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rev 1.0.0.3
paul -
r109:be3fd1d0953f VHDLib206
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1 1 #############################################################################
2 2 # Makefile for building: bin/fsw
3 # Generated by qmake (2.01a) (Qt 4.8.5) on: Tue Mar 25 09:47:02 2014
3 # Generated by qmake (2.01a) (Qt 4.8.5) on: Thu Mar 27 13:16:57 2014
4 4 # Project: fsw-qt.pro
5 5 # Template: app
6 6 # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
7 7 #############################################################################
8 8
9 9 ####### Compiler, tools and options
10 10
11 11 CC = sparc-rtems-gcc
12 12 CXX = sparc-rtems-g++
13 DEFINES = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=3 -DVHDL_DEV -DPRINT_MESSAGES_ON_CONSOLE
13 DEFINES = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=3 -DPRINT_MESSAGES_ON_CONSOLE
14 14 CFLAGS = -pipe -O3 -Wall $(DEFINES)
15 15 CXXFLAGS = -pipe -O3 -Wall $(DEFINES)
16 16 INCPATH = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../../LFR_basic-parameters
17 17 LINK = sparc-rtems-g++
18 18 LFLAGS =
19 19 LIBS = $(SUBLIBS)
20 20 AR = sparc-rtems-ar rcs
21 21 RANLIB =
22 22 QMAKE = /usr/bin/qmake-qt4
23 23 TAR = tar -cf
24 24 COMPRESS = gzip -9f
25 25 COPY = cp -f
26 26 SED = sed
27 27 COPY_FILE = $(COPY)
28 28 COPY_DIR = $(COPY) -r
29 29 STRIP = sparc-rtems-strip
30 30 INSTALL_FILE = install -m 644 -p
31 31 INSTALL_DIR = $(COPY_DIR)
32 32 INSTALL_PROGRAM = install -m 755 -p
33 33 DEL_FILE = rm -f
34 34 SYMLINK = ln -f -s
35 35 DEL_DIR = rmdir
36 36 MOVE = mv -f
37 37 CHK_DIR_EXISTS= test -d
38 38 MKDIR = mkdir -p
39 39
40 40 ####### Output directory
41 41
42 42 OBJECTS_DIR = obj/
43 43
44 44 ####### Files
45 45
46 46 SOURCES = ../src/wf_handler.c \
47 47 ../src/tc_handler.c \
48 48 ../src/fsw_processing.c \
49 49 ../src/fsw_misc.c \
50 50 ../src/fsw_init.c \
51 51 ../src/fsw_globals.c \
52 52 ../src/fsw_spacewire.c \
53 53 ../src/tc_load_dump_parameters.c \
54 54 ../src/tm_lfr_tc_exe.c \
55 55 ../src/tc_acceptance.c \
56 56 ../../LFR_basic-parameters/basic_parameters.c
57 57 OBJECTS = obj/wf_handler.o \
58 58 obj/tc_handler.o \
59 59 obj/fsw_processing.o \
60 60 obj/fsw_misc.o \
61 61 obj/fsw_init.o \
62 62 obj/fsw_globals.o \
63 63 obj/fsw_spacewire.o \
64 64 obj/tc_load_dump_parameters.o \
65 65 obj/tm_lfr_tc_exe.o \
66 66 obj/tc_acceptance.o \
67 67 obj/basic_parameters.o
68 68 DIST = /usr/lib64/qt4/mkspecs/common/unix.conf \
69 69 /usr/lib64/qt4/mkspecs/common/linux.conf \
70 70 /usr/lib64/qt4/mkspecs/common/gcc-base.conf \
71 71 /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
72 72 /usr/lib64/qt4/mkspecs/common/g++-base.conf \
73 73 /usr/lib64/qt4/mkspecs/common/g++-unix.conf \
74 74 /usr/lib64/qt4/mkspecs/qconfig.pri \
75 75 /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
76 76 /usr/lib64/qt4/mkspecs/features/qt_functions.prf \
77 77 /usr/lib64/qt4/mkspecs/features/qt_config.prf \
78 78 /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
79 79 /usr/lib64/qt4/mkspecs/features/default_pre.prf \
80 80 sparc.pri \
81 81 /usr/lib64/qt4/mkspecs/features/release.prf \
82 82 /usr/lib64/qt4/mkspecs/features/default_post.prf \
83 83 /usr/lib64/qt4/mkspecs/features/shared.prf \
84 84 /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
85 85 /usr/lib64/qt4/mkspecs/features/warn_on.prf \
86 86 /usr/lib64/qt4/mkspecs/features/resources.prf \
87 87 /usr/lib64/qt4/mkspecs/features/uic.prf \
88 88 /usr/lib64/qt4/mkspecs/features/yacc.prf \
89 89 /usr/lib64/qt4/mkspecs/features/lex.prf \
90 90 /usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
91 91 fsw-qt.pro
92 92 QMAKE_TARGET = fsw
93 93 DESTDIR = bin/
94 94 TARGET = bin/fsw
95 95
96 96 first: all
97 97 ####### Implicit rules
98 98
99 99 .SUFFIXES: .o .c .cpp .cc .cxx .C
100 100
101 101 .cpp.o:
102 102 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
103 103
104 104 .cc.o:
105 105 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
106 106
107 107 .cxx.o:
108 108 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
109 109
110 110 .C.o:
111 111 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
112 112
113 113 .c.o:
114 114 $(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
115 115
116 116 ####### Build rules
117 117
118 118 all: Makefile $(TARGET)
119 119
120 120 $(TARGET): $(OBJECTS)
121 121 @$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
122 122 $(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
123 123
124 124 Makefile: fsw-qt.pro /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
125 125 /usr/lib64/qt4/mkspecs/common/linux.conf \
126 126 /usr/lib64/qt4/mkspecs/common/gcc-base.conf \
127 127 /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
128 128 /usr/lib64/qt4/mkspecs/common/g++-base.conf \
129 129 /usr/lib64/qt4/mkspecs/common/g++-unix.conf \
130 130 /usr/lib64/qt4/mkspecs/qconfig.pri \
131 131 /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
132 132 /usr/lib64/qt4/mkspecs/features/qt_functions.prf \
133 133 /usr/lib64/qt4/mkspecs/features/qt_config.prf \
134 134 /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
135 135 /usr/lib64/qt4/mkspecs/features/default_pre.prf \
136 136 sparc.pri \
137 137 /usr/lib64/qt4/mkspecs/features/release.prf \
138 138 /usr/lib64/qt4/mkspecs/features/default_post.prf \
139 139 /usr/lib64/qt4/mkspecs/features/shared.prf \
140 140 /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
141 141 /usr/lib64/qt4/mkspecs/features/warn_on.prf \
142 142 /usr/lib64/qt4/mkspecs/features/resources.prf \
143 143 /usr/lib64/qt4/mkspecs/features/uic.prf \
144 144 /usr/lib64/qt4/mkspecs/features/yacc.prf \
145 145 /usr/lib64/qt4/mkspecs/features/lex.prf \
146 146 /usr/lib64/qt4/mkspecs/features/include_source_dir.prf
147 147 $(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
148 148 /usr/lib64/qt4/mkspecs/common/unix.conf:
149 149 /usr/lib64/qt4/mkspecs/common/linux.conf:
150 150 /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
151 151 /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
152 152 /usr/lib64/qt4/mkspecs/common/g++-base.conf:
153 153 /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
154 154 /usr/lib64/qt4/mkspecs/qconfig.pri:
155 155 /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
156 156 /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
