
113 | 113 | * |
|
114 | 114 | */ |
|
115 | 115 | |
|
116 | 116 | int len; |
|
117 | 117 | ccsdsTelecommandPacket_t currentTC; |
|
118 | 118 | unsigned char computed_CRC[ 2 ]; |
|
119 | 119 | unsigned char currentTC_LEN_RCV[ 2 ]; |
|
120 | 120 | unsigned char destinationID; |
|
121 | 121 | unsigned int estimatedPacketLength; |
|
122 | 122 | unsigned int parserCode; |
|
123 | 123 | rtems_status_code status; |
|
124 | 124 | rtems_id queue_recv_id; |
|
125 | 125 | rtems_id queue_send_id; |
|
126 | 126 | |
|
127 | 127 | initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes |
|
128 | 128 | |
|
129 | 129 | status = get_message_queue_id_recv( &queue_recv_id ); |
|
130 | 130 | if (status != RTEMS_SUCCESSFUL) |
|
131 | 131 | { |
|
132 | 132 | PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status) |
|
133 | 133 | } |
|
134 | 134 | |
|
135 | 135 | status = get_message_queue_id_send( &queue_send_id ); |
|
136 | 136 | if (status != RTEMS_SUCCESSFUL) |
|
137 | 137 | { |
|
138 | 138 | PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status) |
|
139 | 139 | } |
|
140 | 140 | |
|
141 | 141 | BOOT_PRINTF("in RECV *** \n") |
|
142 | 142 | |
|
143 | 143 | while(1) |
|
144 | 144 | { |
|
145 | 145 | len = read( fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking |
|
146 | 146 | if (len == -1){ // error during the read call |
|
147 | 147 | PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno) |
|
148 | 148 | } |
|
149 | 149 | else { |
|
150 | 150 | if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) { |
|
151 | 151 | PRINTF("in RECV *** packet lenght too short\n") |
|
152 | 152 | } |
|
153 | 153 | else { |
|
154 | 154 | estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes |
|
155 | 155 | currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8); |
|
156 | 156 | currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength ); |
|
157 | 157 | // CHECK THE TC |
|
158 | 158 | parserCode = tc_parser( ¤tTC, estimatedPacketLength, computed_CRC ) ; |
|
159 | 159 | if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT) |
|
160 | 160 | || (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE) |
|
161 | 161 | || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA) |
|
162 | 162 | || (parserCode == WRONG_SRC_ID) ) |
|
163 | 163 | { // send TM_LFR_TC_EXE_CORRUPTED |
|
164 | 164 | PRINTF1("TC corrupted received, with code: %d\n", parserCode) |
|
165 | 165 | if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) ) |
|
166 | 166 | && |
|
167 | 167 | !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO)) |
|
168 | 168 | ) |
|
169 | 169 | { |
|
170 | 170 | if ( parserCode == WRONG_SRC_ID ) |
|
171 | 171 | { |
|
172 | 172 | destinationID = SID_TC_GROUND; |
|
173 | 173 | } |
|
174 | 174 | else |
|
175 | 175 | { |
|
176 | 176 | destinationID = currentTC.sourceID; |
|
177 | 177 | } |
|
178 | 178 | send_tm_lfr_tc_exe_corrupted( ¤tTC, queue_send_id, |
|
179 | 179 | computed_CRC, currentTC_LEN_RCV, |
|
180 | 180 | destinationID ); |
|
181 | 181 | } |
|
182 | 182 | } |
|
183 | 183 | else |
|
184 | 184 | { // send valid TC to the action launcher |
|
185 | 185 | status = rtems_message_queue_send( queue_recv_id, ¤tTC, |
|
186 | 186 | estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3); |
|
187 | 187 | } |
|
188 | 188 | } |
|
189 | 189 | } |
|
190 | 190 | |
|
191 | 191 | update_queue_max_count( queue_recv_id, &hk_lfr_q_rv_fifo_size_max ); |
|
192 | 192 | |
|
193 | 193 | } |
|
194 | 194 | } |
|
195 | 195 | |
|
196 | 196 | rtems_task send_task( rtems_task_argument argument) |
|
197 | 197 | { |
|
198 | 198 | /** This RTEMS task is dedicated to the transmission of TeleMetry packets. |
|
199 | 199 | * |
|
200 | 200 | * @param unused is the starting argument of the RTEMS task |
|
201 | 201 | * |
|
202 | 202 | * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives: |
|
203 | 203 | * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call. |
|
204 | 204 | * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After |
|
205 | 205 | * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the |
|
206 | 206 | * data it contains. |
|
207 | 207 | * |
|
208 | 208 | */ |
|
209 | 209 | |
|
210 | 210 | rtems_status_code status; // RTEMS status code |
|
211 | 211 | char incomingData[MSG_QUEUE_SIZE_SEND]; // incoming data buffer |
|
212 | 212 | ring_node *incomingRingNodePtr; |
|
213 | 213 | int ring_node_address; |
|
214 | 214 | char *charPtr; |
|
215 | 215 | spw_ioctl_pkt_send *spw_ioctl_send; |
|
216 | 216 | size_t size; // size of the incoming TC packet |
|
217 | 217 | rtems_id queue_send_id; |
|
218 | 218 | unsigned int sid; |
|
219 | 219 | |
|
220 | 220 | incomingRingNodePtr = NULL; |
|
221 | 221 | ring_node_address = 0; |
|
222 | 222 | charPtr = (char *) &ring_node_address; |
|
223 | 223 | sid = 0; |
|
224 | 224 | |
|
225 | 225 | init_header_cwf( &headerCWF ); |
|
226 | 226 | init_header_swf( &headerSWF ); |
|
227 | 227 | init_header_asm( &headerASM ); |
|
228 | 228 | |
|
229 | 229 | status = get_message_queue_id_send( &queue_send_id ); |
|
230 | 230 | if (status != RTEMS_SUCCESSFUL) |
|
231 | 231 | { |
|
232 | 232 | PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status) |
|
233 | 233 | } |
|
234 | 234 | |
|
235 | 235 | BOOT_PRINTF("in SEND *** \n") |
|
236 | 236 | |
|
237 | 237 | while(1) |
|
238 | 238 | { |
|
239 | 239 | status = rtems_message_queue_receive( queue_send_id, incomingData, &size, |
|
240 | 240 | RTEMS_WAIT, RTEMS_NO_TIMEOUT ); |
|
241 | 241 | |
|
242 | 242 | if (status!=RTEMS_SUCCESSFUL) |
|
243 | 243 | { |
|
244 | 244 | PRINTF1("in SEND *** (1) ERR = %d\n", status) |
|
245 | 245 | } |
|
246 | 246 | else |
|
247 | 247 | { |
|
248 | 248 | if ( size == sizeof(ring_node*) ) |
|
249 | 249 | { |
|
250 | 250 | charPtr[0] = incomingData[0]; |
|
251 | 251 | charPtr[1] = incomingData[1]; |
|
252 | 252 | charPtr[2] = incomingData[2]; |
|
253 | 253 | charPtr[3] = incomingData[3]; |
|
254 | 254 | incomingRingNodePtr = (ring_node*) ring_node_address; |
|
255 | 255 | sid = incomingRingNodePtr->sid; |
|
256 | 256 | if ( (sid==SID_NORM_CWF_LONG_F3) |
|
257 | 257 | || (sid==SID_BURST_CWF_F2 ) |
|
258 | 258 | || (sid==SID_SBM1_CWF_F1 ) |
|
259 | 259 | || (sid==SID_SBM2_CWF_F2 )) |
|
260 | 260 | { |
|
261 | 261 | spw_send_waveform_CWF( incomingRingNodePtr, &headerCWF ); |
|
262 | 262 | } |
|
263 | 263 | else if ( (sid==SID_NORM_SWF_F0) || (sid== SID_NORM_SWF_F1) || (sid==SID_NORM_SWF_F2) ) |
|
264 | 264 | { |
|
265 | 265 | spw_send_waveform_SWF( incomingRingNodePtr, &headerSWF ); |
|
266 | 266 | } |
|
267 | 267 | else if ( (sid==SID_NORM_CWF_F3) ) |
|
268 | 268 | { |
|
269 | 269 | spw_send_waveform_CWF3_light( incomingRingNodePtr, &headerCWF ); |
|
270 | 270 | } |
|
271 | 271 | else if (sid==SID_NORM_ASM_F0) |
|
272 | 272 | { |
|
273 | 273 | spw_send_asm_f0( incomingRingNodePtr, &headerASM ); |
|
274 | 274 | } |
|
275 | 275 | else if (sid==SID_NORM_ASM_F1) |
|
276 | 276 | { |
|
277 | 277 | spw_send_asm_f1( incomingRingNodePtr, &headerASM ); |
|
278 | 278 | } |
|
279 | 279 | else if (sid==SID_NORM_ASM_F2) |
|
280 | 280 | { |
|
281 | 281 | spw_send_asm_f2( incomingRingNodePtr, &headerASM ); |
|
282 | 282 | } |
|
283 | 283 | else if ( sid==TM_CODE_K_DUMP ) |
|
284 | 284 | { |
|
285 | 285 | spw_send_k_dump( incomingRingNodePtr ); |
|
286 | 286 | } |
|
287 | 287 | else |
|
288 | 288 | { |
|
289 | 289 | printf("unexpected sid = %d\n", sid); |
|
290 | 290 | } |
|
291 | 291 | } |
|
292 | 292 | else if ( incomingData[0] == CCSDS_DESTINATION_ID ) // the incoming message is a ccsds packet |
|
293 | 293 | { |
|
294 | 294 | status = write( fdSPW, incomingData, size ); |
|
295 | 295 | if (status == -1){ |
|
296 | 296 | PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size) |
|
297 | 297 | } |
|
298 | 298 | } |
|
299 | 299 | else // the incoming message is a spw_ioctl_pkt_send structure |
|
300 | 300 | { |
|
301 | 301 | spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData; |
|
302 | 302 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send ); |
|
303 | 303 | if (status == -1){ |
|
304 | 304 | printf("size = %d, %x, %x, %x, %x, %x\n", |
|
305 | 305 | size, |
|
306 | 306 | incomingData[0], |
|
307 | 307 | incomingData[1], |
|
308 | 308 | incomingData[2], |
|
309 | 309 | incomingData[3], |
|
310 | 310 | incomingData[4]); |
|
311 | 311 | PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status) |
|
312 | 312 | } |
|
313 | 313 | } |
|
314 | 314 | } |
|
315 | 315 | |
|
316 | 316 | update_queue_max_count( queue_send_id, &hk_lfr_q_sd_fifo_size_max ); |
|
317 | 317 | |
|
318 | 318 | } |
|
319 | 319 | } |
|
320 | 320 | |
|
321 | 321 | rtems_task wtdg_task( rtems_task_argument argument ) |
|
322 | 322 | { |
|
323 | 323 | rtems_event_set event_out; |
|
324 | 324 | rtems_status_code status; |
|
325 | 325 | int linkStatus; |
|
326 | 326 | |
|
327 | 327 | BOOT_PRINTF("in WTDG ***\n") |
|
328 | 328 | |
|
329 | 329 | while(1) |
|
330 | 330 | { |
|
331 | 331 | // wait for an RTEMS_EVENT |
|
332 | 332 | rtems_event_receive( RTEMS_EVENT_0, |
|
333 | 333 | RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); |
|
334 | 334 | PRINTF("in WTDG *** wait for the link\n") |
|
335 | 335 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status |
|
336 | 336 | while( linkStatus != 5) // wait for the link |
|
337 | 337 | { |
|
338 | 338 | status = rtems_task_wake_after( 10 ); // monitor the link each 100ms |
|
339 | 339 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status |
|
340 | 340 | } |
|
341 | 341 | |
|
342 | 342 | status = spacewire_stop_and_start_link( fdSPW ); |
|
343 | 343 | |
|
344 | 344 | if (status != RTEMS_SUCCESSFUL) |
|
345 | 345 | { |
|
346 | 346 | PRINTF1("in WTDG *** ERR link not started %d\n", status) |
|
347 | 347 | } |
|
348 | 348 | else |
|
349 | 349 | { |
|
350 | 350 | PRINTF("in WTDG *** OK link started\n") |
|
351 | 351 | } |
|
352 | 352 | |
|
353 | 353 | // restart the SPIQ task |
|
354 | 354 | status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 ); |
|
355 | 355 | if ( status != RTEMS_SUCCESSFUL ) { |
|
356 | 356 | PRINTF("in SPIQ *** ERR restarting SPIQ Task\n") |
|
357 | 357 | } |
|
358 | 358 | |
|
359 | 359 | // restart RECV and SEND |
|
360 | 360 | status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 ); |
|
361 | 361 | if ( status != RTEMS_SUCCESSFUL ) { |
|
362 | 362 | PRINTF("in SPIQ *** ERR restarting SEND Task\n") |
|
363 | 363 | } |
|
364 | 364 | status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 ); |
|
365 | 365 | if ( status != RTEMS_SUCCESSFUL ) { |
|
366 | 366 | PRINTF("in SPIQ *** ERR restarting RECV Task\n") |
|
367 | 367 | } |
|
368 | 368 | } |
|
369 | 369 | } |
|
370 | 370 | |
|
371 | 371 | //**************** |
|
372 | 372 | // OTHER FUNCTIONS |
|
373 | 373 | int spacewire_open_link( void ) // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);] |
|
374 | 374 | { |
|
375 | 375 | /** This function opens the SpaceWire link. |
|
376 | 376 | * |
|
377 | 377 | * @return a valid file descriptor in case of success, -1 in case of a failure |
|
378 | 378 | * |
|
379 | 379 | */ |
|
380 | 380 | rtems_status_code status; |
|
381 | 381 | |
|
382 | 382 | fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware |
|
383 | 383 | if ( fdSPW < 0 ) { |
|
384 | 384 | PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno) |
|
385 | 385 | } |
|
386 | 386 | else |
|
387 | 387 | { |
|
388 | 388 | status = RTEMS_SUCCESSFUL; |
|
389 | 389 | } |
|
390 | 390 | |
|
391 | 391 | return status; |
|
392 | 392 | } |
|
393 | 393 | |
|
394 | 394 | int spacewire_start_link( int fd ) |
|
395 | 395 | { |
|
396 | 396 | rtems_status_code status; |
|
397 | 397 | |
|
398 | 398 | status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started |
|
399 | 399 | // -1 default hardcoded driver timeout |
|
400 | 400 | |
|
401 | 401 | return status; |
|
402 | 402 | } |
|
403 | 403 | |
|
404 | 404 | int spacewire_stop_and_start_link( int fd ) |
|
405 | 405 | { |
|
406 | 406 | rtems_status_code status; |
|
407 | 407 | |
|
408 | 408 | status = ioctl( fd, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0 |
|
409 | 409 | status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started |
|
410 | 410 | // -1 default hardcoded driver timeout |
|
411 | 411 | |
|
412 | 412 | return status; |
|
413 | 413 | } |
|
414 | 414 | |
|
415 | 415 | int spacewire_configure_link( int fd ) |
|
416 | 416 | { |
|
417 | 417 | /** This function configures the SpaceWire link. |
|
418 | 418 | * |
|
419 | 419 | * @return GR-RTEMS-DRIVER directive status codes: |
|
420 | 420 | * - 22 EINVAL - Null pointer or an out of range value was given as the argument. |
|
421 | 421 | * - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode. |
|
422 | 422 | * - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used. |
|
423 | 423 | * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up. |
|
