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Beginning of the message queue implementation for the actions handler
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1 1 <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
2 2 <CodeBlocks_project_file>
3 3 <FileVersion major="1" minor="6" />
4 4 <Project>
5 5 <Option title="FSW-rtems" />
6 6 <Option pch_mode="2" />
7 <Option compiler="sparc_rtems_gcc" />
7 <Option compiler="sparcrtemsgcc446" />
8 8 <Build>
9 9 <Target title="Debug">
10 10 <Option output="bin/Debug/fsw" prefix_auto="1" extension_auto="1" />
11 11 <Option object_output="obj/Debug/" />
12 12 <Option type="1" />
13 <Option compiler="sparc_rtems_gcc_compiler" />
13 <Option compiler="sparcrtems446" />
14 14 <Compiler>
15 15 <Add option="-fexpensive-optimizations" />
16 16 <Add option="-O3" />
17 17 <Add option="-g" />
18 18 <Add directory="../header" />
19 19 <Add directory="../src" />
20 20 </Compiler>
21 21 </Target>
22 22 <Target title="Release">
23 23 <Option output="bin/Release/FSW-rtems" prefix_auto="1" extension_auto="1" />
24 24 <Option object_output="obj/Release/" />
25 25 <Option type="1" />
26 <Option compiler="sparc_rtems_gcc" />
26 <Option compiler="sparcrtemsgcc446" />
27 27 <Compiler>
28 28 <Add option="-O2" />
29 29 </Compiler>
30 30 <Linker>
31 31 <Add option="-s" />
32 32 </Linker>
33 33 </Target>
34 34 </Build>
35 35 <Compiler>
36 36 <Add option="-Wall" />
37 37 </Compiler>
38 38 <Unit filename="../header/ccsds_types.h" />
39 39 <Unit filename="../header/fsw_init.h" />
40 40 <Unit filename="../header/fsw_misc.h" />
41 41 <Unit filename="../header/fsw_params.h" />
42 42 <Unit filename="../header/fsw_processing.h" />
43 43 <Unit filename="../header/grlib_regs.h" />
44 44 <Unit filename="../header/tc_handler.h" />
45 45 <Unit filename="../header/wf_handler.h" />
46 46 <Unit filename="../src/fsw_globals.c">
47 47 <Option compilerVar="CC" />
48 48 </Unit>
49 49 <Unit filename="../src/fsw_init.c">
50 50 <Option compilerVar="CC" />
51 51 </Unit>
52 52 <Unit filename="../src/fsw_misc.c">
53 53 <Option compilerVar="CC" />
54 54 </Unit>
55 55 <Unit filename="../src/fsw_processing.c">
56 56 <Option compilerVar="CC" />
57 57 </Unit>
58 58 <Unit filename="../src/tc_handler.c">
59 59 <Option compilerVar="CC" />
60 60 </Unit>
61 61 <Unit filename="../src/wf_handler.c">
62 62 <Option compilerVar="CC" />
63 63 </Unit>
64 64 <Extensions>
65 65 <code_completion />
66 66 <debugger />
67 67 </Extensions>
68 68 </Project>
69 69 </CodeBlocks_project_file>
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3 3 <ActiveTarget name="Debug" />
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43 43 </CodeBlocks_layout_file>
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1 1 #ifndef FSW_RTEMS_H_INCLUDED
2 2 #define FSW_RTEMS_H_INCLUDED
3 3
4 4 #include <errno.h>
5 5 #include <fcntl.h>
6 6 #include <stdio.h>
7 7 #include <stdlib.h>
8 8
9 9 #include <grspw.h>
10 10 #include <apbuart.h>
11 11
12 12 #include <fsw_params.h>
13 13 #include <fsw_misc.h>
14 14 #include <fsw_processing.h>
15 15 #include <tc_handler.h>
16 16 #include <wf_handler.h>
17 17 #include <grlib_regs.h>
18 18
19 19 extern int sched_yield();
20 20 extern int errno;
21 extern rtems_name misc_names[ ];
21 22
22 23 // RTEMS TASKS
23 24 rtems_task Init( rtems_task_argument argument); /* forward declaration needed */
24 25 rtems_task spw_recv_task(rtems_task_argument argument);
25 26 rtems_task spw_spiq_task(rtems_task_argument argument);
26 27 rtems_task spw_stat_task(rtems_task_argument argument);
27 28 rtems_task spw_wfrm_task(rtems_task_argument argument);
28 29 int create_all_tasks();
29 30 int start_all_tasks();
31 int create_message_queue();
30 32
31 33 // OTHER functions
32 34 int configure_spw_link();
33 35 int send_console_outputs_on_serial_port();