157 157 /usr/lib64/qt4/mkspecs/features/qt_config.prf:
158 158 /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
159 159 /usr/lib64/qt4/mkspecs/features/default_pre.prf:
160 160 sparc.pri:
161 161 /usr/lib64/qt4/mkspecs/features/release.prf:
162 162 /usr/lib64/qt4/mkspecs/features/default_post.prf:
163 163 /usr/lib64/qt4/mkspecs/features/shared.prf:
164 164 /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
165 165 /usr/lib64/qt4/mkspecs/features/warn_on.prf:
166 166 /usr/lib64/qt4/mkspecs/features/resources.prf:
167 167 /usr/lib64/qt4/mkspecs/features/uic.prf:
168 168 /usr/lib64/qt4/mkspecs/features/yacc.prf:
169 169 /usr/lib64/qt4/mkspecs/features/lex.prf:
170 170 /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
171 171 qmake: FORCE
172 172 @$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
173 173
174 174 dist:
175 175 @$(CHK_DIR_EXISTS) obj/fsw1.0.0 || $(MKDIR) obj/fsw1.0.0
176 176 $(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw1.0.0/ && (cd `dirname obj/fsw1.0.0` && $(TAR) fsw1.0.0.tar fsw1.0.0 && $(COMPRESS) fsw1.0.0.tar) && $(MOVE) `dirname obj/fsw1.0.0`/fsw1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw1.0.0
177 177
178 178
179 179 clean:compiler_clean
180 180 -$(DEL_FILE) $(OBJECTS)
181 181 -$(DEL_FILE) *~ core *.core
182 182
183 183
184 184 ####### Sub-libraries
185 185
186 186 distclean: clean
187 187 -$(DEL_FILE) $(TARGET)
188 188 -$(DEL_FILE) Makefile
189 189
190 190
191 191 grmon:
192 192 cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
193 193
194 194 check: first
195 195
196 196 compiler_rcc_make_all:
197 197 compiler_rcc_clean:
198 198 compiler_uic_make_all:
199 199 compiler_uic_clean:
200 200 compiler_image_collection_make_all: qmake_image_collection.cpp
201 201 compiler_image_collection_clean:
202 202 -$(DEL_FILE) qmake_image_collection.cpp
203 203 compiler_yacc_decl_make_all:
204 204 compiler_yacc_decl_clean:
205 205 compiler_yacc_impl_make_all:
206 206 compiler_yacc_impl_clean:
207 207 compiler_lex_make_all:
208 208 compiler_lex_clean:
209 209 compiler_clean:
210 210
211 211 ####### Compile
212 212
213 213 obj/wf_handler.o: ../src/wf_handler.c
214 214 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
215 215
216 216 obj/tc_handler.o: ../src/tc_handler.c
217 217 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
218 218
219 219 obj/fsw_processing.o: ../src/fsw_processing.c ../src/fsw_processing_globals.c
220 220 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
221 221
222 222 obj/fsw_misc.o: ../src/fsw_misc.c
223 223 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
224 224
225 225 obj/fsw_init.o: ../src/fsw_init.c ../src/fsw_config.c
226 226 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
227 227
228 228 obj/fsw_globals.o: ../src/fsw_globals.c
229 229 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
230 230
231 231 obj/fsw_spacewire.o: ../src/fsw_spacewire.c
232 232 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
233 233
234 234 obj/tc_load_dump_parameters.o: ../src/tc_load_dump_parameters.c
235 235 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_load_dump_parameters.o ../src/tc_load_dump_parameters.c
236 236
237 237 obj/tm_lfr_tc_exe.o: ../src/tm_lfr_tc_exe.c
238 238 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/tm_lfr_tc_exe.o ../src/tm_lfr_tc_exe.c
239 239
240 240 obj/tc_acceptance.o: ../src/tc_acceptance.c
241 241 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_acceptance.o ../src/tc_acceptance.c
242 242
243 243 obj/basic_parameters.o: ../../LFR_basic-parameters/basic_parameters.c ../../LFR_basic-parameters/basic_parameters.h
244 244 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/basic_parameters.o ../../LFR_basic-parameters/basic_parameters.c
245 245
246 246 ####### Install
247 247
248 248 install: FORCE
249 249
250 250 uninstall: FORCE
251 251
252 252 FORCE:
253 253
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@@ -1,85 +1,85
1 1 TEMPLATE = app
2 2 # CONFIG += console v8 sim
3 3 # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch
4 CONFIG += console verbose vhdl_dev
4 CONFIG += console verbose
5 5 CONFIG -= qt
6 6
7 7 include(./sparc.pri)
8 8
9 9 # flight software version
10 10 SWVERSION=-1-0
11 11 DEFINES += SW_VERSION_N1=1 # major
12 12 DEFINES += SW_VERSION_N2=0 # minor
13 13 DEFINES += SW_VERSION_N3=0 # patch
14 14 DEFINES += SW_VERSION_N4=3 # internal
15 15
16 16 contains( CONFIG, debug_tch ) {
17 17 DEFINES += DEBUG_TCH
18 18 }
19 19
20 20 contains( CONFIG, vhdl_dev ) {
21 21 DEFINES += VHDL_DEV
22 22 }
23 23
24 24 contains( CONFIG, verbose ) {
25 25 DEFINES += PRINT_MESSAGES_ON_CONSOLE
26 26 }
27 27
28 28 contains( CONFIG, debug_messages ) {
29 29 DEFINES += DEBUG_MESSAGES
30 30 }
31 31
32 32 contains( CONFIG, cpu_usage_report ) {
33 33 DEFINES += PRINT_TASK_STATISTICS
34 34 }
35 35
36 36 contains( CONFIG, stack_report ) {
37 37 DEFINES += PRINT_STACK_REPORT
38 38 }
39 39
40 40 contains( CONFIG, boot_messages ) {
41 41 DEFINES += BOOT_MESSAGES
42 42 }
43 43
44 44 #doxygen.target = doxygen
45 45 #doxygen.commands = doxygen ../doc/Doxyfile
46 46 #QMAKE_EXTRA_TARGETS += doxygen
47 47
48 48 TARGET = fsw
49 49
50 50 INCLUDEPATH += \
51 51 ../src \
52 52 ../header \
53 53 ../../LFR_basic-parameters
54 54
55 55 SOURCES += \
56 56 ../src/wf_handler.c \
57 57 ../src/tc_handler.c \
58 58 ../src/fsw_processing.c \
59 59 ../src/fsw_misc.c \
60 60 ../src/fsw_init.c \
61 61 ../src/fsw_globals.c \
62 62 ../src/fsw_spacewire.c \
63 63 ../src/tc_load_dump_parameters.c \
64 64 ../src/tm_lfr_tc_exe.c \
65 65 ../src/tc_acceptance.c \
66 66 ../../LFR_basic-parameters/basic_parameters.c
67 67
68 68
69 69 HEADERS += \
70 70 ../header/wf_handler.h \
71 71 ../header/tc_handler.h \
72 72 ../header/grlib_regs.h \
73 73 ../header/fsw_processing.h \
74 74 ../header/fsw_params.h \
75 75 ../header/fsw_misc.h \
76 76 ../header/fsw_init.h \
77 77 ../header/ccsds_types.h \
78 78 ../header/fsw_params_processing.h \
79 79 ../header/fsw_spacewire.h \
80 80 ../header/tc_load_dump_parameters.h \
81 81 ../header/tm_lfr_tc_exe.h \
82 82 ../header/tc_acceptance.h \
83 83 ../header/fsw_params_nb_bytes.h \
84 84 ../../LFR_basic-parameters/basic_parameters.h
85 85
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@@ -1,339 +1,339
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@@ -1,58 +1,59