424 | 424 | * - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers. |
|
425 | 425 | * - 5 EIO - Error when writing to grswp hardware registers. |
|
426 | 426 | * - 2 ENOENT - No such file or directory |
|
427 | 427 | */ |
|
428 | 428 | |
|
429 | 429 | rtems_status_code status; |
|
430 | 430 | |
|
431 | 431 | spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force |
|
432 | 432 | spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration |
|
433 | 433 | |
|
434 | 434 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception |
|
435 | 435 | if (status!=RTEMS_SUCCESSFUL) { |
|
436 | 436 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") |
|
437 | 437 | } |
|
438 | 438 | // |
|
439 | 439 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a |
|
440 | 440 | if (status!=RTEMS_SUCCESSFUL) { |
|
441 | 441 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs |
|
442 | 442 | } |
|
443 | 443 | // |
|
444 | 444 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts |
|
445 | 445 | if (status!=RTEMS_SUCCESSFUL) { |
|
446 | 446 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") |
|
447 | 447 | } |
|
448 | 448 | // |
|
449 | 449 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit |
|
450 | 450 | if (status!=RTEMS_SUCCESSFUL) { |
|
451 | 451 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") |
|
452 | 452 | } |
|
453 | 453 | // |
|
454 | 454 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 1); // transmission blocks |
|
455 | 455 | if (status!=RTEMS_SUCCESSFUL) { |
|
456 | 456 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n") |
|
457 | 457 | } |
|
458 | 458 | // |
|
459 | 459 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available |
|
460 | 460 | if (status!=RTEMS_SUCCESSFUL) { |
|
461 | 461 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n") |
|
462 | 462 | } |
|
463 | 463 | // |
|
464 | 464 | status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ] |
|
465 | 465 | if (status!=RTEMS_SUCCESSFUL) { |
|
466 | 466 | PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") |
|
467 | 467 | } |
|
468 | 468 | |
|
469 | 469 | return status; |
|
470 | 470 | } |
|
471 | 471 | |
|
472 | 472 | int spacewire_reset_link( void ) |
|
473 | 473 | { |
|
474 | 474 | /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver. |
|
475 | 475 | * |
|
476 | 476 | * @return RTEMS directive status code: |
|
477 | 477 | * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s. |
|
478 | 478 | * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout. |
|
479 | 479 | * |
|
480 | 480 | */ |
|
481 | 481 | |
|
482 | 482 | rtems_status_code status_spw; |
|
483 | 483 | rtems_status_code status; |
|
484 | 484 | int i; |
|
485 | 485 | |
|
486 | 486 | for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ ) |
|
487 | 487 | { |
|
488 | 488 | PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i); |
|
489 | 489 | |
|
490 | 490 | // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM |
|
491 | 491 | |
|
492 | 492 | status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms |
|
493 | 493 | |
|
494 | 494 | status_spw = spacewire_stop_and_start_link( fdSPW ); |
|
495 | 495 | if ( status_spw != RTEMS_SUCCESSFUL ) |
|
496 | 496 | { |
|
497 | 497 | PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw) |
|
498 | 498 | } |
|
499 | 499 | |
|
500 | 500 | if ( status_spw == RTEMS_SUCCESSFUL) |
|
501 | 501 | { |
|
502 | 502 | break; |
|
503 | 503 | } |
|
504 | 504 | } |
|
505 | 505 | |
|
506 | 506 | return status_spw; |
|
507 | 507 | } |
|
508 | 508 | |
|
509 | 509 | void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force |
|
510 | 510 | { |
|
511 | 511 | /** This function sets the [N]o [P]ort force bit of the GRSPW control register. |
|
512 | 512 | * |
|
513 | 513 | * @param val is the value, 0 or 1, used to set the value of the NP bit. |
|
514 | 514 | * @param regAddr is the address of the GRSPW control register. |
|
515 | 515 | * |
|
516 | 516 | * NP is the bit 20 of the GRSPW control register. |
|
517 | 517 | * |
|
518 | 518 | */ |
|
519 | 519 | |
|
520 | 520 | unsigned int *spwptr = (unsigned int*) regAddr; |
|
521 | 521 | |
|
522 | 522 | if (val == 1) { |
|
523 | 523 | *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit |
|
524 | 524 | } |
|
525 | 525 | if (val== 0) { |
|
526 | 526 | *spwptr = *spwptr & 0xffdfffff; |
|
527 | 527 | } |
|
528 | 528 | } |
|
529 | 529 | |
|
530 | 530 | void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable |
|
531 | 531 | { |
|
532 | 532 | /** This function sets the [R]MAP [E]nable bit of the GRSPW control register. |
|
533 | 533 | * |
|
534 | 534 | * @param val is the value, 0 or 1, used to set the value of the RE bit. |
|
535 | 535 | * @param regAddr is the address of the GRSPW control register. |
|
536 | 536 | * |
|
537 | 537 | * RE is the bit 16 of the GRSPW control register. |
|
538 | 538 | * |
|
539 | 539 | */ |
|
540 | 540 | |
|
541 | 541 | unsigned int *spwptr = (unsigned int*) regAddr; |
|
542 | 542 | |
|
543 | 543 | if (val == 1) |
|
544 | 544 | { |
|
545 | 545 | *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit |
|
546 | 546 | } |
|
547 | 547 | if (val== 0) |
|
548 | 548 | { |
|
549 | 549 | *spwptr = *spwptr & 0xfffdffff; |
|
550 | 550 | } |
|
551 | 551 | } |
|
552 | 552 | |
|
553 | 553 | void spacewire_compute_stats_offsets( void ) |
|
554 | 554 | { |
|
555 | 555 | /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising. |
|
556 | 556 | * |
|
557 | 557 | * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics |
|
558 | 558 | * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it |
|
559 | 559 | * during the open systel call). |
|
560 | 560 | * |
|
561 | 561 | */ |
|
562 | 562 | |
|
563 | 563 | spw_stats spacewire_stats_grspw; |
|
564 | 564 | rtems_status_code status; |
|
565 | 565 | |
|
566 | 566 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw ); |
|
567 | 567 | |
|
568 | 568 | spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received |
|
569 | 569 | + spacewire_stats.packets_received; |
|
570 | 570 | spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent |
|
571 | 571 | + spacewire_stats.packets_sent; |
|
572 | 572 | spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err |
|
573 | 573 | + spacewire_stats.parity_err; |
|
574 | 574 | spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err |
|
575 | 575 | + spacewire_stats.disconnect_err; |
|
576 | 576 | spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err |
|
577 | 577 | + spacewire_stats.escape_err; |
|
578 | 578 | spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err |
|
579 | 579 | + spacewire_stats.credit_err; |
|
580 | 580 | spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err |
|
581 | 581 | + spacewire_stats.write_sync_err; |
|
582 | 582 | spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err |
|
583 | 583 | + spacewire_stats.rx_rmap_header_crc_err; |
|
584 | 584 | spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err |
|
585 | 585 | + spacewire_stats.rx_rmap_data_crc_err; |
|
586 | 586 | spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep |
|
587 | 587 | + spacewire_stats.early_ep; |
|
588 | 588 | spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address |
|
589 | 589 | + spacewire_stats.invalid_address; |
|
590 | 590 | spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err |
|
591 | 591 | + spacewire_stats.rx_eep_err; |
|
592 | 592 | spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated |
|
593 | 593 | + spacewire_stats.rx_truncated; |
|
594 | 594 | } |
|
595 | 595 | |
|
596 | 596 | void spacewire_update_statistics( void ) |
|
597 | 597 | { |
|
598 | 598 | rtems_status_code status; |
|
599 | 599 | spw_stats spacewire_stats_grspw; |
|
600 | 600 | |
|
601 | 601 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw ); |
|
602 | 602 | |
|
603 | 603 | spacewire_stats.packets_received = spacewire_stats_backup.packets_received |
|
604 | 604 | + spacewire_stats_grspw.packets_received; |
|
605 | 605 | spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent |
|
606 | 606 | + spacewire_stats_grspw.packets_sent; |
|
607 | 607 | spacewire_stats.parity_err = spacewire_stats_backup.parity_err |
|
608 | 608 | + spacewire_stats_grspw.parity_err; |
|
609 | 609 | spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err |
|
610 | 610 | + spacewire_stats_grspw.disconnect_err; |
|
611 | 611 | spacewire_stats.escape_err = spacewire_stats_backup.escape_err |
|
612 | 612 | + spacewire_stats_grspw.escape_err; |
|
613 | 613 | spacewire_stats.credit_err = spacewire_stats_backup.credit_err |
|
614 | 614 | + spacewire_stats_grspw.credit_err; |
|
615 | 615 | spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err |
|
616 | 616 | + spacewire_stats_grspw.write_sync_err; |
|
617 | 617 | spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err |
|
618 | 618 | + spacewire_stats_grspw.rx_rmap_header_crc_err; |
|
619 | 619 | spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err |
|
620 | 620 | + spacewire_stats_grspw.rx_rmap_data_crc_err; |
|
621 | 621 | spacewire_stats.early_ep = spacewire_stats_backup.early_ep |
|
622 | 622 | + spacewire_stats_grspw.early_ep; |
|
623 | 623 | spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address |
|
624 | 624 | + spacewire_stats_grspw.invalid_address; |
|
625 | 625 | spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err |
|
626 | 626 | + spacewire_stats_grspw.rx_eep_err; |
|
627 | 627 | spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated |
|
628 | 628 | + spacewire_stats_grspw.rx_truncated; |
|
629 | 629 | //spacewire_stats.tx_link_err; |
|
630 | 630 | |
|
631 | 631 | //**************************** |
|
632 | 632 | // DPU_SPACEWIRE_IF_STATISTICS |
|
633 | 633 | housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8); |
|
634 | 634 | housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received); |
|
635 | 635 | housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8); |
|
636 | 636 | housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent); |
|
637 | 637 | //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt; |
|
638 | 638 | //housekeeping_packet.hk_lfr_dpu_spw_last_timc; |
|
639 | 639 | |
|
640 | 640 | //****************************************** |
|
641 | 641 | // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY |
|
642 | 642 | housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err; |
|
643 | 643 | housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err; |
|
644 | 644 | housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err; |
|
645 | 645 | housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err; |
|
646 | 646 | housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err; |
|
647 | 647 | |
|
648 | 648 | //********************************************* |
|
649 | 649 | // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY |
|
650 | 650 | housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep; |
|
651 | 651 | housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address; |
|
652 | 652 | housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err; |
|
653 | 653 | housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated; |
|
654 | 654 | } |
|
655 | 655 | |
|
656 | 656 | void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc ) |
|
657 | 657 | { |
|
658 | 658 | // a valid timecode has been received, write it in the HK report |
|
659 | 659 | unsigned int * grspwPtr; |
|
660 | 660 | |
|
661 | 661 | grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER); |
|
662 | 662 | |
|
663 | 663 | housekeeping_packet.hk_lfr_dpu_spw_last_timc = (unsigned char) (grspwPtr[0] & 0xff); // [11 1111] |
|
664 | 664 | |
|
665 | 665 | // update the number of valid timecodes that have been received |
|
666 | 666 | if (housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt == 255) |
|
667 | 667 | { |
|
668 | 668 | housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = 0; |
|
669 | 669 | } |
|
670 | 670 | else |
|
671 | 671 | { |
|
672 | 672 | housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt + 1; |
|
673 | 673 | } |
|
674 | 674 | } |
|
675 | 675 | |
|
676 | 676 | rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data ) |
|
677 | 677 | { |
|
678 | 678 | int linkStatus; |
|
679 | 679 | rtems_status_code status; |
|
680 | 680 | |
|
681 | 681 | status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status |
|
682 | 682 | |
|
683 | 683 | if ( linkStatus == 5) { |
|
684 | 684 | PRINTF("in spacewire_reset_link *** link is running\n") |
|
685 | 685 | status = RTEMS_SUCCESSFUL; |
|
686 | 686 | } |
|
687 | 687 | } |
|
688 | 688 | |
|
689 | 689 | void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header ) |
|
690 | 690 | { |
|
691 | 691 | header->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
692 | 692 | header->protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
693 | 693 | header->reserved = DEFAULT_RESERVED; |