34 36 extern int rtems_cpu_usage_report();
35 37 extern int rtems_cpu_usage_reset();
36 38 void print_statistics(spw_stats *);
37 39 rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send);
38 40
39 41 #endif // FSW_RTEMS_CONFIG_H_INCLUDED
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1 1 #include <fsw_processing.h>
2 #include <rtems.h>
3
4 // RTEMS GLOBAL VARIABLES
5 rtems_name misc_names[5];
2 6
3 7 // WAVEFORMS GLOBAL VARIABLES
4 8 volatile int wf_snap_f0[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
5 9 volatile int wf_snap_f1[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
6 10 volatile int wf_snap_f2[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
7 11 volatile int wf_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
8 12
9 13 // SPECTRAL MATRICES GLOBAL VARIABLES
10 14 volatile int spec_mat_f0_a[ TOTAL_SIZE_SPEC_MAT ];
11 15 volatile int spec_mat_f0_b[ TOTAL_SIZE_SPEC_MAT ];
12 16 volatile int spec_mat_f0_c[ TOTAL_SIZE_SPEC_MAT ];
13 17 volatile int spec_mat_f0_d[ TOTAL_SIZE_SPEC_MAT ];
14 18 volatile int spec_mat_f0_e[ TOTAL_SIZE_SPEC_MAT ];
15 19 volatile int spec_mat_f0_f[ TOTAL_SIZE_SPEC_MAT ];
16 20 volatile int spec_mat_f0_g[ TOTAL_SIZE_SPEC_MAT ];
17 21 volatile int spec_mat_f0_h[ TOTAL_SIZE_SPEC_MAT ];
18 22 //
19 23 float averaged_spec_mat_f0[ TOTAL_SIZE_SPEC_MAT ];
20 24 float compressed_spec_mat_f0[ TOTAL_SIZE_COMPRESSED_MATRIX_f0 ];
21 25
22 26 // BASIC PARAMETERS GLOBAL VAIRABLES
23 27 unsigned char LFR_BP1_F0[ NB_BINS_COMPRESSED_MATRIX_f0 * 9 ];
24 28
25 29 BP1_t data_BP1[ NB_BINS_COMPRESSED_MATRIX_f0 ];
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1 1 //*************************
2 2 // GPL reminder to be added
3 3 //*************************
4 4
5 5 #include <rtems.h>
6 6
7 7 /* configuration information */
8 8
9 9 #define CONFIGURE_INIT
10 10
11 11 #include <bsp.h> /* for device driver prototypes */
12 12
13 13 /* configuration information */
14 14
15 15 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
16 16 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
17 17
18 18 #define CONFIGURE_MAXIMUM_TASKS 10
19 19 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
20 20 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
21 21 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
22 22 #define CONFIGURE_INIT_TASK_PRIORITY 100
23 23 #define CONFIGURE_MAXIMUM_DRIVERS 16
24 24 #define CONFIGURE_MAXIMUM_PERIODS 1
25 25
26 26 #include <rtems/confdefs.h>
27 27
28 28 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
29 29 #ifdef RTEMS_DRVMGR_STARTUP
30 30 #ifdef LEON3
31 31 /* Add Timer and UART Driver */
32 32 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
33 33 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
34 34 #endif
35 35 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
36 36 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
37 37 #endif
38 38 #endif
39 39 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
40 40 #include <drvmgr/drvmgr_confdefs.h>
41 41 #endif
42 42
43 43 #include <fsw_init.h>
44 44 #include <fsw_config.c>
45 45
46 46 int fdSPW;
47 47 int fdUART;
48 48
49 49 char *link_status(int status);
50 50
51 51 char *lstates[6] = {"Error-reset",
52 52 "Error-wait",
53 53 "Ready",
54 54 "Started",
55 55 "Connecting",
56 56 "Run"
57 57 };
58 58
59 59 rtems_id Task_id[10]; /* array of task ids */
60 60 rtems_name Task_name[10]; /* array of task names */
61 61
62 62 rtems_task Init( rtems_task_argument ignored )
63 63 {
64 64 rtems_status_code status;
65 65
66 66 //send_console_outputs_on_serial_port();
67 67
68 68 InitLookUpTableForCRC(); // in tc_handler.h
69 69
70 create_message_queue();
70 71 create_all_tasks();
71 72 start_all_tasks();
72 73
73 74 configure_spw_link();
74 75 // configure timer for spectral matrices simulation