1 1 #ifndef TC_HANDLER_H_INCLUDED
2 2 #define TC_HANDLER_H_INCLUDED
3 3
4 4 #include <rtems.h>
5 5 #include <leon.h>
6 6
7 7 #include "tc_load_dump_parameters.h"
8 8 #include "tc_acceptance.h"
9 9 #include "tm_lfr_tc_exe.h"
10 10 #include "wf_handler.h"
11 11 #include "fsw_processing.h"
12 12
13 13 // MODE PARAMETERS
14 14 extern unsigned int maxCount;
15 15
16 16 //****
17 17 // ISR
18 18 rtems_isr commutation_isr1( rtems_vector_number vector );
19 19 rtems_isr commutation_isr2( rtems_vector_number vector );
20 20
21 21 //***********
22 22 // RTEMS TASK
23 23 rtems_task actn_task( rtems_task_argument unused );
24 24
25 25 //***********
26 26 // TC ACTIONS
27 int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
28 int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
29 int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
30 int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
31 int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
32 int action_update_time(ccsdsTelecommandPacket_t *TC);
27 int action_reset( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
28 int action_enter_mode( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
29 int action_update_info( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
30 int action_enable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
31 int action_disable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
32 int action_update_time( ccsdsTelecommandPacket_t *TC);
33 33
34 34 // mode transition
35 int transition_validation(unsigned char requestedMode);
35 int check_mode_value( unsigned char requestedMode );
36 int check_mode_transition( unsigned char requestedMode );
36 37 int stop_current_mode( void );
37 int enter_mode(unsigned char mode);
38 int enter_mode( unsigned char mode );
38 39 int restart_science_tasks();
39 40 int suspend_science_tasks();
40 41 void launch_waveform_picker( unsigned char mode );
41 42 void launch_spectral_matrix( unsigned char mode );
42 43 void set_irq_on_new_ready_matrix(unsigned char value );
43 44 void set_run_matrix_spectral( unsigned char value );
44 45 void launch_spectral_matrix_simu( unsigned char mode );
45 46
46 47 // other functions
47 48 void updateLFRCurrentMode();
48 49 void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
49 50 void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
50 51 void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
51 52
52 53 extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
53 54 extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
54 55
55 56 #endif // TC_HANDLER_H_INCLUDED
56 57
57 58
58 59
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@@ -1,364 +1,365
1 1 /** General usage functions and RTEMS tasks.
2 2 *
3 3 * @file
4 4 * @author P. LEROY
5 5 *
6 6 */
7 7
8 8 #include "fsw_misc.h"
9 9
10 10 void 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 {
13 13 /** This function configures a GPTIMER timer instantiated in the VHDL design.
14 14 *
15 15 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
16 16 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
17 17 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
18 18 * @param interrupt_level is the interrupt level that the timer drives.
19 19 * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
20 20 *
21 21 * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
22 22 *
23 23 */
24 24
25 25 rtems_status_code status;
26 26 rtems_isr_entry old_isr_handler;
27 27
28 28 gptimer_regs->timer[timer].ctrl = 0x00; // reset the control register
29 29
30 30 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
31 31 if (status!=RTEMS_SUCCESSFUL)
32 32 {
33 33 PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
34 34 }
35 35
36 36 timer_set_clock_divider( gptimer_regs, timer, clock_divider);
37 37 }
38 38
39 39 void timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
40 40 {
41 41 /** This function starts a GPTIMER timer.
42 42 *
43 43 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
44 44 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
45 45 *
46 46 */
47 47
48 48 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any
49 49 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004; // LD load value from the reload register
50 50 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001; // EN enable the timer
51 51 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002; // RS restart
52 52 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008; // IE interrupt enable
53 53 }
54 54
55 55 void timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
56 56 {
57 57 /** This function stops a GPTIMER timer.
58 58 *
59 59 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
60 60 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
61 61 *
62 62 */
63 63
64 64 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe; // EN enable the timer
65 65 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef; // IE interrupt enable
66 66 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010; // clear pending IRQ if any
67 67 }
68 68
69 69 void timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
70 70 {
71 71 /** This function sets the clock divider of a GPTIMER timer.
72 72 *
73 73 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
74 74 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
75 75 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
76 76 *
77 77 */
78 78
79 79 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
80 80 }
81 81
82 82 int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
83 83 {
84 84 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
85 85
86 86 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
87 87
88 88 return 0;
89 89 }
90 90
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;
94 94
95 95 apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE;
96 96
97 97 return 0;
98 98 }
99 99
100 100 void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
101 101 {
102 102 /** This function sets the scaler reload register of the apbuart module
103 103 *
104 104 * @param regs is the address of the apbuart registers in memory
105 105 * @param value is the value that will be stored in the scaler register
106 106 *
107 107 * The value shall be set by the software to get data on the serial interface.