|
694 | 694 | header->userApplication = CCSDS_USER_APP; |
|
695 | 695 | header->packetSequenceControl[0]= TM_PACKET_SEQ_CTRL_STANDALONE; |
|
696 | 696 | header->packetSequenceControl[1]= TM_PACKET_SEQ_CNT_DEFAULT; |
|
697 | 697 | header->packetLength[0] = 0x00; |
|
698 | 698 | header->packetLength[1] = 0x00; |
|
699 | 699 | // DATA FIELD HEADER |
|
700 | 700 | header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
701 | 701 | header->serviceType = TM_TYPE_LFR_SCIENCE; // service type |
|
702 | 702 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype |
|
703 | 703 | header->destinationID = TM_DESTINATION_ID_GROUND; |
|
704 | 704 | header->time[0] = 0x00; |
|
705 | 705 | header->time[0] = 0x00; |
|
706 | 706 | header->time[0] = 0x00; |
|
707 | 707 | header->time[0] = 0x00; |
|
708 | 708 | header->time[0] = 0x00; |
|
709 | 709 | header->time[0] = 0x00; |
|
710 | 710 | // AUXILIARY DATA HEADER |
|
711 | 711 | header->sid = 0x00; |
|
712 | 712 | header->hkBIA = DEFAULT_HKBIA; |
|
713 | 713 | header->blkNr[0] = 0x00; |
|
714 | 714 | header->blkNr[1] = 0x00; |
|
715 | 715 | } |
|
716 | 716 | |
|
717 | 717 | void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header ) |
|
718 | 718 | { |
|
719 | 719 | header->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
720 | 720 | header->protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
721 | 721 | header->reserved = DEFAULT_RESERVED; |
|
722 | 722 | header->userApplication = CCSDS_USER_APP; |
|
723 | 723 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
724 | 724 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
725 | 725 | header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
726 | 726 | header->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
727 | 727 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8); |
|
728 | 728 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336 ); |
|
729 | 729 | // DATA FIELD HEADER |
|
730 | 730 | header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
731 | 731 | header->serviceType = TM_TYPE_LFR_SCIENCE; // service type |
|
732 | 732 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype |
|
733 | 733 | header->destinationID = TM_DESTINATION_ID_GROUND; |
|
734 | 734 | header->time[0] = 0x00; |
|
735 | 735 | header->time[0] = 0x00; |
|
736 | 736 | header->time[0] = 0x00; |
|
737 | 737 | header->time[0] = 0x00; |
|
738 | 738 | header->time[0] = 0x00; |
|
739 | 739 | header->time[0] = 0x00; |
|
740 | 740 | // AUXILIARY DATA HEADER |
|
741 | 741 | header->sid = 0x00; |
|
742 | 742 | header->hkBIA = DEFAULT_HKBIA; |
|
743 | 743 | header->pktCnt = DEFAULT_PKTCNT; // PKT_CNT |
|
744 | 744 | header->pktNr = 0x00; |
|
745 | 745 | header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8); |
|
746 | 746 | header->blkNr[1] = (unsigned char) (BLK_NR_CWF ); |
|
747 | 747 | } |
|
748 | 748 | |
|
749 | 749 | void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
750 | 750 | { |
|
751 | 751 | header->targetLogicalAddress = CCSDS_DESTINATION_ID; |
|
752 | 752 | header->protocolIdentifier = CCSDS_PROTOCOLE_ID; |
|
753 | 753 | header->reserved = DEFAULT_RESERVED; |
|
754 | 754 | header->userApplication = CCSDS_USER_APP; |
|
755 | 755 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
756 | 756 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
757 | 757 | header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE; |
|
758 | 758 | header->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT; |
|
759 | 759 | header->packetLength[0] = 0x00; |
|
760 | 760 | header->packetLength[1] = 0x00; |
|
761 | 761 | // DATA FIELD HEADER |
|
762 | 762 | header->spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2; |
|
763 | 763 | header->serviceType = TM_TYPE_LFR_SCIENCE; // service type |
|
764 | 764 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype |
|
765 | 765 | header->destinationID = TM_DESTINATION_ID_GROUND; |
|
766 | 766 | header->time[0] = 0x00; |
|
767 | 767 | header->time[0] = 0x00; |
|
768 | 768 | header->time[0] = 0x00; |
|
769 | 769 | header->time[0] = 0x00; |
|
770 | 770 | header->time[0] = 0x00; |
|
771 | 771 | header->time[0] = 0x00; |
|
772 | 772 | // AUXILIARY DATA HEADER |
|
773 | 773 | header->sid = 0x00; |
|
774 | 774 | header->biaStatusInfo = 0x00; |
|
775 | 775 | header->pa_lfr_pkt_cnt_asm = 0x00; |
|
776 | 776 | header->pa_lfr_pkt_nr_asm = 0x00; |
|
777 | 777 | header->pa_lfr_asm_blk_nr[0] = 0x00; |
|
778 | 778 | header->pa_lfr_asm_blk_nr[1] = 0x00; |
|
779 | 779 | } |
|
780 | 780 | |
|
781 | 781 | int spw_send_waveform_CWF( ring_node *ring_node_to_send, |
|
782 | 782 | Header_TM_LFR_SCIENCE_CWF_t *header ) |
|
783 | 783 | { |
|
784 | 784 | /** This function sends CWF CCSDS packets (F2, F1 or F0). |
|
785 | 785 | * |
|
786 | 786 | * @param waveform points to the buffer containing the data that will be send. |
|
787 | 787 | * @param sid is the source identifier of the data that will be sent. |
|
788 | 788 | * @param headerCWF points to a table of headers that have been prepared for the data transmission. |
|
789 | 789 | * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures |
|
790 | 790 | * contain information to setup the transmission of the data packets. |
|
791 | 791 | * |
|
792 | 792 | * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks. |
|
793 | 793 | * |
|
794 | 794 | */ |
|
795 | 795 | |
|
796 | 796 | unsigned int i; |
|
797 | 797 | int ret; |
|
798 | 798 | unsigned int coarseTime; |
|
799 | 799 | unsigned int fineTime; |
|
800 | 800 | rtems_status_code status; |
|
801 | 801 | spw_ioctl_pkt_send spw_ioctl_send_CWF; |
|
802 | 802 | int *dataPtr; |
|
803 | 803 | unsigned char sid; |
|
804 | 804 | |
|
805 | 805 | spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF; |
|
806 | 806 | spw_ioctl_send_CWF.options = 0; |
|
807 | 807 | |
|
808 | 808 | ret = LFR_DEFAULT; |
|
809 | 809 | sid = (unsigned char) ring_node_to_send->sid; |
|
810 | 810 | |
|
811 | 811 | coarseTime = ring_node_to_send->coarseTime; |
|
812 | 812 | fineTime = ring_node_to_send->fineTime; |
|
813 | 813 | dataPtr = (int*) ring_node_to_send->buffer_address; |
|
814 | 814 | |
|
815 | 815 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8); |
|
816 | 816 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336 ); |
|
817 | header->hkBIA = pa_bia_status_info; | |
|
817 | 818 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
818 | 819 | header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8); |
|
819 | 820 | header->blkNr[1] = (unsigned char) (BLK_NR_CWF ); |
|
820 | 821 | |
|
821 | 822 | for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform |
|
822 | 823 | { |
|
823 | 824 | spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) ]; |
|
824 | 825 | spw_ioctl_send_CWF.hdr = (char*) header; |
|
825 | 826 | // BUILD THE DATA |
|
826 | 827 | spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK; |
|
827 | 828 | |
|
828 | 829 | // SET PACKET SEQUENCE CONTROL |
|
829 | 830 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
830 | 831 | |
|
831 | 832 | // SET SID |
|
832 | 833 | header->sid = sid; |
|
833 | 834 | |
|
834 | 835 | // SET PACKET TIME |
|
835 | 836 | compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime); |
|
836 | 837 | // |
|
837 | 838 | header->time[0] = header->acquisitionTime[0]; |
|
838 | 839 | header->time[1] = header->acquisitionTime[1]; |
|
839 | 840 | header->time[2] = header->acquisitionTime[2]; |
|
840 | 841 | header->time[3] = header->acquisitionTime[3]; |
|
841 | 842 | header->time[4] = header->acquisitionTime[4]; |
|
842 | 843 | header->time[5] = header->acquisitionTime[5]; |
|
843 | 844 | |
|
844 | 845 | // SET PACKET ID |
|
845 | 846 | if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) ) |
|
846 | 847 | { |
|
847 | 848 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2 >> 8); |
|
848 | 849 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2); |
|
849 | 850 | } |
|
850 | 851 | else |
|
851 | 852 | { |
|
852 | 853 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
853 | 854 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
854 | 855 | } |
|
855 | 856 | |
|
856 | 857 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF ); |
|
857 | 858 | if (status != RTEMS_SUCCESSFUL) { |
|
858 | 859 | printf("%d-%d, ERR %d\n", sid, i, (int) status); |
|
859 | 860 | ret = LFR_DEFAULT; |
|
860 | 861 | } |
|
861 | 862 | } |
|
862 | 863 | |
|
863 | 864 | return ret; |
|
864 | 865 | } |
|
865 | 866 | |
|
866 | 867 | int spw_send_waveform_SWF( ring_node *ring_node_to_send, |
|
867 | 868 | Header_TM_LFR_SCIENCE_SWF_t *header ) |
|
868 | 869 | { |
|
869 | 870 | /** This function sends SWF CCSDS packets (F2, F1 or F0). |
|
870 | 871 | * |
|
871 | 872 | * @param waveform points to the buffer containing the data that will be send. |
|
872 | 873 | * @param sid is the source identifier of the data that will be sent. |
|
873 | 874 | * @param headerSWF points to a table of headers that have been prepared for the data transmission. |
|
874 | 875 | * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures |
|
875 | 876 | * contain information to setup the transmission of the data packets. |
|
876 | 877 | * |
|
877 | 878 | * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks. |
|
878 | 879 | * |
|
879 | 880 | */ |
|
880 | 881 | |
|
881 | 882 | unsigned int i; |
|
882 | 883 | int ret; |
|
883 | 884 | unsigned int coarseTime; |
|
884 | 885 | unsigned int fineTime; |
|
885 | 886 | rtems_status_code status; |
|
886 | 887 | spw_ioctl_pkt_send spw_ioctl_send_SWF; |
|
887 | 888 | int *dataPtr; |
|
888 | 889 | unsigned char sid; |
|
889 | 890 | |
|
890 | 891 | spw_ioctl_send_SWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_SWF; |
|
891 | 892 | spw_ioctl_send_SWF.options = 0; |
|
892 | 893 | |
|
893 | 894 | ret = LFR_DEFAULT; |
|
894 | 895 | |
|
895 | 896 | coarseTime = ring_node_to_send->coarseTime; |
|
896 | 897 | fineTime = ring_node_to_send->fineTime; |
|
897 | 898 | dataPtr = (int*) ring_node_to_send->buffer_address; |
|
898 | 899 | sid = ring_node_to_send->sid; |
|
899 | 900 | |
|
901 | header->hkBIA = pa_bia_status_info; | |
|
900 | 902 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
901 | 903 | |
|
902 | 904 | for (i=0; i<7; i++) // send waveform |
|
903 | 905 | { |
|
904 | 906 | spw_ioctl_send_SWF.data = (char*) &dataPtr[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) ]; |
|
905 | 907 | spw_ioctl_send_SWF.hdr = (char*) header; |
|
906 | 908 | |
|
907 | 909 | // SET PACKET SEQUENCE CONTROL |
|
908 | 910 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
909 | 911 | |
|
910 | 912 | // SET PACKET LENGTH AND BLKNR |
|
911 | 913 | if (i == 6) |
|
912 | 914 | { |
|
913 | 915 | spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK; |
|
914 | 916 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8); |
|
915 | 917 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224 ); |
|
916 | 918 | header->blkNr[0] = (unsigned char) (BLK_NR_224 >> 8); |
|
917 | 919 | header->blkNr[1] = (unsigned char) (BLK_NR_224 ); |
|
918 | 920 | } |
|
919 | 921 | else |
|
920 | 922 | { |
|
921 | 923 | spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK; |
|
922 | 924 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8); |
|
923 | 925 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304 ); |
|
924 | 926 | header->blkNr[0] = (unsigned char) (BLK_NR_304 >> 8); |
|
925 | 927 | header->blkNr[1] = (unsigned char) (BLK_NR_304 ); |
|
926 | 928 | } |
|
927 | 929 | |
|
928 | 930 | // SET PACKET TIME |
|
929 | 931 | compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime ); |
|
930 | 932 | // |
|
931 | 933 | header->time[0] = header->acquisitionTime[0]; |
|
932 | 934 | header->time[1] = header->acquisitionTime[1]; |
|
933 | 935 | header->time[2] = header->acquisitionTime[2]; |
|
934 | 936 | header->time[3] = header->acquisitionTime[3]; |
|
935 | 937 | header->time[4] = header->acquisitionTime[4]; |
|
936 | 938 | header->time[5] = header->acquisitionTime[5]; |
|
937 | 939 | |
|
938 | 940 | // SET SID |
|
939 | 941 | header->sid = sid; |
|
940 | 942 | |
|
941 | 943 | // SET PKTNR |
|
942 | 944 | header->pktNr = i+1; // PKT_NR |
|
943 | 945 | |
|
944 | 946 | // SEND PACKET |
|
945 | 947 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_SWF ); |
|
946 | 948 | if (status != RTEMS_SUCCESSFUL) { |
|
947 | 949 | printf("%d-%d, ERR %d\n", sid, i, (int) status); |
|
948 | 950 | ret = LFR_DEFAULT; |
|
949 | 951 | } |
|
950 | 952 | } |
|
951 | 953 | |
|
952 | 954 | return ret; |
|
953 | 955 | } |
|
954 | 956 | |
|
955 | 957 | int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send, |
|
956 | 958 | Header_TM_LFR_SCIENCE_CWF_t *header ) |
|
957 | 959 | { |
|
958 | 960 | /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data. |
|
959 | 961 | * |
|
960 | 962 | * @param waveform points to the buffer containing the data that will be send. |