75 76 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
76 77 IRQ_SPARC_SM, spectral_matrices_isr );
77 78 // configure timer for waveforms simulation
78 79 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
79 80 IRQ_SPARC_WF, waveforms_isr );
80 81
81 82 LEON_Unmask_interrupt( IRQ_SM );
82 83 LEON_Unmask_interrupt( IRQ_WF );
83 84
84 85 status = rtems_task_delete(RTEMS_SELF);
85 86 }
86 87
87 88 rtems_task spw_spiq_task(rtems_task_argument unused)
88 89 {
89 90 rtems_event_set event_out;
90 91 struct grspw_regs_str *grspw_regs;
91 92 grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW;
92 93
93 94 while(1){
94 95 PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
95 96 rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
96 97
97 98 if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL) // suspend RECV task
98 99 PRINTF("In SPIQ *** Error suspending RECV Task\n")
99 100
100 101 configure_spw_link();
101 102
102 103 if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task
103 104 PRINTF("In SPIQ *** Error resume RECV Task\n")
104 105 }
105 106 }
106 107
108 int create_message_queue()
109 {
110 misc_names[0] = rtems_build_name( 'D', 'O', 'I', 'T' );
111 return 0;
112 }
113
107 114 int create_all_tasks()
108 115 {
109 116 rtems_status_code status;
110 117
111 118 Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
112 119 Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' );
113 120 Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' );
114 121 Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' );
115 122 Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' );
116 123 Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' );
117 124 Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' );
118 125
119 126 // RECV
120 127 status = rtems_task_create(
121 128 Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
122 129 RTEMS_DEFAULT_MODES,
123 130 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1]
124 131 );
125 132 // SPIQ
126 133 status = rtems_task_create(
127 134 Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
128 135 RTEMS_DEFAULT_MODES,
129 136 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3]
130 137 );
131 138 // SMIQ
132 139 status = rtems_task_create(
133 140 Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
134 141 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
135 142 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4]
136 143 );
137 144 // STAT
138 145 status = rtems_task_create(
139 146 Task_name[5], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
140 147 RTEMS_DEFAULT_MODES,
141 148 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5]
142 149 );
143 150 // AVF0
144 151 status = rtems_task_create(
145 152 Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
146 153 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
147 154 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6]
148 155 );
149 156 // BPF0
150 157 status = rtems_task_create(
151 158 Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
152 159 RTEMS_DEFAULT_MODES,
153 160 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7]
154 161 );
155 162 // WFRM
156 163 status = rtems_task_create(
157 164 Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
158 165 RTEMS_DEFAULT_MODES,
159 166 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8]
160 167 );
161 168
162 169 return 0;
163 170 }
164 171
165 172 int start_all_tasks()
166 173 {
167 174 rtems_status_code status;
168 175
169 176 status = rtems_task_start( Task_id[3], spw_spiq_task, 1 );
170 177 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n")
171 178
172 179 status = rtems_task_start( Task_id[1], spw_recv_task, 1 );
173 180 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n")
174 181