108 108 *
109 109 */
110 110
111 111 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
112 112
113 113 apbuart_regs->scaler = value;
114 114 BOOT_PRINTF1("OK *** apbuart port scaler reload register set to 0x%x\n", value)
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();
134 134 // #endif
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_id queue_id;
146 146 rtems_rate_monotonic_period_status period_status;
147 147
148 148 status = get_message_queue_id_send( &queue_id );
149 149 if (status != RTEMS_SUCCESSFUL)
150 150 {
151 151 PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
152 152 }
153 153
154 154 BOOT_PRINTF("in HOUS ***\n")
155 155
156 156 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
157 157 status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
158 158 if( status != RTEMS_SUCCESSFUL ) {
159 159 PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
160 160 }
161 161 }
162 162
163 163 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
164 164 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
165 165 housekeeping_packet.reserved = DEFAULT_RESERVED;
166 166 housekeeping_packet.userApplication = CCSDS_USER_APP;
167 167 housekeeping_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_HK >> 8);
168 168 housekeeping_packet.packetID[1] = (unsigned char) (TM_PACKET_ID_HK);
169 169 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
170 170 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
171 171 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
172 172 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK );
173 173 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
174 174 housekeeping_packet.serviceType = TM_TYPE_HK;
175 175 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
176 176 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
177 177 housekeeping_packet.sid = SID_HK;
178 178
179 179 status = rtems_rate_monotonic_cancel(HK_id);
180 180 if( status != RTEMS_SUCCESSFUL ) {
181 181 PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
182 182 }
183 183 else {
184 184 DEBUG_PRINTF("OK *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
185 185 }
186 186
187 187 // startup phase
188 188 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
189 189 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
190 190 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
191 191 while(period_status.state != RATE_MONOTONIC_EXPIRED ) // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
192 192 {
193 193 if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization
194 194 {
195 195 break; // break if LFR is synchronized
196 196 }
197 197 else
198 198 {
199 199 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
200 200 sched_yield();
201 201 }
202 202 }
203 203 status = rtems_rate_monotonic_cancel(HK_id);
204 204 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
205 205
206 206 while(1){ // launch the rate monotonic task
207 207 status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
208 208 if ( status != RTEMS_SUCCESSFUL ) {
209 209 PRINTF1( "in HOUS *** ERR period: %d\n", status);
210 210 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
211 211 }
212 212 else {
213 213 increment_seq_counter( housekeeping_packet.packetSequenceControl );
214 214 housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
215 215 housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
216 216 housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
217 217 housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
218 218 housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
219 219 housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
220 220
221 221 spacewire_update_statistics();
222 222
223 223 // SEND PACKET
224 224 status = rtems_message_queue_send( queue_id, &housekeeping_packet,
225 225 PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
226 226 if (status != RTEMS_SUCCESSFUL) {
227 227 PRINTF1("in HOUS *** ERR send: %d\n", status)
228 228 }
229 229 }
230 230 }
231 231
232 232 PRINTF("in HOUS *** deleting task\n")
233 233
234 234 status = rtems_task_delete( RTEMS_SELF ); // should not return
235 235 printf( "rtems_task_delete returned with status of %d.\n", status );
236 236 return;
237 237 }
238 238
239 239 rtems_task dumb_task( rtems_task_argument unused )
240 240 {
241 241 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
242 242 *
243 243 * @param unused is the starting argument of the RTEMS task
244 244 *
245 245 * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
246 246 *
247 247 */
248 248
249 249 unsigned int i;
250 250 unsigned int intEventOut;
251 251 unsigned int coarse_time = 0;
252 252 unsigned int fine_time = 0;
253 253 rtems_event_set event_out;
254 254
255 char *DumbMessages[9] = {"in DUMB *** default", // RTEMS_EVENT_0
255 char *DumbMessages[10] = {"in DUMB *** default", // RTEMS_EVENT_0
256 256 "in DUMB *** timecode_irq_handler", // RTEMS_EVENT_1
257 257 "in DUMB *** waveforms_isr", // RTEMS_EVENT_2
258 258 "in DUMB *** in SMIQ *** Error sending event to AVF0", // RTEMS_EVENT_3
259 259 "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ", // RTEMS_EVENT_4
260 260 "in DUMB *** waveforms_simulator_isr", // RTEMS_EVENT_5
261 261 "ERR HK", // RTEMS_EVENT_6
262 262 "ready for dump", // RTEMS_EVENT_7
263 "in DUMB *** spectral_matrices_isr" // RTEMS_EVENT_8
263 "in DUMB *** spectral_matrices_isr", // RTEMS_EVENT_8
264 "tick" // RTEMS_EVENT_9
264 265 };
265 266
266 267 BOOT_PRINTF("in DUMB *** \n")
267 268
268 269 while(1){
269 270 rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
270 271 | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
271 | RTEMS_EVENT_8,
272 | RTEMS_EVENT_8 | RTEMS_EVENT_9,
272 273 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
273 274 intEventOut = (unsigned int) event_out;
274 275 for ( i=0; i<32; i++)
275 276 {
276 277 if ( ((intEventOut >> i) & 0x0001) != 0)
277 278 {
278 279 coarse_time = time_management_regs->coarse_time;
279 280 fine_time = time_management_regs->fine_time;
280 281 printf("in DUMB *** coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
281 282 }
282 283 }
283 284 }
284 285 }
285 286
286 287 //*****************************
287 288 // init housekeeping parameters
288 289
289 290 void init_housekeeping_parameters( void )
290 291 {
291 292 /** This function initialize the housekeeping_packet global variable with default values.
292 293 *
293 294 */
294 295
295 296 unsigned int i = 0;
296 297 unsigned char *parameters;
297 298
298 299 parameters = (unsigned char*) &housekeeping_packet.lfr_status_word;
299 300 for(i = 0; i< SIZE_HK_PARAMETERS; i++)
300 301 {
301 302 parameters[i] = 0x00;
302 303 }
303 304 // init status word
304 305 housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
305 306 housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
306 307 // init software version
307 308 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
308 309 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
309 310 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
310 311 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
311 312 // init fpga version
312 313 parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xd0);
313 314 housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1
314 315 housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2
315 316 housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3
316 317 }
317 318
318 319 void increment_seq_counter( unsigned char *packet_sequence_control)
319 320 {
320 321 /** This function increment the sequence counter psased in argument.
321 322 *
322 323 * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
323 324 *
324 325 */
325 326
326 327 unsigned short sequence_cnt;
327 328 unsigned short segmentation_grouping_flag;
328 329 unsigned short new_packet_sequence_control;
329 330
330 331 segmentation_grouping_flag = (unsigned short) ( (packet_sequence_control[0] & 0xc0) << 8 ); // keep bits 7 downto 6
331 332 sequence_cnt = (unsigned short) (
332 333 ( (packet_sequence_control[0] & 0x3f) << 8 ) // keep bits 5 downto 0
333 334 + packet_sequence_control[1]
334 335 );
335 336
336 337 if ( sequence_cnt < SEQ_CNT_MAX)
337 338 {
338 339 sequence_cnt = sequence_cnt + 1;
339 340 }
340 341 else
341 342 {
342 343 sequence_cnt = 0;
343 344 }
344 345
345 346 new_packet_sequence_control = segmentation_grouping_flag | sequence_cnt ;
346 347
347 348 packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
348 349 packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control );
349 350 }
350 351
351 352 void getTime( unsigned char *time)
352 353 {
353 354 /** This function write the current local time in the time buffer passed in argument.