|
961 | 963 | * @param headerCWF points to a table of headers that have been prepared for the data transmission. |
|
962 | 964 | * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures |
|
963 | 965 | * contain information to setup the transmission of the data packets. |
|
964 | 966 | * |
|
965 | 967 | * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer |
|
966 | 968 | * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks. |
|
967 | 969 | * |
|
968 | 970 | */ |
|
969 | 971 | |
|
970 | 972 | unsigned int i; |
|
971 | 973 | int ret; |
|
972 | 974 | unsigned int coarseTime; |
|
973 | 975 | unsigned int fineTime; |
|
974 | 976 | rtems_status_code status; |
|
975 | 977 | spw_ioctl_pkt_send spw_ioctl_send_CWF; |
|
976 | 978 | char *dataPtr; |
|
977 | 979 | unsigned char sid; |
|
978 | 980 | |
|
979 | 981 | spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF; |
|
980 | 982 | spw_ioctl_send_CWF.options = 0; |
|
981 | 983 | |
|
982 | 984 | ret = LFR_DEFAULT; |
|
983 | 985 | sid = ring_node_to_send->sid; |
|
984 | 986 | |
|
985 | 987 | coarseTime = ring_node_to_send->coarseTime; |
|
986 | 988 | fineTime = ring_node_to_send->fineTime; |
|
987 | 989 | dataPtr = (char*) ring_node_to_send->buffer_address; |
|
988 | 990 | |
|
989 | 991 | header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8); |
|
990 | 992 | header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672 ); |
|
993 | header->hkBIA = pa_bia_status_info; | |
|
991 | 994 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
992 | 995 | header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8); |
|
993 | 996 | header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3 ); |
|
994 | 997 | |
|
995 | 998 | //********************* |
|
996 | 999 | // SEND CWF3_light DATA |
|
997 | 1000 | for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform |
|
998 | 1001 | { |
|
999 | 1002 | spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) ]; |
|
1000 | 1003 | spw_ioctl_send_CWF.hdr = (char*) header; |
|
1001 | 1004 | // BUILD THE DATA |
|
1002 | 1005 | spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK; |
|
1003 | 1006 | |
|
1004 | 1007 | // SET PACKET SEQUENCE COUNTER |
|
1005 | 1008 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1006 | 1009 | |
|
1007 | 1010 | // SET SID |
|
1008 | 1011 | header->sid = sid; |
|
1009 | 1012 | |
|
1010 | 1013 | // SET PACKET TIME |
|
1011 | 1014 | compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, header->acquisitionTime ); |
|
1012 | 1015 | // |
|
1013 | 1016 | header->time[0] = header->acquisitionTime[0]; |
|
1014 | 1017 | header->time[1] = header->acquisitionTime[1]; |
|
1015 | 1018 | header->time[2] = header->acquisitionTime[2]; |
|
1016 | 1019 | header->time[3] = header->acquisitionTime[3]; |
|
1017 | 1020 | header->time[4] = header->acquisitionTime[4]; |
|
1018 | 1021 | header->time[5] = header->acquisitionTime[5]; |
|
1019 | 1022 | |
|
1020 | 1023 | // SET PACKET ID |
|
1021 | 1024 | header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8); |
|
1022 | 1025 | header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST); |
|
1023 | 1026 | |
|
1024 | 1027 | // SEND PACKET |
|
1025 | 1028 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF ); |
|
1026 | 1029 | if (status != RTEMS_SUCCESSFUL) { |
|
1027 | 1030 | printf("%d-%d, ERR %d\n", sid, i, (int) status); |
|
1028 | 1031 | ret = LFR_DEFAULT; |
|
1029 | 1032 | } |
|
1030 | 1033 | } |
|
1031 | 1034 | |
|
1032 | 1035 | return ret; |
|
1033 | 1036 | } |
|
1034 | 1037 | |
|
1035 | 1038 | void spw_send_asm_f0( ring_node *ring_node_to_send, |
|
1036 | 1039 | Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
1037 | 1040 | { |
|
1038 | 1041 | unsigned int i; |
|
1039 | 1042 | unsigned int length = 0; |
|
1040 | 1043 | rtems_status_code status; |
|
1041 | 1044 | unsigned int sid; |
|
1042 | 1045 | float *spectral_matrix; |
|
1043 | 1046 | int coarseTime; |
|
1044 | 1047 | int fineTime; |
|
1045 | 1048 | spw_ioctl_pkt_send spw_ioctl_send_ASM; |
|
1046 | 1049 | |
|
1047 | 1050 | sid = ring_node_to_send->sid; |
|
1048 | 1051 | spectral_matrix = (float*) ring_node_to_send->buffer_address; |
|
1049 | 1052 | coarseTime = ring_node_to_send->coarseTime; |
|
1050 | 1053 | fineTime = ring_node_to_send->fineTime; |
|
1051 | 1054 | |
|
1055 | header->biaStatusInfo = pa_bia_status_info; | |
|
1052 | 1056 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
1053 | 1057 | |
|
1054 | 1058 | for (i=0; i<3; i++) |
|
1055 | 1059 | { |
|
1056 | 1060 | if ((i==0) || (i==1)) |
|
1057 | 1061 | { |
|
1058 | 1062 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_1; |
|
1059 | 1063 | spw_ioctl_send_ASM.data = (char *) &spectral_matrix[ |
|
1060 | 1064 | ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM ) |
|
1061 | 1065 | ]; |
|
1062 | 1066 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_1; |
|
1063 | 1067 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1064 | 1068 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F0_1) >> 8 ); // BLK_NR MSB |
|
1065 | 1069 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F0_1); // BLK_NR LSB |
|
1066 | 1070 | } |
|
1067 | 1071 | else |
|
1068 | 1072 | { |
|
1069 | 1073 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_2; |
|
1070 | 1074 | spw_ioctl_send_ASM.data = (char*) &spectral_matrix[ |
|
1071 | 1075 | ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM ) |
|
1072 | 1076 | ]; |
|
1073 | 1077 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_2; |
|
1074 | 1078 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1075 | 1079 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F0_2) >> 8 ); // BLK_NR MSB |
|
1076 | 1080 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F0_2); // BLK_NR LSB |
|
1077 | 1081 | } |
|
1078 | 1082 | |
|
1079 | 1083 | spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM; |
|
1080 | 1084 | spw_ioctl_send_ASM.hdr = (char *) header; |
|
1081 | 1085 | spw_ioctl_send_ASM.options = 0; |
|
1082 | 1086 | |
|
1083 | 1087 | // (2) BUILD THE HEADER |
|
1084 | 1088 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1085 | 1089 | header->packetLength[0] = (unsigned char) (length>>8); |
|
1086 | 1090 | header->packetLength[1] = (unsigned char) (length); |
|
1087 | 1091 | header->sid = (unsigned char) sid; // SID |
|
1088 | 1092 | header->pa_lfr_pkt_cnt_asm = 3; |
|
1089 | 1093 | header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1); |
|
1090 | 1094 | |
|
1091 | 1095 | // (3) SET PACKET TIME |
|
1092 | 1096 | header->time[0] = (unsigned char) (coarseTime>>24); |
|
1093 | 1097 | header->time[1] = (unsigned char) (coarseTime>>16); |
|
1094 | 1098 | header->time[2] = (unsigned char) (coarseTime>>8); |
|
1095 | 1099 | header->time[3] = (unsigned char) (coarseTime); |
|
1096 | 1100 | header->time[4] = (unsigned char) (fineTime>>8); |
|
1097 | 1101 | header->time[5] = (unsigned char) (fineTime); |
|
1098 | 1102 | // |
|
1099 | 1103 | header->acquisitionTime[0] = header->time[0]; |
|
1100 | 1104 | header->acquisitionTime[1] = header->time[1]; |
|
1101 | 1105 | header->acquisitionTime[2] = header->time[2]; |
|
1102 | 1106 | header->acquisitionTime[3] = header->time[3]; |
|
1103 | 1107 | header->acquisitionTime[4] = header->time[4]; |
|
1104 | 1108 | header->acquisitionTime[5] = header->time[5]; |
|
1105 | 1109 | |
|
1106 | 1110 | // (4) SEND PACKET |
|
1107 | 1111 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM ); |
|
1108 | 1112 | if (status != RTEMS_SUCCESSFUL) { |
|
1109 | 1113 | printf("in ASM_send *** ERR %d\n", (int) status); |
|
1110 | 1114 | } |
|
1111 | 1115 | } |
|
1112 | 1116 | } |
|
1113 | 1117 | |
|
1114 | 1118 | void spw_send_asm_f1( ring_node *ring_node_to_send, |
|
1115 | 1119 | Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
1116 | 1120 | { |
|
1117 | 1121 | unsigned int i; |
|
1118 | 1122 | unsigned int length = 0; |
|
1119 | 1123 | rtems_status_code status; |
|
1120 | 1124 | unsigned int sid; |
|
1121 | 1125 | float *spectral_matrix; |
|
1122 | 1126 | int coarseTime; |
|
1123 | 1127 | int fineTime; |
|
1124 | 1128 | spw_ioctl_pkt_send spw_ioctl_send_ASM; |
|
1125 | 1129 | |
|
1126 | 1130 | sid = ring_node_to_send->sid; |
|
1127 | 1131 | spectral_matrix = (float*) ring_node_to_send->buffer_address; |
|
1128 | 1132 | coarseTime = ring_node_to_send->coarseTime; |
|
1129 | 1133 | fineTime = ring_node_to_send->fineTime; |
|
1130 | 1134 | |
|
1135 | header->biaStatusInfo = pa_bia_status_info; | |
|
1131 | 1136 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
1132 | 1137 | |
|
1133 | 1138 | for (i=0; i<3; i++) |
|
1134 | 1139 | { |
|
1135 | 1140 | if ((i==0) || (i==1)) |
|
1136 | 1141 | { |
|
1137 | 1142 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_1; |
|
1138 | 1143 | spw_ioctl_send_ASM.data = (char *) &spectral_matrix[ |
|
1139 | 1144 | ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM ) |
|
1140 | 1145 | ]; |
|
1141 | 1146 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_1; |
|
1142 | 1147 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1143 | 1148 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F1_1) >> 8 ); // BLK_NR MSB |
|
1144 | 1149 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F1_1); // BLK_NR LSB |
|
1145 | 1150 | } |
|
1146 | 1151 | else |
|
1147 | 1152 | { |
|
1148 | 1153 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_2; |
|
1149 | 1154 | spw_ioctl_send_ASM.data = (char*) &spectral_matrix[ |
|
1150 | 1155 | ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM ) |
|
1151 | 1156 | ]; |
|
1152 | 1157 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_2; |
|
1153 | 1158 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6; |
|
1154 | 1159 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F1_2) >> 8 ); // BLK_NR MSB |
|
1155 | 1160 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F1_2); // BLK_NR LSB |
|
1156 | 1161 | } |
|
1157 | 1162 | |
|
1158 | 1163 | spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM; |
|
1159 | 1164 | spw_ioctl_send_ASM.hdr = (char *) header; |
|
1160 | 1165 | spw_ioctl_send_ASM.options = 0; |
|
1161 | 1166 | |
|
1162 | 1167 | // (2) BUILD THE HEADER |
|
1163 | 1168 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1164 | 1169 | header->packetLength[0] = (unsigned char) (length>>8); |
|
1165 | 1170 | header->packetLength[1] = (unsigned char) (length); |
|
1166 | 1171 | header->sid = (unsigned char) sid; // SID |
|
1167 | 1172 | header->pa_lfr_pkt_cnt_asm = 3; |
|
1168 | 1173 | header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1); |
|
1169 | 1174 | |
|
1170 | 1175 | // (3) SET PACKET TIME |
|
1171 | 1176 | header->time[0] = (unsigned char) (coarseTime>>24); |
|
1172 | 1177 | header->time[1] = (unsigned char) (coarseTime>>16); |
|
1173 | 1178 | header->time[2] = (unsigned char) (coarseTime>>8); |
|
1174 | 1179 | header->time[3] = (unsigned char) (coarseTime); |
|
1175 | 1180 | header->time[4] = (unsigned char) (fineTime>>8); |
|
1176 | 1181 | header->time[5] = (unsigned char) (fineTime); |
|
1177 | 1182 | // |
|
1178 | 1183 | header->acquisitionTime[0] = header->time[0]; |
|
1179 | 1184 | header->acquisitionTime[1] = header->time[1]; |
|
1180 | 1185 | header->acquisitionTime[2] = header->time[2]; |
|
1181 | 1186 | header->acquisitionTime[3] = header->time[3]; |
|
1182 | 1187 | header->acquisitionTime[4] = header->time[4]; |
|
1183 | 1188 | header->acquisitionTime[5] = header->time[5]; |
|
1184 | 1189 | |
|
1185 | 1190 | // (4) SEND PACKET |
|
1186 | 1191 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM ); |
|
1187 | 1192 | if (status != RTEMS_SUCCESSFUL) { |
|
1188 | 1193 | printf("in ASM_send *** ERR %d\n", (int) status); |
|
1189 | 1194 | } |
|
1190 | 1195 | } |
|
1191 | 1196 | } |
|
1192 | 1197 | |
|
1193 | 1198 | void spw_send_asm_f2( ring_node *ring_node_to_send, |
|
1194 | 1199 | Header_TM_LFR_SCIENCE_ASM_t *header ) |
|
1195 | 1200 | { |
|
1196 | 1201 | unsigned int i; |
|
1197 | 1202 | unsigned int length = 0; |
|
1198 | 1203 | rtems_status_code status; |
|
1199 | 1204 | unsigned int sid; |
|
1200 | 1205 | float *spectral_matrix; |
|
1201 | 1206 | int coarseTime; |
|
1202 | 1207 | int fineTime; |
|
1203 | 1208 | spw_ioctl_pkt_send spw_ioctl_send_ASM; |
|
1204 | 1209 | |
|
1205 | 1210 | sid = ring_node_to_send->sid; |
|
1206 | 1211 | spectral_matrix = (float*) ring_node_to_send->buffer_address; |
|
1207 | 1212 | coarseTime = ring_node_to_send->coarseTime; |
|
1208 | 1213 | fineTime = ring_node_to_send->fineTime; |
|
1209 | 1214 | |
|
1215 | header->biaStatusInfo = pa_bia_status_info; | |
|
1210 | 1216 | header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters; |
|
1211 | 1217 | |
|
1212 | 1218 | for (i=0; i<3; i++) |
|
1213 | 1219 | { |
|
1214 | 1220 | |
|
1215 | 1221 | spw_ioctl_send_ASM.dlen = DLEN_ASM_F2_PKT; |
|
1216 | 1222 | spw_ioctl_send_ASM.data = (char *) &spectral_matrix[ |