175 182 //status = rtems_task_start( Task_id[4], spw_bppr_task_rate_monotonic, 1 );
176 183 status = rtems_task_start( Task_id[4], spw_smiq_task, 1 );
177 184 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n")
178 185
179 186 status = rtems_task_start( Task_id[5], spw_stat_task, 1 );
180 187 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n")
181 188
182 189 status = rtems_task_start( Task_id[6], spw_avf0_task, 1 );
183 190 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n")
184 191
185 192 status = rtems_task_start( Task_id[7], spw_bpf0_task, 1 );
186 193 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n")
187 194
188 195 status = rtems_task_start( Task_id[8], spw_wfrm_task, 1 );
189 196 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n")
190 197
191 198 return 0;
192 199 }
193 200
194 201 int configure_spw_link()
195 202 {
196 203 rtems_status_code status;
197 204
198 205 close(fdSPW); // close the device if it is already open
199 206 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
200 207 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
201 208 while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){
202 209 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n")
203 210 close(fdSPW); // close the device
204 211 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
205 212 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
206 213 rtems_task_wake_after(100);
207 214 }
208 215
209 216 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
210 217
211 218 // sets a few parameters of the link
212 219 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit
213 220 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n")
214 221 //
215 222 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
216 223 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
217 224 //
218 225 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]); // sets the task ID to which an event is sent when a
219 226 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
220 227 //
221 228 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts
222 229 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
223 230 //
224 231 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
225 232 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
226 233
227 234 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit
228 235 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
229 236 //
230 237 //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key
231 238 //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
232 239 //
233 240 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
234 241
235 242 return RTEMS_SUCCESSFUL;
236 243 }
237 244
238 245 char *link_status(int status){
239 246 return lstates[status];
240 247 }
241 248
242 249 rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
243 250 {
244 251 rtems_status_code status;
245 252 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
246 253 if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n");
247 254 return status;
248 255 }
249 256
250 257
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@@ -1,331 +1,331
1 1 #include <tc_handler.h>
2 2 #include <fsw_params.h>
3 3
4 4 char *errorCCSDSMsg[8] = { "ILLEGAL_APID 0",
5 5 "WRONG_LEN_PACKET 1",
6 6 "INCOR_CHECKSUM 2",
7 7 "ILL_TYPE 3",
8 8 "ILL_SUBTYPE 4",
9 9 "WRONG_APP_DATA 5",
10 10 "WRONG_CMD_CODE 6",
11 11 "CCSDS_TM_VALID 7"
12 12 };
13 13
14 14 //**********************
15 15 // GENERAL USE FUNCTIONS
16 16 unsigned int Crc_opt( unsigned char D, unsigned int Chk)
17 17 {
18 18 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
19 19 }
20 20
21 21 void InitLookUpTableForCRC()
22 22 {
23 23 unsigned int i, tmp;
24 24 for (i=0; i<256; i++)
25 25 {
26 26 tmp = 0;
27 27 if((i & 1) != 0) tmp = tmp ^ 0x1021;
28 28 if((i & 2) != 0) tmp = tmp ^ 0x2042;