354 355 *
355 356 */
356 357
357 358 time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
358 359 time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
359 360 time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
360 361 time[3] = (unsigned char) (time_management_regs->coarse_time);
361 362 time[4] = (unsigned char) (time_management_regs->fine_time>>8);
362 363 time[5] = (unsigned char) (time_management_regs->fine_time);
363 364 }
364 365
Show file before | Show file after | Hide comments
@@ -1,611 +1,610
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 // RTEMS TASK
21 21 rtems_task spiq_task(rtems_task_argument unused)
22 22 {
23 23 /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
24 24 *
25 25 * @param unused is the starting argument of the RTEMS task
26 26 *
27 27 */
28 28
29 29 rtems_event_set event_out;
30 30 rtems_status_code status;
31 31 int linkStatus;
32 32
33 33 BOOT_PRINTF("in SPIQ *** \n")
34 34
35 35 while(true){
36 36 rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
37 37 PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
38 38
39 39 // [0] SUSPEND RECV AND SEND TASKS
40 40 status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
41 41 if ( status != RTEMS_SUCCESSFUL ) {
42 42 PRINTF("in SPIQ *** ERR suspending RECV Task\n")
43 43 }
44 44 status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
45 45 if ( status != RTEMS_SUCCESSFUL ) {
46 46 PRINTF("in SPIQ *** ERR suspending SEND Task\n")
47 47 }
48 48
49 49 // [1] CHECK THE LINK
50 50 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
51 51 if ( linkStatus != 5) {
52 52 PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
53 53 status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
54 54 }
55 55
56 56 // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
57 57 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
58 58 if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
59 59 {
60 60 spacewire_compute_stats_offsets();
61 61 status = spacewire_reset_link( );
62 62 }
63 63 else // [2.b] in run state, start the link
64 64 {
65 65 status = spacewire_stop_start_link( fdSPW ); // start the link
66 66 if ( status != RTEMS_SUCCESSFUL)
67 67 {
68 68 PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
69 69 }
70 70 }
71 71
72 72 // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
73 73 if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
74 74 {
75 75 status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
76 76 if ( status != RTEMS_SUCCESSFUL ) {
77 77 PRINTF("in SPIQ *** ERR resuming SEND Task\n")
78 78 }
79 79 status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
80 80 if ( status != RTEMS_SUCCESSFUL ) {
81 81 PRINTF("in SPIQ *** ERR resuming RECV Task\n")
82 82 }
83 83 }
84 84 else // [3.b] the link is not in run state, go in STANDBY mode
85 85 {
86 86 status = stop_current_mode();
87 87 if ( status != RTEMS_SUCCESSFUL ) {
88 88 PRINTF1("in SPIQ *** ERR stop_current_mode *** code %d\n", status)
89 89 }
90 90 status = enter_mode( LFR_MODE_STANDBY );
91 91 if ( status != RTEMS_SUCCESSFUL ) {
92 92 PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
93 93 }
94 94 // wake the WTDG task up to wait for the link recovery
95 95 status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
96 96 status = rtems_task_suspend( RTEMS_SELF );
97 97 }
98 98 }
99 99 }
100 100
101 101 rtems_task recv_task( rtems_task_argument unused )
102 102 {
103 103 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
104 104 *
105 105 * @param unused is the starting argument of the RTEMS task
106 106 *
107 107 * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
108 108 * 1. It reads the incoming data.
109 109 * 2. Launches the acceptance procedure.
110 110 * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
111 111 *
112 112 */
113 113
114 114 int len;
115 115 ccsdsTelecommandPacket_t currentTC;
116 116 unsigned char computed_CRC[ 2 ];
117 117 unsigned char currentTC_LEN_RCV[ 2 ];
118 118 unsigned char destinationID;
119 119 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
120 120 unsigned int parserCode;
121 121 rtems_status_code status;
122 122 rtems_id queue_recv_id;
123 123 rtems_id queue_send_id;
124 124
125 125 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
126 126
127 127 status = get_message_queue_id_recv( &queue_recv_id );
128 128 if (status != RTEMS_SUCCESSFUL)
129 129 {
130 130 PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
131 131 }
132 132
133 133 status = get_message_queue_id_send( &queue_send_id );
134 134 if (status != RTEMS_SUCCESSFUL)
135 135 {
136 136 PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
137 137 }
138 138
139 139 BOOT_PRINTF("in RECV *** \n")
140 140
141 141 while(1)
142 142 {
143 143 len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
144 144 if (len == -1){ // error during the read call
145 145 PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
146 146 }
147 147 else {
148 148 if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
149 149 PRINTF("in RECV *** packet lenght too short\n")
150 150 }
151 151 else {
152 152 currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
153 153 currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
154 154 currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt );
155 155 // CHECK THE TC
156 156 parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
157 157 if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PKT)
158 158 || (parserCode == INCOR_CHECKSUM) || (parserCode == ILL_TYPE)
159 159 || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA)
160 160 || (parserCode == WRONG_SRC_ID) )
161 161 { // send TM_LFR_TC_EXE_CORRUPTED
162 162 PRINTF1("TC corrupted received, with code: %d\n", parserCode)
163 163 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
164 164 &&
165 165 !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
166 166 )
167 167 {
168 168 if ( parserCode == WRONG_SRC_ID )
169 169 {
170 170 destinationID = SID_TC_GROUND;
171 171 }
172 172 else
173 173 {
174 174 destinationID = currentTC.sourceID;
175 175 }
176 176 send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
177 177 computed_CRC, currentTC_LEN_RCV,
178 178 destinationID );
179 179 }
180 180 }
181 181 else
182 182 { // send valid TC to the action launcher
183 183 status = rtems_message_queue_send( queue_recv_id, &currentTC,
184 184 currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
185 185 }
186 186 }
187 187 }
188 188 }
189 189 }
190 190
191 191 rtems_task send_task( rtems_task_argument argument)
192 192 {
193 193 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
194 194 *
195 195 * @param unused is the starting argument of the RTEMS task
196 196 *
197 197 * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
198 198 * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
199 199 * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
200 200 * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
201 201 * data it contains.