|
1217 | 1223 | ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM ) |
|
1218 | 1224 | ]; |
|
1219 | 1225 | length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2; |
|
1220 | 1226 | header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; |
|
1221 | 1227 | header->pa_lfr_asm_blk_nr[0] = (unsigned char) ( (NB_BINS_PER_PKT_ASM_F2) >> 8 ); // BLK_NR MSB |
|
1222 | 1228 | header->pa_lfr_asm_blk_nr[1] = (unsigned char) (NB_BINS_PER_PKT_ASM_F2); // BLK_NR LSB |
|
1223 | 1229 | |
|
1224 | 1230 | spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM; |
|
1225 | 1231 | spw_ioctl_send_ASM.hdr = (char *) header; |
|
1226 | 1232 | spw_ioctl_send_ASM.options = 0; |
|
1227 | 1233 | |
|
1228 | 1234 | // (2) BUILD THE HEADER |
|
1229 | 1235 | increment_seq_counter_source_id( header->packetSequenceControl, sid ); |
|
1230 | 1236 | header->packetLength[0] = (unsigned char) (length>>8); |
|
1231 | 1237 | header->packetLength[1] = (unsigned char) (length); |
|
1232 | 1238 | header->sid = (unsigned char) sid; // SID |
|
1233 | 1239 | header->pa_lfr_pkt_cnt_asm = 3; |
|
1234 | 1240 | header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1); |
|
1235 | 1241 | |
|
1236 | 1242 | // (3) SET PACKET TIME |
|
1237 | 1243 | header->time[0] = (unsigned char) (coarseTime>>24); |
|
1238 | 1244 | header->time[1] = (unsigned char) (coarseTime>>16); |
|
1239 | 1245 | header->time[2] = (unsigned char) (coarseTime>>8); |
|
1240 | 1246 | header->time[3] = (unsigned char) (coarseTime); |
|
1241 | 1247 | header->time[4] = (unsigned char) (fineTime>>8); |
|
1242 | 1248 | header->time[5] = (unsigned char) (fineTime); |
|
1243 | 1249 | // |
|
1244 | 1250 | header->acquisitionTime[0] = header->time[0]; |
|
1245 | 1251 | header->acquisitionTime[1] = header->time[1]; |
|
1246 | 1252 | header->acquisitionTime[2] = header->time[2]; |
|
1247 | 1253 | header->acquisitionTime[3] = header->time[3]; |
|
1248 | 1254 | header->acquisitionTime[4] = header->time[4]; |
|
1249 | 1255 | header->acquisitionTime[5] = header->time[5]; |
|
1250 | 1256 | |
|
1251 | 1257 | // (4) SEND PACKET |
|
1252 | 1258 | status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM ); |
|
1253 | 1259 | if (status != RTEMS_SUCCESSFUL) { |
|
1254 | 1260 | printf("in ASM_send *** ERR %d\n", (int) status); |
|
1255 | 1261 | } |
|
1256 | 1262 | } |
|
1257 | 1263 | } |
|
1258 | 1264 | |
|
1259 | 1265 | void spw_send_k_dump( ring_node *ring_node_to_send ) |
|
1260 | 1266 | { |
|
1261 | 1267 | rtems_status_code status; |
|
1262 | 1268 | Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump; |
|
1263 | 1269 | unsigned int packetLength; |
|
1264 | 1270 | unsigned int size; |
|
1265 | 1271 | |
|
1266 | 1272 | printf("spw_send_k_dump\n"); |
|
1267 | 1273 | |
|
1268 | 1274 | kcoefficients_dump = (Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *) ring_node_to_send->buffer_address; |
|
1269 | 1275 | |
|
1270 | 1276 | packetLength = kcoefficients_dump->packetLength[0] * 256 + kcoefficients_dump->packetLength[1]; |
|
1271 | 1277 | |
|
1272 | 1278 | size = packetLength + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES; |
|
1273 | 1279 | |
|
1274 | 1280 | printf("packetLength %d, size %d\n", packetLength, size ); |
|
1275 | 1281 | |
|
1276 | 1282 | status = write( fdSPW, (char *) ring_node_to_send->buffer_address, size ); |
|
1277 | 1283 | |
|
1278 | 1284 | if (status == -1){ |
|
1279 | 1285 | PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size) |
|
1280 | 1286 | } |
|
1281 | 1287 | |
|
1282 | 1288 | ring_node_to_send->status = 0x00; |
|
1283 | 1289 | } |
@@ -1,1169 +1,1180 | |||
|
1 | 1 | /** Functions and tasks related to TeleCommand handling. |
|
2 | 2 | * |
|
3 | 3 | * @file |
|
4 | 4 | * @author P. LEROY |
|
5 | 5 | * |
|
6 | 6 | * A group of functions to handle TeleCommands:\n |
|
7 | 7 | * action launching\n |
|
8 | 8 | * TC parsing\n |
|
9 | 9 | * ... |
|
10 | 10 | * |
|
11 | 11 | */ |
|
12 | 12 | |
|
13 | 13 | #include "tc_handler.h" |
|
14 | 14 | #include "math.h" |
|
15 | 15 | |
|
16 | 16 | //*********** |
|
17 | 17 | // RTEMS TASK |
|
18 | 18 | |
|
19 | 19 | rtems_task actn_task( rtems_task_argument unused ) |
|
20 | 20 | { |
|
21 | 21 | /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands. |
|
22 | 22 | * |
|
23 | 23 | * @param unused is the starting argument of the RTEMS task |
|
24 | 24 | * |
|
25 | 25 | * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending |
|
26 | 26 | * on the incoming TeleCommand. |
|
27 | 27 | * |
|
28 | 28 | */ |
|
29 | 29 | |
|
30 | 30 | int result; |
|
31 | 31 | rtems_status_code status; // RTEMS status code |
|
32 | 32 | ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task |
|
33 | 33 | size_t size; // size of the incoming TC packet |
|
34 | 34 | unsigned char subtype; // subtype of the current TC packet |
|
35 | 35 | unsigned char time[6]; |
|
36 | 36 | rtems_id queue_rcv_id; |
|
37 | 37 | rtems_id queue_snd_id; |
|
38 | 38 | |
|
39 | 39 | status = get_message_queue_id_recv( &queue_rcv_id ); |
|
40 | 40 | if (status != RTEMS_SUCCESSFUL) |
|
41 | 41 | { |
|
42 | 42 | PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status) |
|
43 | 43 | } |
|
44 | 44 | |
|
45 | 45 | status = get_message_queue_id_send( &queue_snd_id ); |
|
46 | 46 | if (status != RTEMS_SUCCESSFUL) |
|
47 | 47 | { |
|
48 | 48 | PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status) |
|
49 | 49 | } |
|
50 | 50 | |
|
51 | 51 | result = LFR_SUCCESSFUL; |
|
52 | 52 | subtype = 0; // subtype of the current TC packet |
|
53 | 53 | |
|
54 | 54 | BOOT_PRINTF("in ACTN *** \n") |
|
55 | 55 | |
|
56 | 56 | while(1) |
|
57 | 57 | { |
|
58 | 58 | status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size, |
|
59 | 59 | RTEMS_WAIT, RTEMS_NO_TIMEOUT); |
|
60 | 60 | getTime( time ); // set time to the current time |
|
61 | 61 | if (status!=RTEMS_SUCCESSFUL) |
|
62 | 62 | { |
|
63 | 63 | PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status) |
|
64 | 64 | } |
|
65 | 65 | else |
|
66 | 66 | { |
|
67 | 67 | subtype = TC.serviceSubType; |
|
68 | 68 | switch(subtype) |
|
69 | 69 | { |
|
70 | 70 | case TC_SUBTYPE_RESET: |
|
71 | 71 | result = action_reset( &TC, queue_snd_id, time ); |
|
72 | 72 | close_action( &TC, result, queue_snd_id ); |
|
73 | 73 | break; |
|
74 | 74 | case TC_SUBTYPE_LOAD_COMM: |
|
75 | 75 | result = action_load_common_par( &TC ); |
|
76 | 76 | close_action( &TC, result, queue_snd_id ); |
|
77 | 77 | break; |
|
78 | 78 | case TC_SUBTYPE_LOAD_NORM: |
|
79 | 79 | result = action_load_normal_par( &TC, queue_snd_id, time ); |
|
80 | 80 | close_action( &TC, result, queue_snd_id ); |
|
81 | 81 | break; |
|
82 | 82 | case TC_SUBTYPE_LOAD_BURST: |
|
83 | 83 | result = action_load_burst_par( &TC, queue_snd_id, time ); |
|
84 | 84 | close_action( &TC, result, queue_snd_id ); |
|
85 | 85 | break; |
|
86 | 86 | case TC_SUBTYPE_LOAD_SBM1: |
|
87 | 87 | result = action_load_sbm1_par( &TC, queue_snd_id, time ); |
|
88 | 88 | close_action( &TC, result, queue_snd_id ); |
|
89 | 89 | break; |
|
90 | 90 | case TC_SUBTYPE_LOAD_SBM2: |
|
91 | 91 | result = action_load_sbm2_par( &TC, queue_snd_id, time ); |
|
92 | 92 | close_action( &TC, result, queue_snd_id ); |
|
93 | 93 | break; |
|
94 | 94 | case TC_SUBTYPE_DUMP: |
|
95 | 95 | result = action_dump_par( &TC, queue_snd_id ); |
|
96 | 96 | close_action( &TC, result, queue_snd_id ); |
|
97 | 97 | break; |
|
98 | 98 | case TC_SUBTYPE_ENTER: |
|
99 | 99 | result = action_enter_mode( &TC, queue_snd_id ); |
|
100 | 100 | close_action( &TC, result, queue_snd_id ); |
|
101 | 101 | break; |
|
102 | 102 | case TC_SUBTYPE_UPDT_INFO: |
|
103 | 103 | result = action_update_info( &TC, queue_snd_id ); |
|
104 | 104 | close_action( &TC, result, queue_snd_id ); |
|
105 | 105 | break; |
|
106 | 106 | case TC_SUBTYPE_EN_CAL: |
|
107 | 107 | result = action_enable_calibration( &TC, queue_snd_id, time ); |
|
108 | 108 | close_action( &TC, result, queue_snd_id ); |
|
109 | 109 | break; |
|
110 | 110 | case TC_SUBTYPE_DIS_CAL: |
|
111 | 111 | result = action_disable_calibration( &TC, queue_snd_id, time ); |
|
112 | 112 | close_action( &TC, result, queue_snd_id ); |
|
113 | 113 | break; |
|
114 | 114 | case TC_SUBTYPE_LOAD_K: |
|
115 | 115 | result = action_load_kcoefficients( &TC, queue_snd_id, time ); |
|
116 | 116 | close_action( &TC, result, queue_snd_id ); |
|
117 | 117 | break; |
|
118 | 118 | case TC_SUBTYPE_DUMP_K: |
|
119 | 119 | result = action_dump_kcoefficients( &TC, queue_snd_id, time ); |
|
120 | 120 | close_action( &TC, result, queue_snd_id ); |
|
121 | 121 | break; |
|
122 | 122 | case TC_SUBTYPE_LOAD_FBINS: |
|
123 | 123 | result = action_load_fbins_mask( &TC, queue_snd_id, time ); |
|
124 | 124 | close_action( &TC, result, queue_snd_id ); |
|
125 | 125 | break; |
|
126 | 126 | case TC_SUBTYPE_UPDT_TIME: |
|
127 | 127 | result = action_update_time( &TC ); |
|
128 | 128 | close_action( &TC, result, queue_snd_id ); |
|
129 | 129 | break; |
|
130 | 130 | default: |
|
131 | 131 | break; |
|
132 | 132 | } |
|
133 | 133 | } |
|
134 | 134 | } |
|
135 | 135 | } |
|
136 | 136 | |
|
137 | 137 | //*********** |
|
138 | 138 | // TC ACTIONS |
|
139 | 139 | |
|
140 | 140 | int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time) |
|
141 | 141 | { |
|
142 | 142 | /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received. |
|
143 | 143 | * |
|
144 | 144 | * @param TC points to the TeleCommand packet that is being processed |
|
145 | 145 | * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver |
|
146 | 146 | * |
|
147 | 147 | */ |
|
148 | 148 | |
|
149 | 149 | printf("this is the end!!!\n"); |
|
150 | 150 | exit(0); |
|
151 | 151 | send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time ); |
|
152 | 152 | return LFR_DEFAULT; |
|
153 | 153 | } |
|
154 | 154 | |
|
155 | 155 | int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id ) |
|
156 | 156 | { |
|
157 | 157 | /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received. |
|
158 | 158 | * |
|
159 | 159 | * @param TC points to the TeleCommand packet that is being processed |
|
160 | 160 | * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver |
|
161 | 161 | * |
|
162 | 162 | */ |
|
163 | 163 | |
|
164 | 164 | rtems_status_code status; |
|
165 | 165 | unsigned char requestedMode; |
|
166 | 166 | unsigned int *transitionCoarseTime_ptr; |
|
167 | 167 | unsigned int transitionCoarseTime; |
|
168 | 168 | unsigned char * bytePosPtr; |
|
169 | 169 | |
|
170 | 170 | bytePosPtr = (unsigned char *) &TC->packetID; |
|
171 | 171 | |
|
172 | 172 | requestedMode = bytePosPtr[ BYTE_POS_CP_MODE_LFR_SET ]; |
|
173 | 173 | transitionCoarseTime_ptr = (unsigned int *) ( &bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME ] ); |
|
174 | 174 | transitionCoarseTime = (*transitionCoarseTime_ptr) & 0x7fffffff; |
|
175 | 175 | |
|
176 | 176 | status = check_mode_value( requestedMode ); |
|
177 | 177 | |
|
178 | 178 | if ( status != LFR_SUCCESSFUL ) // the mode value is inconsistent |
|
179 | 179 | { |
|
180 | 180 | send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_MODE_LFR_SET, requestedMode ); |
|
181 | 181 | } |
|
182 | 182 | else // the mode value is valid, check the transition |
|
183 | 183 | { |
|
184 | 184 | status = check_mode_transition(requestedMode); |
|
185 | 185 | if (status != LFR_SUCCESSFUL) |
|
186 | 186 | { |
|
187 | 187 | PRINTF("ERR *** in action_enter_mode *** check_mode_transition\n") |
|
188 | 188 | send_tm_lfr_tc_exe_not_executable( TC, queue_id ); |
|
189 | 189 | } |
|
190 | 190 | } |
|
191 | 191 | |
|
192 | 192 | if ( status == LFR_SUCCESSFUL ) // the transition is valid, check the date |
|
193 | 193 | { |
|
194 | 194 | status = check_transition_date( transitionCoarseTime ); |
|
195 | 195 | if (status != LFR_SUCCESSFUL) |
|
196 | 196 | { |
|
197 | 197 | PRINTF("ERR *** in action_enter_mode *** check_transition_date\n") |
|
198 | 198 | send_tm_lfr_tc_exe_inconsistent( TC, queue_id, |
|
199 | 199 | BYTE_POS_CP_LFR_ENTER_MODE_TIME, |
|
200 | 200 | bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME + 3 ] ); |
|
201 | 201 | } |
|
202 | 202 | } |
|
203 | 203 | |
|
204 | 204 | if ( status == LFR_SUCCESSFUL ) // the date is valid, enter the mode |
|
205 | 205 | { |
|
206 | 206 | PRINTF1("OK *** in action_enter_mode *** enter mode %d\n", requestedMode); |
|
207 | 207 | status = enter_mode( requestedMode, transitionCoarseTime ); |
|
208 | 208 | } |
|
209 | 209 | |
|
210 | 210 | return status; |
|
211 | 211 | } |
|
212 | 212 | |
|
213 | 213 | int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id) |
|
214 | 214 | { |
|
215 | 215 | /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received. |
|
216 | 216 | * |
|
217 | 217 | * @param TC points to the TeleCommand packet that is being processed |
|
218 | 218 | * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver |
|
219 | 219 | * |
|