29 29 if((i & 4) != 0) tmp = tmp ^ 0x4084;
30 30 if((i & 8) != 0) tmp = tmp ^ 0x8108;
31 31 if((i & 16) != 0) tmp = tmp ^ 0x1231;
32 32 if((i & 32) != 0) tmp = tmp ^ 0x2462;
33 33 if((i & 64) != 0) tmp = tmp ^ 0x48c4;
34 34 if((i & 128) != 0) tmp = tmp ^ 0x9188;
35 35 lookUpTableForCRC[i] = tmp;
36 36 }
37 37 }
38 38
39 39 void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
40 40 {
41 41 unsigned int Chk;
42 42 int j;
43 43 Chk = 0xffff; // reset the syndrom to all ones
44 44 for (j=0; j<sizeOfData; j++) {
45 45 Chk = Crc_opt(data[j], Chk);
46 46 }
47 47 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
48 48 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
49 49 }
50 50
51 51
52 52 //*********************
53 53 // ACCEPTANCE FUNCTIONS
54 54 unsigned int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV,
55 55 TMHeader_t *TM_Header, unsigned int *hlen, char *data)
56 56 {
57 57 unsigned int code = 0;
58 58 unsigned int data_length = 0;
59 59 unsigned char computed_CRC[2];
60 60 unsigned char subtype = 0;
61 61
62 62 subtype = TC->dataFieldHeader[2];
63 63 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, TC_LEN_RCV + 5 );
64 64 code = acceptTM( TC, TC_LEN_RCV ) ;
65 65 //PRINTF1("in TC_checker *** %s\n", errorCCSDSMsg[code]);
66 66 if ( (code == 0) | (code == 1) | (code == 2)
67 67 | (code == 3) | (code == 4) | (code == 5) )
68 68 { // generate TM_LFR_TC_EXE_CORRUPTED
69 69 // BUILD HEADER
70 70 TM_build_header( TM_LFR_TC_EXE_ERR, SID_EXE_CORR, TM_LEN_EXE_CORR, 0, 0, TM_Header);
71 71 // BUILD DATA
72 72 TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
73 73 data_length = TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
74 74 }
75 75 if (subtype == SID_TC_UPDT_TIME){
76 76 // BUILD HEADER
77 77 TM_build_header( TM_LFR_TC_EXE_OK, SID_DEFAULT, TM_LEN_EXE, 0, 0, TM_Header);
78 78 // BUILD DATA
79 79 TM_build_data( TC, data, SID_DEFAULT, computed_CRC);
80 80 data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
81 81 }
82 82 else { // TM_LFR_TC_EXE_NOT_IMPLEMENTED
83 83 // BUILD HEADER
84 84 TM_build_header( TM_LFR_TC_EXE_ERR, SID_NOT_IMP, TM_LEN_NOT_IMP, 0, 0, TM_Header);
85 85 // BUILD DATA
86 86 TM_build_data( TC, data, SID_NOT_IMP, computed_CRC);
87 87 data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
88 88 }
89 89
90 90 return data_length;
91 91 }
92 92
93 93 unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
94 94 {
95 95 unsigned char pid = 0;
96 96 unsigned char category = 0;
97 97 unsigned int length = 0;
98 98 unsigned char packetType = 0;
99 99 unsigned char packetSubtype = 0;
100 100 unsigned char * CCSDSContent;
101 101
102 102 // APID check *** APID on 2 bytes
103 103 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx
104 104 category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
105 105 if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID;
106 106 if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID;
107 107
108 108 // packet length check
109 109 length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1];
110 110 if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
111 111 if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
112 112
113 113 packetType = TMPacket->dataFieldHeader[1];
114 114 packetSubtype = TMPacket->dataFieldHeader[2];
115 115 // service type, subtype and packet length check
116 116 if (packetType == 181){
117 117 switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
118 118 case 3:
119 119 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
120 120 break;
121 121 case 20:
122 122 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
123 123 break;
124 124 case 21:
125 125 if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
126 126 break;
127 127 case 24:
128 128 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