202 202 *
203 203 */
204 204
205 205 rtems_status_code status; // RTEMS status code
206 206 char incomingData[ACTION_MSG_PKTS_MAX_SIZE]; // incoming data buffer
207 207 spw_ioctl_pkt_send *spw_ioctl_send;
208 208 size_t size; // size of the incoming TC packet
209 209 u_int32_t count;
210 210 rtems_id queue_id;
211 211
212 212 status = get_message_queue_id_send( &queue_id );
213 213 if (status != RTEMS_SUCCESSFUL)
214 214 {
215 215 PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
216 216 }
217 217
218 218 BOOT_PRINTF("in SEND *** \n")
219 219
220 220 while(1)
221 221 {
222 222 status = rtems_message_queue_receive( queue_id, incomingData, &size,
223 223 RTEMS_WAIT, RTEMS_NO_TIMEOUT );
224 224
225 225 if (status!=RTEMS_SUCCESSFUL)
226 226 {
227 227 PRINTF1("in SEND *** (1) ERR = %d\n", status)
228 228 }
229 229 else
230 230 {
231 231 if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet
232 232 {
233 233 status = write( fdSPW, incomingData, size );
234 234 if (status == -1){
235 235 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
236 236 }
237 237 }
238 238 else // the incoming message is a spw_ioctl_pkt_send structure
239 239 {
240 240 spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
241 241 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
242 242 if (status == -1){
243 243 PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
244 244 }
245 245 }
246 246 }
247 247
248 248 status = rtems_message_queue_get_number_pending( queue_id, &count );
249 249 if (status != RTEMS_SUCCESSFUL)
250 250 {
251 251 PRINTF1("in SEND *** (3) ERR = %d\n", status)
252 252 }
253 253 else
254 254 {
255 255 if (count > maxCount)
256 256 {
257 257 maxCount = count;
258 258 }
259 259 }
260 260 }
261 261 }
262 262
263 263 rtems_task wtdg_task( rtems_task_argument argument )
264 264 {
265 265 rtems_event_set event_out;
266 266 rtems_status_code status;
267 267 int linkStatus;
268 268
269 269 BOOT_PRINTF("in WTDG ***\n")
270 270
271 271 while(1)
272 272 {
273 273 // wait for an RTEMS_EVENT
274 274 rtems_event_receive( RTEMS_EVENT_0,
275 275 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
276 276 PRINTF("in WTDG *** wait for the link\n")
277 277 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
278 278 while( linkStatus != 5) // wait for the link
279 279 {
280 280 rtems_task_wake_after( 10 );
281 281 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
282 282 }
283 283
284 284 status = spacewire_stop_start_link( fdSPW );
285 285
286 286 if (status != RTEMS_SUCCESSFUL)
287 287 {
288 288 PRINTF1("in WTDG *** ERR link not started %d\n", status)
289 289 }
290 290 else
291 291 {
292 292 PRINTF("in WTDG *** OK link started\n")
293 293 }
294 294
295 295 // restart the SPIQ task
296 296 status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
297 297 if ( status != RTEMS_SUCCESSFUL ) {
298 298 PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
299 299 }
300 300
301 301 // restart RECV and SEND
302 302 status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
303 303 if ( status != RTEMS_SUCCESSFUL ) {
304 304 PRINTF("in SPIQ *** ERR restarting SEND Task\n")
305 305 }
306 306 status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
307 307 if ( status != RTEMS_SUCCESSFUL ) {
308 308 PRINTF("in SPIQ *** ERR restarting RECV Task\n")
309 309 }
310 310 }
311 311 }
312 312
313 313 //****************
314 314 // OTHER FUNCTIONS
315 315 int spacewire_open_link( void )
316 316 {
317 317 /** This function opens the SpaceWire link.
318 318 *
319 319 * @return a valid file descriptor in case of success, -1 in case of a failure
320 320 *
321 321 */
322 322 rtems_status_code status;
323 323
324 324 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
325 325 if ( fdSPW < 0 ) {
326 326 PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
327 327 }
328 328 else
329 329 {
330 330 status = RTEMS_SUCCESSFUL;
331 331 }
332 332
333 333 return status;
334 334 }
335 335
336 336 int spacewire_start_link( int fd )
337 337 {
338 338 rtems_status_code status;
339 339
340 340 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
341 341 // -1 default hardcoded driver timeout
342 342
343 343 return status;
344 344 }
345 345
346 346 int spacewire_stop_start_link( int fd )
347 347 {
348 348 rtems_status_code status;
349 349
350 350 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
351 351 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
352 352 // -1 default hardcoded driver timeout
353 353
354 354 return status;
355 355 }
356 356
357 357 int spacewire_configure_link( int fd )
358 358 {
359 359 /** This function configures the SpaceWire link.
360 360 *
361 361 * @return GR-RTEMS-DRIVER directive status codes:
362 362 * - 22 EINVAL - Null pointer or an out of range value was given as the argument.
363 363 * - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
364 364 * - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
365 365 * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
366 366 * - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
367 367 * - 5 EIO - Error when writing to grswp hardware registers.
368 368 * - 2 ENOENT - No such file or directory
369 369 */
370 370
371 371 rtems_status_code status;
372 372
373 373 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
374 374 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
375 375
376 376 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
377 377 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
378 378 //
379 379 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
380 380 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
381 381 //
382 382 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
383 383 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
384 384 //
385 385 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
386 386 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
387 387 //
388 388 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
389 389 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
390 390 //
391 391 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available
392 392 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
393 393 //
394 394 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
395 395 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
396 396
397 397 return status;
398 398 }
399 399
400 400 int spacewire_reset_link( void )
401 401 {
402 402 /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
403 403 *
404 404 * @return RTEMS directive status code:
405 405 * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
406 406 * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
407 407 *
408 408 */
409 409
410 410 rtems_status_code status_spw;
411 411 int i;
412 412
413 413 for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
414 414 {
415 415 PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
416 416
417 417 // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
418 418
419 419 status_spw = spacewire_stop_start_link( fdSPW );
420 420 if ( status_spw != RTEMS_SUCCESSFUL )
421 421 {
422 422 PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
423 423 }
424 424
425 425 if ( status_spw == RTEMS_SUCCESSFUL)
426 426 {
427 427 break;
428 428 }
429 429 }
430 430
431 431 return status_spw;
432 432 }
433 433
434 434 void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
435 435 {
436 436 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
437 437 *
438 438 * @param val is the value, 0 or 1, used to set the value of the NP bit.
439 439 * @param regAddr is the address of the GRSPW control register.
440 440 *
441 441 * NP is the bit 20 of the GRSPW control register.
442 442 *
443 443 */
444 444
445 445 unsigned int *spwptr = (unsigned int*) regAddr;
446 446
447 447 if (val == 1) {
448 448 *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
449 449 }
450 450 if (val== 0) {
451 451 *spwptr = *spwptr & 0xffdfffff;
452 452 }
453 453 }
454 454
455 455 void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
456 456 {
457 457 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
458 458 *
459 459 * @param val is the value, 0 or 1, used to set the value of the RE bit.
460 460 * @param regAddr is the address of the GRSPW control register.
461 461 *
462 462 * RE is the bit 16 of the GRSPW control register.
463 463 *
464 464 */
465 465
466 466 unsigned int *spwptr = (unsigned int*) regAddr;
467 467
468 468 if (val == 1)
469 469 {
470 470 *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
471 471 }
472 472 if (val== 0)
473 473 {
474 474 *spwptr = *spwptr & 0xfffdffff;
475 475 }
476 476 }
477 477
478 478 void spacewire_compute_stats_offsets( void )
479 479 {
480 480 /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
481 481 *
482 482 * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
483 483 * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
484 484 * during the open systel call).