220 | 220 | * @return LFR directive status code: |
|
221 | 221 | * - LFR_DEFAULT |
|
222 | 222 | * - LFR_SUCCESSFUL |
|
223 | 223 | * |
|
224 | 224 | */ |
|
225 | 225 | |
|
226 | 226 | unsigned int val; |
|
227 | 227 | int result; |
|
228 | 228 | unsigned int status; |
|
229 | 229 | unsigned char mode; |
|
230 | 230 | unsigned char * bytePosPtr; |
|
231 | 231 | |
|
232 | 232 | bytePosPtr = (unsigned char *) &TC->packetID; |
|
233 | 233 | |
|
234 | 234 | // check LFR mode |
|
235 | 235 | mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET5 ] & 0x1e) >> 1; |
|
236 | 236 | status = check_update_info_hk_lfr_mode( mode ); |
|
237 | 237 | if (status == LFR_SUCCESSFUL) // check TDS mode |
|
238 | 238 | { |
|
239 | 239 | mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & 0xf0) >> 4; |
|
240 | 240 | status = check_update_info_hk_tds_mode( mode ); |
|
241 | 241 | } |
|
242 | 242 | if (status == LFR_SUCCESSFUL) // check THR mode |
|
243 | 243 | { |
|
244 | 244 | mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & 0x0f); |
|
245 | 245 | status = check_update_info_hk_thr_mode( mode ); |
|
246 | 246 | } |
|
247 | 247 | if (status == LFR_SUCCESSFUL) // if the parameter check is successful |
|
248 | 248 | { |
|
249 | 249 | val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256 |
|
250 | 250 | + housekeeping_packet.hk_lfr_update_info_tc_cnt[1]; |
|
251 | 251 | val++; |
|
252 | 252 | housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8); |
|
253 | 253 | housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val); |
|
254 | 254 | } |
|
255 | 255 | |
|
256 | // pa_bia_status_info | |
|
257 | // => pa_bia_mode_mux_set 3 bits | |
|
258 | // => pa_bia_mode_hv_enabled 1 bit | |
|
259 | // => pa_bia_mode_bias1_enabled 1 bit | |
|
260 | // => pa_bia_mode_bias2_enabled 1 bit | |
|
261 | // => pa_bia_mode_bias3_enabled 1 bit | |
|
262 | // => pa_bia_on_off (cp_dpu_bias_on_off) | |
|
263 | pa_bia_status_info = bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET2 ] & 0xfe; // [1111 1110] | |
|
264 | pa_bia_status_info = pa_bia_status_info | |
|
265 | | (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET1 ] & 0x1); | |
|
266 | ||
|
256 | 267 | result = status; |
|
257 | 268 | |
|
258 | 269 | return result; |
|
259 | 270 | } |
|
260 | 271 | |
|
261 | 272 | int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time) |
|
262 | 273 | { |
|
263 | 274 | /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received. |
|
264 | 275 | * |
|
265 | 276 | * @param TC points to the TeleCommand packet that is being processed |
|
266 | 277 | * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver |
|
267 | 278 | * |
|
268 | 279 | */ |
|
269 | 280 | |
|
270 | 281 | int result; |
|
271 | 282 | |
|
272 | 283 | result = LFR_DEFAULT; |
|
273 | 284 | |
|
274 | 285 | setCalibration( true ); |
|
275 | 286 | |
|
276 | 287 | result = LFR_SUCCESSFUL; |
|
277 | 288 | |
|
278 | 289 | return result; |
|
279 | 290 | } |
|
280 | 291 | |
|
281 | 292 | int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time) |
|
282 | 293 | { |
|
283 | 294 | /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received. |
|
284 | 295 | * |
|
285 | 296 | * @param TC points to the TeleCommand packet that is being processed |
|
286 | 297 | * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver |
|
287 | 298 | * |
|
288 | 299 | */ |
|
289 | 300 | |
|
290 | 301 | int result; |
|
291 | 302 | |
|
292 | 303 | result = LFR_DEFAULT; |
|
293 | 304 | |
|
294 | 305 | setCalibration( false ); |
|
295 | 306 | |
|
296 | 307 | result = LFR_SUCCESSFUL; |
|
297 | 308 | |
|
298 | 309 | return result; |
|
299 | 310 | } |
|
300 | 311 | |
|
301 | 312 | int action_update_time(ccsdsTelecommandPacket_t *TC) |
|
302 | 313 | { |
|
303 | 314 | /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received. |
|
304 | 315 | * |
|
305 | 316 | * @param TC points to the TeleCommand packet that is being processed |
|
306 | 317 | * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver |
|
307 | 318 | * |
|
308 | 319 | * @return LFR_SUCCESSFUL |
|
309 | 320 | * |
|
310 | 321 | */ |
|
311 | 322 | |
|
312 | 323 | unsigned int val; |
|
313 | 324 | |
|
314 | 325 | time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24) |
|
315 | 326 | + (TC->dataAndCRC[1] << 16) |
|
316 | 327 | + (TC->dataAndCRC[2] << 8) |
|
317 | 328 | + TC->dataAndCRC[3]; |
|
318 | 329 | |
|
319 | 330 | val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256 |
|
320 | 331 | + housekeeping_packet.hk_lfr_update_time_tc_cnt[1]; |
|
321 | 332 | val++; |
|
322 | 333 | housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8); |
|
323 | 334 | housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val); |
|
324 | 335 | |
|
325 | 336 | return LFR_SUCCESSFUL; |
|
326 | 337 | } |
|
327 | 338 | |
|
328 | 339 | //******************* |
|
329 | 340 | // ENTERING THE MODES |
|
330 | 341 | int check_mode_value( unsigned char requestedMode ) |
|
331 | 342 | { |
|
332 | 343 | int status; |
|
333 | 344 | |
|
334 | 345 | if ( (requestedMode != LFR_MODE_STANDBY) |
|
335 | 346 | && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST) |
|
336 | 347 | && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) ) |
|
337 | 348 | { |
|
338 | 349 | status = LFR_DEFAULT; |
|
339 | 350 | } |
|
340 | 351 | else |
|
341 | 352 | { |
|
342 | 353 | status = LFR_SUCCESSFUL; |
|
343 | 354 | } |
|
344 | 355 | |
|
345 | 356 | return status; |
|
346 | 357 | } |
|
347 | 358 | |
|
348 | 359 | int check_mode_transition( unsigned char requestedMode ) |
|
349 | 360 | { |
|
350 | 361 | /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE. |
|
351 | 362 | * |
|
352 | 363 | * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE |
|
353 | 364 | * |
|
354 | 365 | * @return LFR directive status codes: |
|
355 | 366 | * - LFR_SUCCESSFUL - the transition is authorized |
|
356 | 367 | * - LFR_DEFAULT - the transition is not authorized |
|
357 | 368 | * |
|
358 | 369 | */ |
|
359 | 370 | |
|
360 | 371 | int status; |
|
361 | 372 | |
|
362 | 373 | switch (requestedMode) |
|
363 | 374 | { |
|
364 | 375 | case LFR_MODE_STANDBY: |
|
365 | 376 | if ( lfrCurrentMode == LFR_MODE_STANDBY ) { |
|
366 | 377 | status = LFR_DEFAULT; |
|
367 | 378 | } |
|
368 | 379 | else |
|
369 | 380 | { |
|
370 | 381 | status = LFR_SUCCESSFUL; |
|
371 | 382 | } |
|
372 | 383 | break; |
|
373 | 384 | case LFR_MODE_NORMAL: |
|
374 | 385 | if ( lfrCurrentMode == LFR_MODE_NORMAL ) { |
|
375 | 386 | status = LFR_DEFAULT; |
|
376 | 387 | } |
|
377 | 388 | else { |
|
378 | 389 | status = LFR_SUCCESSFUL; |
|
379 | 390 | } |
|
380 | 391 | break; |
|
381 | 392 | case LFR_MODE_BURST: |
|
382 | 393 | if ( lfrCurrentMode == LFR_MODE_BURST ) { |
|
383 | 394 | status = LFR_DEFAULT; |
|
384 | 395 | } |
|
385 | 396 | else { |
|
386 | 397 | status = LFR_SUCCESSFUL; |
|
387 | 398 | } |
|
388 | 399 | break; |
|
389 | 400 | case LFR_MODE_SBM1: |
|
390 | 401 | if ( lfrCurrentMode == LFR_MODE_SBM1 ) { |
|
391 | 402 | status = LFR_DEFAULT; |
|
392 | 403 | } |
|
393 | 404 | else { |
|
394 | 405 | status = LFR_SUCCESSFUL; |
|
395 | 406 | } |
|
396 | 407 | break; |
|
397 | 408 | case LFR_MODE_SBM2: |
|
398 | 409 | if ( lfrCurrentMode == LFR_MODE_SBM2 ) { |
|
399 | 410 | status = LFR_DEFAULT; |
|
400 | 411 | } |
|
401 | 412 | else { |
|
402 | 413 | status = LFR_SUCCESSFUL; |
|
403 | 414 | } |
|
404 | 415 | break; |
|
405 | 416 | default: |
|
406 | 417 | status = LFR_DEFAULT; |
|
407 | 418 | break; |
|
408 | 419 | } |
|
409 | 420 | |
|
410 | 421 | return status; |
|
411 | 422 | } |
|
412 | 423 | |
|
413 | 424 | int check_transition_date( unsigned int transitionCoarseTime ) |
|
414 | 425 | { |
|
415 | 426 | int status; |
|
416 | 427 | unsigned int localCoarseTime; |
|
417 | 428 | unsigned int deltaCoarseTime; |
|
418 | 429 | |
|
419 | 430 | status = LFR_SUCCESSFUL; |
|
420 | 431 | |
|
421 | 432 | if (transitionCoarseTime == 0) // transition time = 0 means an instant transition |
|
422 | 433 | { |
|
423 | 434 | status = LFR_SUCCESSFUL; |
|
424 | 435 | } |
|
425 | 436 | else |
|
426 | 437 | { |
|
427 | 438 | localCoarseTime = time_management_regs->coarse_time & 0x7fffffff; |
|
428 | 439 | |
|
429 | 440 | PRINTF2("localTime = %x, transitionTime = %x\n", localCoarseTime, transitionCoarseTime) |
|
430 | 441 | |
|
431 | 442 | if ( transitionCoarseTime <= localCoarseTime ) // SSS-CP-EQS-322 |
|
432 | 443 | { |
|
433 | 444 | status = LFR_DEFAULT; |
|
434 | 445 | PRINTF("ERR *** in check_transition_date *** transitionCoarseTime <= localCoarseTime\n") |
|
435 | 446 | } |
|
436 | 447 | |
|
437 | 448 | if (status == LFR_SUCCESSFUL) |
|
438 | 449 | { |
|
439 | 450 | deltaCoarseTime = transitionCoarseTime - localCoarseTime; |
|
440 | 451 | if ( deltaCoarseTime > 3 ) // SSS-CP-EQS-323 |
|
441 | 452 | { |
|
442 | 453 | status = LFR_DEFAULT; |
|
443 | 454 | PRINTF1("ERR *** in check_transition_date *** deltaCoarseTime = %x\n", deltaCoarseTime) |
|
444 | 455 | } |
|
445 | 456 | } |
|
446 | 457 | } |
|
447 | 458 | |
|
448 | 459 | return status; |
|
449 | 460 | } |
|
450 | 461 | |
|
451 | 462 | int stop_current_mode( void ) |
|
452 | 463 | { |
|
453 | 464 | /** This function stops the current mode by masking interrupt lines and suspending science tasks. |
|
454 | 465 | * |
|
455 | 466 | * @return RTEMS directive status codes: |
|
456 | 467 | * - RTEMS_SUCCESSFUL - task restarted successfully |
|
457 | 468 | * - RTEMS_INVALID_ID - task id invalid |
|
458 | 469 | * - RTEMS_ALREADY_SUSPENDED - task already suspended |
|
459 | 470 | * |
|
460 | 471 | */ |
|
461 | 472 | |
|
462 | 473 | rtems_status_code status; |
|
463 | 474 | |
|
464 | 475 | status = RTEMS_SUCCESSFUL; |
|
465 | 476 | |
|
466 | 477 | // (1) mask interruptions |
|
467 | 478 | LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt |
|
468 | 479 | LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt |
|
469 | 480 | |
|
470 | 481 | // (2) reset waveform picker registers |
|
471 | 482 | reset_wfp_burst_enable(); // reset burst and enable bits |
|
472 | 483 | reset_wfp_status(); // reset all the status bits |
|
473 | 484 | |
|
474 | 485 | // (3) reset spectral matrices registers |
|
475 | 486 | set_sm_irq_onNewMatrix( 0 ); // stop the spectral matrices |
|
476 | 487 | reset_sm_status(); |
|
477 | 488 | |
|
478 | 489 | // reset lfr VHDL module |
|
479 | 490 | reset_lfr(); |
|
480 | 491 | |
|
481 | 492 | reset_extractSWF(); // reset the extractSWF flag to false |
|
482 | 493 | |
|
483 | 494 | // (4) clear interruptions |
|
484 | 495 | LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt |
|
485 | 496 | LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt |
|
486 | 497 | |
|
487 | 498 | // <Spectral Matrices simulator> |
|
488 | 499 | LEON_Mask_interrupt( IRQ_SM_SIMULATOR ); // mask spectral matrix interrupt simulator |
|
489 | 500 | timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR ); |
|
490 | 501 | LEON_Clear_interrupt( IRQ_SM_SIMULATOR ); // clear spectral matrix interrupt simulator |
|
491 | 502 | // </Spectral Matrices simulator> |
|
492 | 503 | |
|
493 | 504 | // suspend several tasks |
|
494 | 505 | if (lfrCurrentMode != LFR_MODE_STANDBY) { |
|
495 | 506 | status = suspend_science_tasks(); |
|
496 | 507 | } |
|
497 | 508 | |
|
498 | 509 | if (status != RTEMS_SUCCESSFUL) |
|
499 | 510 | { |
|
500 | 511 | PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status) |
|
501 | 512 | } |
|
502 | 513 | |
|
503 | 514 | return status; |
|
504 | 515 | } |
|
505 | 516 | |
|
506 | 517 | int enter_mode( unsigned char mode, unsigned int transitionCoarseTime ) |
|
507 | 518 | { |
|
508 | 519 | /** This function is launched after a mode transition validation. |
|
509 | 520 | * |
|
510 | 521 | * @param mode is the mode in which LFR will be put. |
|
511 | 522 | * |
|
512 | 523 | * @return RTEMS directive status codes: |
|
513 | 524 | * - RTEMS_SUCCESSFUL - the mode has been entered successfully |
|
514 | 525 | * - RTEMS_NOT_SATISFIED - the mode has not been entered successfully |
|
515 | 526 | * |
|
516 | 527 | */ |
|
517 | 528 | |
|
518 | 529 | rtems_status_code status; |
|
519 | 530 | |
|
520 | 531 | //********************** |
|
521 | 532 | // STOP THE CURRENT MODE |
|
522 | 533 | status = stop_current_mode(); |
|
523 | 534 | if (status != RTEMS_SUCCESSFUL) |
|
524 | 535 | { |
|
525 | 536 | PRINTF1("ERR *** in enter_mode *** stop_current_mode with mode = %d\n", mode) |
|
526 | 537 | } |
|
527 | 538 | |
|
528 | 539 | //************************* |
|
529 | 540 | // ENTER THE REQUESTED MODE |
|
530 | 541 | if (status == RTEMS_SUCCESSFUL) // if the current mode has been successfully stopped |
|
531 | 542 | { |
|
532 | 543 | if ( (mode == LFR_MODE_NORMAL) || (mode == LFR_MODE_BURST) |
|
533 | 544 | || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2) ) |
|
534 | 545 | { |
|
535 | 546 | #ifdef PRINT_TASK_STATISTICS |
|
536 | 547 | rtems_cpu_usage_reset(); |
|