129 129 break;
130 130 case 27:
131 131 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
132 132 break;
133 133 case 28:
134 134 if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
135 135 break;
136 136 case 30:
137 137 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
138 138 break;
139 139 case 40:
140 140 if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
141 141 break;
142 142 case 50:
143 143 if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
144 144 break;
145 145 case 60:
146 146 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
147 147 break;
148 148 case 61:
149 149 if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
150 150 break;
151 151 default:
152 152 return ILL_SUBTYPE;
153 153 break;
154 154 }
155 155 }
156 156 else if (packetType == 9){
157 157 if (packetSubtype!=129) return ILL_SUBTYPE;
158 158 if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
159 159 }
160 160 else return ILL_TYPE;
161 161
162 162 // source ID check // Source ID not documented in the ICD
163 163
164 164 // packet error control, CRC check
165 165 CCSDSContent = (unsigned char*) TMPacket->packetID;
166 166 GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
167 167 if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM;
168 168 if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM;
169 169
170 170 return CCSDS_TM_VALID;
171 171 }
172 172
173 173 unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int SID, unsigned int packetLength,
174 174 unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
175 175 {
176 176 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
177 177 TMHeader->protocolIdentifier = 0x02;
178 178 TMHeader->reserved = 0x00;
179 179 TMHeader->userApplication = 0x00;
180 180 TMHeader->packetID[0] = 0x0c;
181 181 TMHeader->packetSequenceControl[0] = 0xc0;
182 182 TMHeader->packetSequenceControl[1] = 0x00;
183 183 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
184 184 TMHeader->packetLength[1] = (unsigned char) packetLength;
185 185 TMHeader->dataFieldHeader[0] = 0x10;
186 186 TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
187 187 switch (tm_type){
188 188 case(TM_LFR_TC_EXE_OK):
189 189 TMHeader->packetID[1] = 0xc1;
190 190 TMHeader->dataFieldHeader[1] = 1; // type
191 191 TMHeader->dataFieldHeader[2] = 7; // subtype
192 192 break;
193 193 case(TM_LFR_TC_EXE_ERR):
194 194 TMHeader->packetID[1] = 0xc1;
195 195 TMHeader->dataFieldHeader[1] = 1; // type
196 196 TMHeader->dataFieldHeader[2] = 8; // subtype
197 197 break;
198 198 case(TM_LFR_HK):
199 199 TMHeader->packetID[1] = 0xc4;
200 200 TMHeader->dataFieldHeader[1] = 3; // type
201 201 TMHeader->dataFieldHeader[2] = 25; // subtype
202 202 break;
203 203 case(TM_LFR_SCI):
204 204 TMHeader->packetID[1] = 0xcc;
205 205 TMHeader->dataFieldHeader[1] = 21; // type
206 206 TMHeader->dataFieldHeader[2] = 3; // subtype
207 207 break;
208 208 case(TM_LFR_SCI_SBM):
209 209 TMHeader->packetID[1] = 0xfc;
210 210 TMHeader->dataFieldHeader[1] = 21; // type
211 211 TMHeader->dataFieldHeader[2] = 3; // subtype
212 212 break;
213 213 case(TM_LFR_PAR_DUMP):
214 214 TMHeader->packetID[1] = 0xc9;
215 215 TMHeader->dataFieldHeader[1] = 181; // type
216 216 TMHeader->dataFieldHeader[2] = 31; // subtype
217 217 break;
218 218 default:
219 219 return 0;
220 220 }
221 221 /*TMHeader->dataFieldHeader[4] = (unsigned char) (coarseTime>>24);
222 222 TMHeader->dataFieldHeader[5] = (unsigned char) (coarseTime>>16);
223 223 TMHeader->dataFieldHeader[6] = (unsigned char) (coarseTime>>8);
224 224 TMHeader->dataFieldHeader[7] = (unsigned char) (coarseTime);
225 225 TMHeader->dataFieldHeader[8] = (unsigned char) (fineTime>>8);
226 226 TMHeader->dataFieldHeader[9] = (unsigned char) (fineTime);*/
227 227 TMHeader->dataFieldHeader[4] = 0xaa;