485 485 *
486 486 */
487 487
488 488 spw_stats spacewire_stats_grspw;
489 489 rtems_status_code status;
490 490
491 491 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
492 492
493 493 spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
494 494 + spacewire_stats.packets_received;
495 495 spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
496 496 + spacewire_stats.packets_sent;
497 497 spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
498 498 + spacewire_stats.parity_err;
499 499 spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
500 500 + spacewire_stats.disconnect_err;
501 501 spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
502 502 + spacewire_stats.escape_err;
503 503 spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
504 504 + spacewire_stats.credit_err;
505 505 spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
506 506 + spacewire_stats.write_sync_err;
507 507 spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
508 508 + spacewire_stats.rx_rmap_header_crc_err;
509 509 spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
510 510 + spacewire_stats.rx_rmap_data_crc_err;
511 511 spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
512 512 + spacewire_stats.early_ep;
513 513 spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
514 514 + spacewire_stats.invalid_address;
515 515 spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
516 516 + spacewire_stats.rx_eep_err;
517 517 spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
518 518 + spacewire_stats.rx_truncated;
519 519 }
520 520
521 521 void spacewire_update_statistics( void )
522 522 {
523 523 rtems_status_code status;
524 524 spw_stats spacewire_stats_grspw;
525 525
526 526 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
527 527
528 528 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
529 529 + spacewire_stats_grspw.packets_received;
530 530 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
531 531 + spacewire_stats_grspw.packets_sent;
532 532 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
533 533 + spacewire_stats_grspw.parity_err;
534 534 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
535 535 + spacewire_stats_grspw.disconnect_err;
536 536 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
537 537 + spacewire_stats_grspw.escape_err;
538 538 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
539 539 + spacewire_stats_grspw.credit_err;
540 540 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
541 541 + spacewire_stats_grspw.write_sync_err;
542 542 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
543 543 + spacewire_stats_grspw.rx_rmap_header_crc_err;
544 544 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
545 545 + spacewire_stats_grspw.rx_rmap_data_crc_err;
546 546 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
547 547 + spacewire_stats_grspw.early_ep;
548 548 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
549 549 + spacewire_stats_grspw.invalid_address;
550 550 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
551 551 + spacewire_stats_grspw.rx_eep_err;
552 552 spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
553 553 + spacewire_stats_grspw.rx_truncated;
554 554 //spacewire_stats.tx_link_err;
555 555
556 556 //****************************
557 557 // DPU_SPACEWIRE_IF_STATISTICS
558 558 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
559 559 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
560 560 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
561 561 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
562 562 //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
563 563 //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
564 564
565 565 //******************************************
566 566 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
567 567 housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
568 568 housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
569 569 housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
570 570 housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
571 571 housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
572 572
573 573 //*********************************************
574 574 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
575 575 housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
576 576 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
577 577 housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
578 578 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
579 579 }
580 580
581 581 void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
582 582 {
583 // rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 );
583 // rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_9 );
584 584 struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
585 585
586 586 grgpio_regs->io_port_direction_register =
587 587 grgpio_regs->io_port_direction_register | 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
588 588
589 589 if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
590 590 {
591 591 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
592 592 }
593 593 else
594 594 {
595 595 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x08;
596 596 }
597
598 597 }
599 598
600 599 rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
601 600 {
602 601 int linkStatus;
603 602 rtems_status_code status;
604 603
605 604 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
606 605
607 606 if ( linkStatus == 5) {
608 607 PRINTF("in spacewire_reset_link *** link is running\n")
609 608 status = RTEMS_SUCCESSFUL;
610 609 }
611 610 }
Show file before | Show file after | Hide comments
@@ -1,790 +1,818
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
15 15 //***********
16 16 // RTEMS TASK
17 17
18 18 rtems_task actn_task( rtems_task_argument unused )
19 19 {
20 20 /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
21 21 *
22 22 * @param unused is the starting argument of the RTEMS task
23 23 *
24 24 * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
25 25 * on the incoming TeleCommand.
26 26 *
27 27 */
28 28
29 29 int result;
30 30 rtems_status_code status; // RTEMS status code
31 31 ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
32 32 size_t size; // size of the incoming TC packet
33 33 unsigned char subtype; // subtype of the current TC packet
34 34 unsigned char time[6];
35 35 rtems_id queue_rcv_id;
36 36 rtems_id queue_snd_id;
37 37
38 38 status = get_message_queue_id_recv( &queue_rcv_id );
39 39 if (status != RTEMS_SUCCESSFUL)
40 40 {
41 41 PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
42 42 }
43 43
44 44 status = get_message_queue_id_send( &queue_snd_id );
45 45 if (status != RTEMS_SUCCESSFUL)
46 46 {
47 47 PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
48 48 }
49 49
50 50 result = LFR_SUCCESSFUL;
51 51 subtype = 0; // subtype of the current TC packet
52 52
53 53 BOOT_PRINTF("in ACTN *** \n")
54 54
55 55 while(1)
56 56 {
57 57 status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
58 58 RTEMS_WAIT, RTEMS_NO_TIMEOUT);
59 59 getTime( time ); // set time to the current time
60 60 if (status!=RTEMS_SUCCESSFUL)
61 61 {
62 62 PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
63 63 }
64 64 else
65 65 {
66 66 subtype = TC.serviceSubType;
67 67 switch(subtype)
68 68 {
69 69 case TC_SUBTYPE_RESET:
70 70 result = action_reset( &TC, queue_snd_id, time );
71 71 close_action( &TC, result, queue_snd_id );
72 72 break;
73 73 //
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 //
79 79 case TC_SUBTYPE_LOAD_NORM:
80 80 result = action_load_normal_par( &TC, queue_snd_id, time );
81 81 close_action( &TC, result, queue_snd_id );
82 82 break;
83 83 //
84 84 case TC_SUBTYPE_LOAD_BURST:
85 85 result = action_load_burst_par( &TC, queue_snd_id, time );
86 86 close_action( &TC, result, queue_snd_id );
87 87 break;
88 88 //
89 89 case TC_SUBTYPE_LOAD_SBM1:
90 90 result = action_load_sbm1_par( &TC, queue_snd_id, time );
91 91 close_action( &TC, result, queue_snd_id );
92 92 break;
93 93 //
94 94 case TC_SUBTYPE_LOAD_SBM2:
95 95 result = action_load_sbm2_par( &TC, queue_snd_id, time );
96 96 close_action( &TC, result, queue_snd_id );
97 97 break;
98 98 //
99 99 case TC_SUBTYPE_DUMP:
100 100 result = action_dump_par( queue_snd_id );
101 101 close_action( &TC, result, queue_snd_id );
102 102 break;
103 103 //
104 104 case TC_SUBTYPE_ENTER:
105 105 result = action_enter_mode( &TC, queue_snd_id, time );
106 106 close_action( &TC, result, queue_snd_id );
107 107 break;
108 108 //
109 109 case TC_SUBTYPE_UPDT_INFO:
110 110 result = action_update_info( &TC, queue_snd_id );
111 111 close_action( &TC, result, queue_snd_id );