537 | 548 | #endif |
|
538 | 549 | status = restart_science_tasks( mode ); |
|
539 | 550 | if (status == RTEMS_SUCCESSFUL) |
|
540 | 551 | { |
|
541 | 552 | launch_spectral_matrix( ); |
|
542 | 553 | launch_waveform_picker( mode, transitionCoarseTime ); |
|
543 | 554 | } |
|
544 | 555 | } |
|
545 | 556 | else if ( mode == LFR_MODE_STANDBY ) |
|
546 | 557 | { |
|
547 | 558 | #ifdef PRINT_TASK_STATISTICS |
|
548 | 559 | rtems_cpu_usage_report(); |
|
549 | 560 | #endif |
|
550 | 561 | |
|
551 | 562 | #ifdef PRINT_STACK_REPORT |
|
552 | 563 | PRINTF("stack report selected\n") |
|
553 | 564 | rtems_stack_checker_report_usage(); |
|
554 | 565 | #endif |
|
555 | 566 | } |
|
556 | 567 | else |
|
557 | 568 | { |
|
558 | 569 | status = RTEMS_UNSATISFIED; |
|
559 | 570 | } |
|
560 | 571 | } |
|
561 | 572 | |
|
562 | 573 | if (status != RTEMS_SUCCESSFUL) |
|
563 | 574 | { |
|
564 | 575 | PRINTF1("ERR *** in enter_mode *** status = %d\n", status) |
|
565 | 576 | status = RTEMS_UNSATISFIED; |
|
566 | 577 | } |
|
567 | 578 | |
|
568 | 579 | return status; |
|
569 | 580 | } |
|
570 | 581 | |
|
571 | 582 | int restart_science_tasks(unsigned char lfrRequestedMode ) |
|
572 | 583 | { |
|
573 | 584 | /** This function is used to restart all science tasks. |
|
574 | 585 | * |
|
575 | 586 | * @return RTEMS directive status codes: |
|
576 | 587 | * - RTEMS_SUCCESSFUL - task restarted successfully |
|
577 | 588 | * - RTEMS_INVALID_ID - task id invalid |
|
578 | 589 | * - RTEMS_INCORRECT_STATE - task never started |
|
579 | 590 | * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task |
|
580 | 591 | * |
|
581 | 592 | * Science tasks are AVF0, PRC0, WFRM, CWF3, CW2, CWF1 |
|
582 | 593 | * |
|
583 | 594 | */ |
|
584 | 595 | |
|
585 | 596 | rtems_status_code status[10]; |
|
586 | 597 | rtems_status_code ret; |
|
587 | 598 | |
|
588 | 599 | ret = RTEMS_SUCCESSFUL; |
|
589 | 600 | |
|
590 | 601 | status[0] = rtems_task_restart( Task_id[TASKID_AVF0], lfrRequestedMode ); |
|
591 | 602 | if (status[0] != RTEMS_SUCCESSFUL) |
|
592 | 603 | { |
|
593 | 604 | PRINTF1("in restart_science_task *** AVF0 ERR %d\n", status[0]) |
|
594 | 605 | } |
|
595 | 606 | |
|
596 | 607 | status[1] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode ); |
|
597 | 608 | if (status[1] != RTEMS_SUCCESSFUL) |
|
598 | 609 | { |
|
599 | 610 | PRINTF1("in restart_science_task *** PRC0 ERR %d\n", status[1]) |
|
600 | 611 | } |
|
601 | 612 | |
|
602 | 613 | status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 ); |
|
603 | 614 | if (status[2] != RTEMS_SUCCESSFUL) |
|
604 | 615 | { |
|
605 | 616 | PRINTF1("in restart_science_task *** WFRM ERR %d\n", status[2]) |
|
606 | 617 | } |
|
607 | 618 | |
|
608 | 619 | status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 ); |
|
609 | 620 | if (status[3] != RTEMS_SUCCESSFUL) |
|
610 | 621 | { |
|
611 | 622 | PRINTF1("in restart_science_task *** CWF3 ERR %d\n", status[3]) |
|
612 | 623 | } |
|
613 | 624 | |
|
614 | 625 | status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 ); |
|
615 | 626 | if (status[4] != RTEMS_SUCCESSFUL) |
|
616 | 627 | { |
|
617 | 628 | PRINTF1("in restart_science_task *** CWF2 ERR %d\n", status[4]) |
|
618 | 629 | } |
|
619 | 630 | |
|
620 | 631 | status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 ); |
|
621 | 632 | if (status[5] != RTEMS_SUCCESSFUL) |
|
622 | 633 | { |
|
623 | 634 | PRINTF1("in restart_science_task *** CWF1 ERR %d\n", status[5]) |
|
624 | 635 | } |
|
625 | 636 | |
|
626 | 637 | status[6] = rtems_task_restart( Task_id[TASKID_AVF1], lfrRequestedMode ); |
|
627 | 638 | if (status[6] != RTEMS_SUCCESSFUL) |
|
628 | 639 | { |
|
629 | 640 | PRINTF1("in restart_science_task *** AVF1 ERR %d\n", status[6]) |
|
630 | 641 | } |
|
631 | 642 | |
|
632 | 643 | status[7] = rtems_task_restart( Task_id[TASKID_PRC1],lfrRequestedMode ); |
|
633 | 644 | if (status[7] != RTEMS_SUCCESSFUL) |
|
634 | 645 | { |
|
635 | 646 | PRINTF1("in restart_science_task *** PRC1 ERR %d\n", status[7]) |
|
636 | 647 | } |
|
637 | 648 | |
|
638 | 649 | status[8] = rtems_task_restart( Task_id[TASKID_AVF2], 1 ); |
|
639 | 650 | if (status[8] != RTEMS_SUCCESSFUL) |
|
640 | 651 | { |
|
641 | 652 | PRINTF1("in restart_science_task *** AVF2 ERR %d\n", status[8]) |
|
642 | 653 | } |
|
643 | 654 | |
|
644 | 655 | status[9] = rtems_task_restart( Task_id[TASKID_PRC2], 1 ); |
|
645 | 656 | if (status[9] != RTEMS_SUCCESSFUL) |
|
646 | 657 | { |
|
647 | 658 | PRINTF1("in restart_science_task *** PRC2 ERR %d\n", status[9]) |
|
648 | 659 | } |
|
649 | 660 | |
|
650 | 661 | if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || |
|
651 | 662 | (status[2] != RTEMS_SUCCESSFUL) || (status[3] != RTEMS_SUCCESSFUL) || |
|
652 | 663 | (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) || |
|
653 | 664 | (status[6] != RTEMS_SUCCESSFUL) || (status[7] != RTEMS_SUCCESSFUL) || |
|
654 | 665 | (status[8] != RTEMS_SUCCESSFUL) || (status[9] != RTEMS_SUCCESSFUL) ) |
|
655 | 666 | { |
|
656 | 667 | ret = RTEMS_UNSATISFIED; |
|
657 | 668 | } |
|
658 | 669 | |
|
659 | 670 | return ret; |
|
660 | 671 | } |
|
661 | 672 | |
|
662 | 673 | int suspend_science_tasks() |
|
663 | 674 | { |
|
664 | 675 | /** This function suspends the science tasks. |
|
665 | 676 | * |
|
666 | 677 | * @return RTEMS directive status codes: |
|
667 | 678 | * - RTEMS_SUCCESSFUL - task restarted successfully |
|
668 | 679 | * - RTEMS_INVALID_ID - task id invalid |
|
669 | 680 | * - RTEMS_ALREADY_SUSPENDED - task already suspended |
|
670 | 681 | * |
|
671 | 682 | */ |
|
672 | 683 | |
|
673 | 684 | rtems_status_code status; |
|
674 | 685 | |
|
675 | 686 | printf("in suspend_science_tasks\n"); |
|
676 | 687 | |
|
677 | 688 | status = rtems_task_suspend( Task_id[TASKID_AVF0] ); // suspend AVF0 |
|
678 | 689 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
679 | 690 | { |
|
680 | 691 | PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status) |
|
681 | 692 | } |
|
682 | 693 | else |
|
683 | 694 | { |
|
684 | 695 | status = RTEMS_SUCCESSFUL; |
|
685 | 696 | } |
|
686 | 697 | if (status == RTEMS_SUCCESSFUL) // suspend PRC0 |
|
687 | 698 | { |
|
688 | 699 | status = rtems_task_suspend( Task_id[TASKID_PRC0] ); |
|
689 | 700 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
690 | 701 | { |
|
691 | 702 | PRINTF1("in suspend_science_task *** PRC0 ERR %d\n", status) |
|
692 | 703 | } |
|
693 | 704 | else |
|
694 | 705 | { |
|
695 | 706 | status = RTEMS_SUCCESSFUL; |
|
696 | 707 | } |
|
697 | 708 | } |
|
698 | 709 | if (status == RTEMS_SUCCESSFUL) // suspend AVF1 |
|
699 | 710 | { |
|
700 | 711 | status = rtems_task_suspend( Task_id[TASKID_AVF1] ); |
|
701 | 712 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
702 | 713 | { |
|
703 | 714 | PRINTF1("in suspend_science_task *** AVF1 ERR %d\n", status) |
|
704 | 715 | } |
|
705 | 716 | else |
|
706 | 717 | { |
|
707 | 718 | status = RTEMS_SUCCESSFUL; |
|
708 | 719 | } |
|
709 | 720 | } |
|
710 | 721 | if (status == RTEMS_SUCCESSFUL) // suspend PRC1 |
|
711 | 722 | { |
|
712 | 723 | status = rtems_task_suspend( Task_id[TASKID_PRC1] ); |
|
713 | 724 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
714 | 725 | { |
|
715 | 726 | PRINTF1("in suspend_science_task *** PRC1 ERR %d\n", status) |
|
716 | 727 | } |
|
717 | 728 | else |
|
718 | 729 | { |
|
719 | 730 | status = RTEMS_SUCCESSFUL; |
|
720 | 731 | } |
|
721 | 732 | } |
|
722 | 733 | if (status == RTEMS_SUCCESSFUL) // suspend AVF2 |
|
723 | 734 | { |
|
724 | 735 | status = rtems_task_suspend( Task_id[TASKID_AVF2] ); |
|
725 | 736 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
726 | 737 | { |
|
727 | 738 | PRINTF1("in suspend_science_task *** AVF2 ERR %d\n", status) |
|
728 | 739 | } |
|
729 | 740 | else |
|
730 | 741 | { |
|
731 | 742 | status = RTEMS_SUCCESSFUL; |
|
732 | 743 | } |
|
733 | 744 | } |
|
734 | 745 | if (status == RTEMS_SUCCESSFUL) // suspend PRC2 |
|
735 | 746 | { |
|
736 | 747 | status = rtems_task_suspend( Task_id[TASKID_PRC2] ); |
|
737 | 748 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
738 | 749 | { |
|
739 | 750 | PRINTF1("in suspend_science_task *** PRC2 ERR %d\n", status) |
|
740 | 751 | } |
|
741 | 752 | else |
|
742 | 753 | { |
|
743 | 754 | status = RTEMS_SUCCESSFUL; |
|
744 | 755 | } |
|
745 | 756 | } |
|
746 | 757 | if (status == RTEMS_SUCCESSFUL) // suspend WFRM |
|
747 | 758 | { |
|
748 | 759 | status = rtems_task_suspend( Task_id[TASKID_WFRM] ); |
|
749 | 760 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
750 | 761 | { |
|
751 | 762 | PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status) |
|
752 | 763 | } |
|
753 | 764 | else |
|
754 | 765 | { |
|
755 | 766 | status = RTEMS_SUCCESSFUL; |
|
756 | 767 | } |
|
757 | 768 | } |
|
758 | 769 | if (status == RTEMS_SUCCESSFUL) // suspend CWF3 |
|
759 | 770 | { |
|
760 | 771 | status = rtems_task_suspend( Task_id[TASKID_CWF3] ); |
|
761 | 772 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
762 | 773 | { |
|
763 | 774 | PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status) |
|
764 | 775 | } |
|
765 | 776 | else |
|
766 | 777 | { |
|
767 | 778 | status = RTEMS_SUCCESSFUL; |
|
768 | 779 | } |
|
769 | 780 | } |
|
770 | 781 | if (status == RTEMS_SUCCESSFUL) // suspend CWF2 |
|
771 | 782 | { |
|
772 | 783 | status = rtems_task_suspend( Task_id[TASKID_CWF2] ); |
|
773 | 784 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
774 | 785 | { |
|
775 | 786 | PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status) |
|
776 | 787 | } |
|
777 | 788 | else |
|
778 | 789 | { |
|
779 | 790 | status = RTEMS_SUCCESSFUL; |
|
780 | 791 | } |
|
781 | 792 | } |
|
782 | 793 | if (status == RTEMS_SUCCESSFUL) // suspend CWF1 |
|
783 | 794 | { |
|
784 | 795 | status = rtems_task_suspend( Task_id[TASKID_CWF1] ); |
|
785 | 796 | if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED)) |
|
786 | 797 | { |
|
787 | 798 | PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status) |
|
788 | 799 | } |
|
789 | 800 | else |
|
790 | 801 | { |
|
791 | 802 | status = RTEMS_SUCCESSFUL; |
|
792 | 803 | } |
|
793 | 804 | } |
|
794 | 805 | |
|
795 | 806 | return status; |
|
796 | 807 | } |
|
797 | 808 | |
|
798 | 809 | void launch_waveform_picker( unsigned char mode, unsigned int transitionCoarseTime ) |
|
799 | 810 | { |
|
800 | 811 | WFP_reset_current_ring_nodes(); |
|
801 | 812 | |
|
802 | 813 | reset_waveform_picker_regs(); |
|
803 | 814 | |
|
804 | 815 | set_wfp_burst_enable_register( mode ); |
|
805 | 816 | |
|
806 | 817 | LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); |
|
807 | 818 | LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER ); |
|
808 | 819 | |
|
809 | 820 | if (transitionCoarseTime == 0) |
|
810 | 821 | { |
|
811 | 822 | waveform_picker_regs->start_date = time_management_regs->coarse_time; |
|
812 | 823 | } |
|
813 | 824 | else |
|
814 | 825 | { |
|
815 | 826 | waveform_picker_regs->start_date = transitionCoarseTime; |
|
816 | 827 | } |
|
817 | 828 | |
|
818 | 829 | } |
|
819 | 830 | |
|
820 | 831 | void launch_spectral_matrix( void ) |
|
821 | 832 | { |
|
822 | 833 | SM_reset_current_ring_nodes(); |
|
823 | 834 | |
|
824 | 835 | reset_spectral_matrix_regs(); |
|
825 | 836 | |
|
826 | 837 | reset_nb_sm(); |
|
827 | 838 | |
|
828 | 839 | set_sm_irq_onNewMatrix( 1 ); |
|
829 | 840 | |
|
830 | 841 | LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); |
|
831 | 842 | LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX ); |
|
832 | 843 | |
|
833 | 844 | } |
|
834 | 845 | |
|
835 | 846 | void launch_spectral_matrix_simu( void ) |
|
836 | 847 | { |
|
837 | 848 | SM_reset_current_ring_nodes(); |
|
838 | 849 | reset_spectral_matrix_regs(); |
|
839 | 850 | reset_nb_sm(); |
|
840 | 851 | |
|
841 | 852 | // Spectral Matrices simulator |
|
842 | 853 | timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR ); |
|
843 | 854 | LEON_Clear_interrupt( IRQ_SM_SIMULATOR ); |
|
844 | 855 | LEON_Unmask_interrupt( IRQ_SM_SIMULATOR ); |
|
845 | 856 | } |
|
846 | 857 | |
|
847 | 858 | void set_sm_irq_onNewMatrix( unsigned char value ) |
|
848 | 859 | { |
|
849 | 860 | if (value == 1) |
|
850 | 861 | { |
|
851 | 862 | spectral_matrix_regs->config = spectral_matrix_regs->config | 0x01; |
|
852 | 863 | } |
|
853 | 864 | else |
|
854 | 865 | { |
|
855 | 866 | spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe; // 1110 |
|
856 | 867 | } |
|
857 | 868 | } |
|
858 | 869 | |
|
859 | 870 | void set_sm_irq_onError( unsigned char value ) |
|
860 | 871 | { |
|
861 | 872 | if (value == 1) |
|
862 | 873 | { |
|
863 | 874 | spectral_matrix_regs->config = spectral_matrix_regs->config | 0x02; |
|
864 | 875 | } |
|
865 | 876 | else |
|
866 | 877 | { |
|
867 | 878 | spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffd; // 1101 |
|
868 | 879 | } |
|
869 | 880 | } |
|
870 | 881 | |
|
871 | 882 | //***************************** |
|