228 228 TMHeader->dataFieldHeader[5] = 0xbb;
229 229 TMHeader->dataFieldHeader[6] = 0xcc;
230 230 TMHeader->dataFieldHeader[7] = 0xdd;
231 231 TMHeader->dataFieldHeader[8] = 0xee;
232 232 TMHeader->dataFieldHeader[9] = 0xff;
233 233 return 1;
234 234 }
235 235
236 236 unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
237 237 {
238 238 unsigned int packetLength;
239 239 packetLength = TC->packetLength[0] * 256 + TC->packetLength[1];
240 240 switch (SID){
241 241 case (SID_NOT_EXE):
242 242 break;
243 243 case (SID_NOT_IMP):
244 244 data[0] = 0x9c;
245 245 data[1] = 0x42;
246 246 data[2] = TC->packetID[0];
247 247 data[3] = TC->packetID[1];
248 248 data[4] = TC->packetSequenceControl[0];
249 249 data[5] = TC->packetSequenceControl[1];
250 250 data[6] = TC->dataFieldHeader[1]; // type
251 251 data[7] = TC->dataFieldHeader[2]; // subtype
252 252 break;
253 253 case (SID_EXE_ERR):
254 254 break;
255 255 case (SID_EXE_CORR):
256 256 data[0] = 0x9c;
257 257 data[1] = 0x45;
258 258 data[2] = TC->packetID[0];
259 259 data[3] = TC->packetID[1];
260 260 data[4] = TC->packetSequenceControl[0];
261 261 data[5] = TC->packetSequenceControl[1];
262 262 data[6] = TC->dataFieldHeader[1]; // type
263 263 data[7] = TC->dataFieldHeader[2]; // subtype
264 264 data[8] = currentTC_LEN_RCV[0];
265 265 data[9] = currentTC_LEN_RCV[1];
266 266 data[10] = TC->packetLength[0];
267 267 data[11] = TC->packetLength[1];
268 268 data[12] = TC->dataAndCRC[packetLength];
269 269 data[13] = TC->dataAndCRC[packetLength+1];
270 270 data[14] = computed_CRC[0];
271 271 data[15] = computed_CRC[1];
272 272 break;
273 273 default:
274 274 return 0;
275 275 }
276 276 return 1;
277 277 }
278 278
279 279 unsigned char actionLauncher(unsigned int sid)
280 280 {
281
281 return 0;
282 282 }
283 283
284 284 //***********
285 285 // RTEMS TASK
286 286 rtems_task spw_recv_task( rtems_task_argument unused )
287 287 {
288 288 rtems_status_code status;
289 289 int len = 0;
290 290 unsigned int i = 0;
291 291 unsigned int data_length = 0;
292 292 ccsdsTelecommandPacket_t currentTC;
293 293 spw_ioctl_pkt_send spw_ioctl_send;
294 294 TMHeader_t TM_header;
295 295 char data[100];
296 296
297 297 for(i=0; i<100; i++) data[i] = 0;
298 298
299 299 PRINTF("In RECV *** \n")
300 300
301 301 while(1){
302 302 len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
303 303 if (len == -1){ // error during the read call
304 304 PRINTF("In RECV *** last read call returned -1\n")
305 305 if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL)
306 306 PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
307 307 if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL)
308 308 PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
309 309 }
310 310 else {
311 311 //PRINTF1("In RECV *** Got Message of length %d\n", len)
312 312 currentTC_LEN_RCV[0] = 0x00;
313 313 currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // build the corresponding packet size field
314 314 currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes
315 315 // CHECK THE TC AND BUILD THE APPROPRIATE TM
316 316 data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt,
317 317 &TM_header, &spw_ioctl_send.hlen, data);
318 318 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
319 319 spw_ioctl_send.hdr = (char*) &TM_header;
320 320 spw_ioctl_send.dlen = data_length;
321 321 spw_ioctl_send.data = data;
322 322 //printf("hlen %d, dlen %d\n", spw_ioctl_send.hlen, spw_ioctl_send.dlen);
323 323 // SEND PACKET
324 324 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
325 325 if (status!=RTEMS_SUCCESSFUL) printf("In TC_checker *** Error SPACEWIRE_IOCTRL_SEND\n");
326 326 //PRINTF1("In TC_checker *** packet of size %d sent\n", spw_ioctl_send.sent)
327 327 }
328 328 }
329 329 }
330 330
331 331
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