872 | 883 | // CONFIGURE CALIBRATION SIGNAL |
|
873 | 884 | void setCalibrationPrescaler( unsigned int prescaler ) |
|
874 | 885 | { |
|
875 | 886 | // prescaling of the master clock (25 MHz) |
|
876 | 887 | // master clock is divided by 2^prescaler |
|
877 | 888 | time_management_regs->calPrescaler = prescaler; |
|
878 | 889 | } |
|
879 | 890 | |
|
880 | 891 | void setCalibrationDivisor( unsigned int divisionFactor ) |
|
881 | 892 | { |
|
882 | 893 | // division of the prescaled clock by the division factor |
|
883 | 894 | time_management_regs->calDivisor = divisionFactor; |
|
884 | 895 | } |
|
885 | 896 | |
|
886 | 897 | void setCalibrationData( void ){ |
|
887 | 898 | unsigned int k; |
|
888 | 899 | unsigned short data; |
|
889 | 900 | float val; |
|
890 | 901 | float f0; |
|
891 | 902 | float f1; |
|
892 | 903 | float fs; |
|
893 | 904 | float Ts; |
|
894 | 905 | float scaleFactor; |
|
895 | 906 | |
|
896 | 907 | f0 = 625; |
|
897 | 908 | f1 = 10000; |
|
898 | 909 | fs = 160256.410; |
|
899 | 910 | Ts = 1. / fs; |
|
900 | 911 | scaleFactor = 0.250 / 0.000654; // 191, 500 mVpp, 2 sinus waves => 500 mVpp each, amplitude = 250 mV |
|
901 | 912 | |
|
902 | 913 | time_management_regs->calDataPtr = 0x00; |
|
903 | 914 | |
|
904 | 915 | // build the signal for the SCM calibration |
|
905 | 916 | for (k=0; k<256; k++) |
|
906 | 917 | { |
|
907 | 918 | val = sin( 2 * pi * f0 * k * Ts ) |
|
908 | 919 | + sin( 2 * pi * f1 * k * Ts ); |
|
909 | 920 | data = (unsigned short) ((val * scaleFactor) + 2048); |
|
910 | 921 | time_management_regs->calData = data & 0xfff; |
|
911 | 922 | } |
|
912 | 923 | } |
|
913 | 924 | |
|
914 | 925 | void setCalibrationDataInterleaved( void ){ |
|
915 | 926 | unsigned int k; |
|
916 | 927 | float val; |
|
917 | 928 | float f0; |
|
918 | 929 | float f1; |
|
919 | 930 | float fs; |
|
920 | 931 | float Ts; |
|
921 | 932 | unsigned short data[384]; |
|
922 | 933 | unsigned char *dataPtr; |
|
923 | 934 | |
|
924 | 935 | f0 = 625; |
|
925 | 936 | f1 = 10000; |
|
926 | 937 | fs = 240384.615; |
|
927 | 938 | Ts = 1. / fs; |
|
928 | 939 | |
|
929 | 940 | time_management_regs->calDataPtr = 0x00; |
|
930 | 941 | |
|
931 | 942 | // build the signal for the SCM calibration |
|
932 | 943 | for (k=0; k<384; k++) |
|
933 | 944 | { |
|
934 | 945 | val = sin( 2 * pi * f0 * k * Ts ) |
|
935 | 946 | + sin( 2 * pi * f1 * k * Ts ); |
|
936 | 947 | data[k] = (unsigned short) (val * 512 + 2048); |
|
937 | 948 | } |
|
938 | 949 | |
|
939 | 950 | // write the signal in interleaved mode |
|
940 | 951 | for (k=0; k<128; k++) |
|
941 | 952 | { |
|
942 | 953 | dataPtr = (unsigned char*) &data[k*3 + 2]; |
|
943 | 954 | time_management_regs->calData = (data[k*3] & 0xfff) |
|
944 | 955 | + ( (dataPtr[0] & 0x3f) << 12); |
|
945 | 956 | time_management_regs->calData = (data[k*3 + 1] & 0xfff) |
|
946 | 957 | + ( (dataPtr[1] & 0x3f) << 12); |
|
947 | 958 | } |
|
948 | 959 | } |
|
949 | 960 | |
|
950 | 961 | void setCalibrationReload( bool state) |
|
951 | 962 | { |
|
952 | 963 | if (state == true) |
|
953 | 964 | { |
|
954 | 965 | time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000010; // [0001 0000] |
|
955 | 966 | } |
|
956 | 967 | else |
|
957 | 968 | { |
|
958 | 969 | time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffef; // [1110 1111] |
|
959 | 970 | } |
|
960 | 971 | } |
|
961 | 972 | |
|
962 | 973 | void setCalibrationEnable( bool state ) |
|
963 | 974 | { |
|
964 | 975 | // this bit drives the multiplexer |
|
965 | 976 | if (state == true) |
|
966 | 977 | { |
|
967 | 978 | time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000040; // [0100 0000] |
|
968 | 979 | } |
|
969 | 980 | else |
|
970 | 981 | { |
|
971 | 982 | time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffbf; // [1011 1111] |
|
972 | 983 | } |
|
973 | 984 | } |
|
974 | 985 | |
|
975 | 986 | void setCalibrationInterleaved( bool state ) |
|
976 | 987 | { |
|
977 | 988 | // this bit drives the multiplexer |
|
978 | 989 | if (state == true) |
|
979 | 990 | { |
|
980 | 991 | time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000020; // [0010 0000] |
|
981 | 992 | } |
|
982 | 993 | else |
|
983 | 994 | { |
|
984 | 995 | time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffdf; // [1101 1111] |
|
985 | 996 | } |
|
986 | 997 | } |
|
987 | 998 | |
|
988 | 999 | void setCalibration( bool state ) |
|
989 | 1000 | { |
|
990 | 1001 | if (state == true) |
|
991 | 1002 | { |
|
992 | 1003 | setCalibrationEnable( true ); |
|
993 | 1004 | setCalibrationReload( false ); |
|
994 | 1005 | set_hk_lfr_calib_enable( true ); |
|
995 | 1006 | } |
|
996 | 1007 | else |
|
997 | 1008 | { |
|
998 | 1009 | setCalibrationEnable( false ); |
|
999 | 1010 | setCalibrationReload( true ); |
|
1000 | 1011 | set_hk_lfr_calib_enable( false ); |
|
1001 | 1012 | } |
|
1002 | 1013 | } |
|
1003 | 1014 | |
|
1004 | 1015 | void configureCalibration( bool interleaved ) |
|
1005 | 1016 | { |
|
1006 | 1017 | setCalibration( false ); |
|
1007 | 1018 | if ( interleaved == true ) |
|
1008 | 1019 | { |
|
1009 | 1020 | setCalibrationInterleaved( true ); |
|
1010 | 1021 | setCalibrationPrescaler( 0 ); // 25 MHz => 25 000 000 |
|
1011 | 1022 | setCalibrationDivisor( 26 ); // => 240 384 |
|
1012 | 1023 | setCalibrationDataInterleaved(); |
|
1013 | 1024 | } |
|
1014 | 1025 | else |
|
1015 | 1026 | { |
|
1016 | 1027 | setCalibrationPrescaler( 0 ); // 25 MHz => 25 000 000 |
|
1017 | 1028 | setCalibrationDivisor( 38 ); // => 160 256 (39 - 1) |
|
1018 | 1029 | setCalibrationData(); |
|
1019 | 1030 | } |
|
1020 | 1031 | } |
|
1021 | 1032 | |
|
1022 | 1033 | //**************** |
|
1023 | 1034 | // CLOSING ACTIONS |
|
1024 | 1035 | void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time ) |
|
1025 | 1036 | { |
|
1026 | 1037 | /** This function is used to update the HK packets statistics after a successful TC execution. |
|
1027 | 1038 | * |
|
1028 | 1039 | * @param TC points to the TC being processed |
|
1029 | 1040 | * @param time is the time used to date the TC execution |
|
1030 | 1041 | * |
|
1031 | 1042 | */ |
|
1032 | 1043 | |
|
1033 | 1044 | unsigned int val; |
|
1034 | 1045 | |
|
1035 | 1046 | housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0]; |
|
1036 | 1047 | housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1]; |
|
1037 | 1048 | housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00; |
|
1038 | 1049 | housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType; |
|
1039 | 1050 | housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00; |
|
1040 | 1051 | housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType; |
|
1041 | 1052 | housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0]; |
|
1042 | 1053 | housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1]; |
|
1043 | 1054 | housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2]; |
|
1044 | 1055 | housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3]; |
|
1045 | 1056 | housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4]; |
|
1046 | 1057 | housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5]; |
|
1047 | 1058 | |
|
1048 | 1059 | val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1]; |
|
1049 | 1060 | val++; |
|
1050 | 1061 | housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8); |
|
1051 | 1062 | housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val); |
|
1052 | 1063 | } |
|
1053 | 1064 | |
|
1054 | 1065 | void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time ) |
|
1055 | 1066 | { |
|
1056 | 1067 | /** This function is used to update the HK packets statistics after a TC rejection. |
|
1057 | 1068 | * |
|
1058 | 1069 | * @param TC points to the TC being processed |
|
1059 | 1070 | * @param time is the time used to date the TC rejection |
|
1060 | 1071 | * |
|
1061 | 1072 | */ |
|
1062 | 1073 | |
|
1063 | 1074 | unsigned int val; |
|
1064 | 1075 | |
|
1065 | 1076 | housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0]; |
|
1066 | 1077 | housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1]; |
|
1067 | 1078 | housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00; |
|
1068 | 1079 | housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType; |
|
1069 | 1080 | housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00; |
|
1070 | 1081 | housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType; |
|
1071 | 1082 | housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0]; |
|
1072 | 1083 | housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1]; |
|
1073 | 1084 | housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2]; |
|
1074 | 1085 | housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3]; |
|
1075 | 1086 | housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4]; |
|
1076 | 1087 | housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5]; |
|
1077 | 1088 | |
|
1078 | 1089 | val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1]; |
|
1079 | 1090 | val++; |
|
1080 | 1091 | housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8); |
|
1081 | 1092 | housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val); |
|
1082 | 1093 | } |
|
1083 | 1094 | |
|
1084 | 1095 | void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id ) |
|
1085 | 1096 | { |
|
1086 | 1097 | /** This function is the last step of the TC execution workflow. |
|
1087 | 1098 | * |
|
1088 | 1099 | * @param TC points to the TC being processed |
|
1089 | 1100 | * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT) |
|
1090 | 1101 | * @param queue_id is the id of the RTEMS message queue used to send TM packets |
|
1091 | 1102 | * @param time is the time used to date the TC execution |
|
1092 | 1103 | * |
|
1093 | 1104 | */ |
|
1094 | 1105 | |
|
1095 | 1106 | unsigned char requestedMode; |
|
1096 | 1107 | |
|
1097 | 1108 | if (result == LFR_SUCCESSFUL) |
|
1098 | 1109 | { |
|
1099 | 1110 | if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) ) |
|
1100 | 1111 | & |
|
1101 | 1112 | !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO)) |
|
1102 | 1113 | ) |
|
1103 | 1114 | { |
|
1104 | 1115 | send_tm_lfr_tc_exe_success( TC, queue_id ); |
|
1105 | 1116 | } |
|
1106 | 1117 | if ( (TC->serviceType == TC_TYPE_GEN) & (TC->serviceSubType == TC_SUBTYPE_ENTER) ) |
|
1107 | 1118 | { |
|
1108 | 1119 | //********************************** |
|
1109 | 1120 | // UPDATE THE LFRMODE LOCAL VARIABLE |
|
1110 | 1121 | requestedMode = TC->dataAndCRC[1]; |
|
1111 | 1122 | housekeeping_packet.lfr_status_word[0] = (unsigned char) ((requestedMode << 4) + 0x0d); |
|
1112 | 1123 | updateLFRCurrentMode(); |
|
1113 | 1124 | } |
|
1114 | 1125 | } |
|
1115 | 1126 | else if (result == LFR_EXE_ERROR) |
|
1116 | 1127 | { |
|
1117 | 1128 | send_tm_lfr_tc_exe_error( TC, queue_id ); |
|
1118 | 1129 | } |
|
1119 | 1130 | } |
|
1120 | 1131 | |
|
1121 | 1132 | //*************************** |
|
1122 | 1133 | // Interrupt Service Routines |
|
1123 | 1134 | rtems_isr commutation_isr1( rtems_vector_number vector ) |
|
1124 | 1135 | { |
|
1125 | 1136 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { |
|
1126 | 1137 | printf("In commutation_isr1 *** Error sending event to DUMB\n"); |
|
1127 | 1138 | } |
|
1128 | 1139 | } |
|
1129 | 1140 | |
|
1130 | 1141 | rtems_isr commutation_isr2( rtems_vector_number vector ) |
|
1131 | 1142 | { |
|
1132 | 1143 | if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) { |
|
1133 | 1144 | printf("In commutation_isr2 *** Error sending event to DUMB\n"); |
|
1134 | 1145 | } |
|
1135 | 1146 | } |
|
1136 | 1147 | |
|
1137 | 1148 | //**************** |
|
1138 | 1149 | // OTHER FUNCTIONS |
|
1139 | 1150 | void updateLFRCurrentMode() |
|
1140 | 1151 | { |
|
1141 | 1152 | /** This function updates the value of the global variable lfrCurrentMode. |
|
1142 | 1153 | * |
|
1143 | 1154 | * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running. |
|
1144 | 1155 | * |
|
1145 | 1156 | */ |
|
1146 | 1157 | // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure |
|
1147 | 1158 | lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; |
|
1148 | 1159 | } |
|
1149 | 1160 | |
|
1150 | 1161 | void set_lfr_soft_reset( unsigned char value ) |
|
1151 | 1162 | { |
|
1152 | 1163 | if (value == 1) |
|
1153 | 1164 | { |
|
1154 | 1165 | time_management_regs->ctrl = time_management_regs->ctrl | 0x00000004; // [0100] |
|
1155 | 1166 | } |
|
1156 | 1167 | else |
|
1157 | 1168 | { |
|
1158 | 1169 | time_management_regs->ctrl = time_management_regs->ctrl & 0xfffffffb; // [1011] |
|
1159 | 1170 | } |
|
1160 | 1171 | } |
|
1161 | 1172 | |
|
1162 | 1173 | void reset_lfr( void ) |
|
1163 | 1174 | { |
|
1164 | 1175 | set_lfr_soft_reset( 1 ); |
|
1165 | 1176 | |
|
1166 | 1177 | set_lfr_soft_reset( 0 ); |
|
1167 | 1178 | |
|
1168 | 1179 | set_hk_lfr_sc_potential_flag( true ); |
|
1169 | 1180 | } |
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