112 112 break;
113 113 //
114 114 case TC_SUBTYPE_EN_CAL:
115 115 result = action_enable_calibration( &TC, queue_snd_id, time );
116 116 close_action( &TC, result, queue_snd_id );
117 117 break;
118 118 //
119 119 case TC_SUBTYPE_DIS_CAL:
120 120 result = action_disable_calibration( &TC, queue_snd_id, time );
121 121 close_action( &TC, result, queue_snd_id );
122 122 break;
123 123 //
124 124 case TC_SUBTYPE_UPDT_TIME:
125 125 result = action_update_time( &TC );
126 126 close_action( &TC, result, queue_snd_id );
127 127 break;
128 128 //
129 129 default:
130 130 break;
131 131 }
132 132 }
133 133 }
134 134 }
135 135
136 136 //***********
137 137 // TC ACTIONS
138 138
139 139 int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
140 140 {
141 141 /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
142 142 *
143 143 * @param TC points to the TeleCommand packet that is being processed
144 144 * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
145 145 *
146 146 */
147 147
148 148 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
149 149 return LFR_DEFAULT;
150 150 }
151 151
152 152 int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
153 153 {
154 154 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
155 155 *
156 156 * @param TC points to the TeleCommand packet that is being processed
157 157 * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
158 158 *
159 159 */
160 160
161 161 rtems_status_code status;
162 162 unsigned char requestedMode;
163 163
164 164 requestedMode = TC->dataAndCRC[1];
165 165
166 if ( (requestedMode != LFR_MODE_STANDBY)
167 && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
168 && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
166 status = check_mode_value( requestedMode );
167 if ( status != LFR_SUCCESSFUL )
169 168 {
170 status = RTEMS_UNSATISFIED;
171 169 send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode );
172 170 }
173 171 else
174 172 {
175 printf("in action_enter_mode *** enter mode %d\n", requestedMode);
176
177 status = transition_validation(requestedMode);
173 status = check_mode_transition(requestedMode);
178 174
179 if ( status == LFR_SUCCESSFUL ) {
180 if ( lfrCurrentMode != LFR_MODE_STANDBY)
181 {
182 status = stop_current_mode();
183 }
184 if (status != RTEMS_SUCCESSFUL)
185 {
186 PRINTF("ERR *** in action_enter *** stop_current_mode\n")
187 }
175 if ( status == LFR_SUCCESSFUL )
176 {
177 PRINTF1("OK *** in action_enter_mode *** enter mode %d\n", requestedMode);
188 178 status = enter_mode( requestedMode );
189 179 }
190 180 else
191 181 {
192 PRINTF("ERR *** in action_enter *** transition rejected\n")
182 PRINTF("ERR *** in action_enter_mode *** transition rejected\n")
193 183 send_tm_lfr_tc_exe_not_executable( TC, queue_id );
194 184 }
195 185 }
196 186
197 187 return status;
198 188 }
199 189
200 190 int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
201 191 {
202 192 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
203 193 *
204 194 * @param TC points to the TeleCommand packet that is being processed
205 195 * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
206 196 *
207 197 * @return LFR directive status code:
208 198 * - LFR_DEFAULT
209 199 * - LFR_SUCCESSFUL
210 200 *
211 201 */
212 202
213 203 unsigned int val;
214 204 int result;
215 205 unsigned int status;
216 206 unsigned char mode;
217 207
218 208 // check LFR mode
219 209 mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET5 ] & 0x1e) >> 1;
220 210 status = check_update_info_hk_lfr_mode( mode );
221 211 if (status == LFR_SUCCESSFUL) // check TDS mode
222 212 {
223 213 mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0xf0) >> 4;
224 214 status = check_update_info_hk_tds_mode( mode );
225 215 }
226 216 if (status == LFR_SUCCESSFUL) // check THR mode
227 217 {
228 218 mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0x0f);
229 219 status = check_update_info_hk_thr_mode( mode );
230 220 }
231 221 if (status == LFR_SUCCESSFUL) // if the parameter check is successful
232 222 {
233 223 val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
234 224 + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
235 225 val++;
236 226 housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
237 227 housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
238 228 }
239 229
240 230 result = status;
241 231
242 232 return result;
243 233 }
244 234
245 235 int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
246 236 {
247 237 /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
248 238 *
249 239 * @param TC points to the TeleCommand packet that is being processed
250 240 * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
251 241 *
252 242 */
253 243
254 244 int result;
255 245 unsigned char lfrMode;
256 246
257 247 result = LFR_DEFAULT;
258 248 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
259 249
260 250 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
261 251 result = LFR_DEFAULT;
262 252
263 253 return result;
264 254 }
265 255
266 256 int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
267 257 {
268 258 /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
269 259 *
270 260 * @param TC points to the TeleCommand packet that is being processed
271 261 * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
272 262 *
273 263 */
274 264
275 265 int result;
276 266 unsigned char lfrMode;
277 267
278 268 result = LFR_DEFAULT;
279 269 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
280 270
281 271 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
282 272 result = LFR_DEFAULT;
283 273
284 274 return result;
285 275 }
286 276
287 277 int action_update_time(ccsdsTelecommandPacket_t *TC)
288 278 {
289 279 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
290 280 *
291 281 * @param TC points to the TeleCommand packet that is being processed
292 282 * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
293 283 *
294 284 * @return LFR_SUCCESSFUL
295 285 *
296 286 */
297 287
298 288 unsigned int val;
299 289
300 290 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
301 291 + (TC->dataAndCRC[1] << 16)
302 292 + (TC->dataAndCRC[2] << 8)
303 293 + TC->dataAndCRC[3];
294
295 PRINTF1("time received: %x\n", time_management_regs->coarse_time_load)
296
304 297 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
305 298 + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
306 299 val++;
307 300 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
308 301 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
309 302 // time_management_regs->ctrl = time_management_regs->ctrl | 1; // force tick
310 303
311 304 return LFR_SUCCESSFUL;
312 305 }
313 306
314 307 //*******************
315 308 // ENTERING THE MODES
309 int check_mode_value( unsigned char requestedMode )
310 {
311 int status;
316 312
317 int transition_validation(unsigned char requestedMode)
313 if ( (requestedMode != LFR_MODE_STANDBY)
314 && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
315 && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
316 {
317 status = LFR_DEFAULT;
318 }
319 else
320 {
321 status = LFR_SUCCESSFUL;
322 }
323
324 return status;
325 }
326
327 int check_mode_transition( unsigned char requestedMode )
318 328 {
319 329 /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
320 330 *
321 331 * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
322 332 *
323 333 * @return LFR directive status codes:
324 334 * - LFR_SUCCESSFUL - the transition is authorized
325 335 * - LFR_DEFAULT - the transition is not authorized
326 336 *
327 337 */
328 338
329 339 int status;
330 340
331 341 switch (requestedMode)
332 342 {
333 343 case LFR_MODE_STANDBY:
334 344 if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
335 345 status = LFR_DEFAULT;
336 346 }
337 347 else
338 348 {
339 349 status = LFR_SUCCESSFUL;
340 350 }
341 351 break;
342 352 case LFR_MODE_NORMAL:
343 353 if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
344 354 status = LFR_DEFAULT;
345 355 }
346 356 else {
347 357 status = LFR_SUCCESSFUL;
348 358 }
349 359 break;
350 360 case LFR_MODE_BURST:
351 361 if ( lfrCurrentMode == LFR_MODE_BURST ) {
352 362 status = LFR_DEFAULT;
353 363 }
354 364 else {
355 365 status = LFR_SUCCESSFUL;
356 366 }
357 367 break;
358 368 case LFR_MODE_SBM1:
359 369 if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
360 370 status = LFR_DEFAULT;
361 371 }
362 372 else {
363 373 status = LFR_SUCCESSFUL;
364 374 }
365 375 break;
366 376 case LFR_MODE_SBM2:
367 377 if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
368 378 status = LFR_DEFAULT;
369 379 }
370 380 else {
371 381 status = LFR_SUCCESSFUL;
372 382 }
373 383 break;
374 384 default:
375 385 status = LFR_DEFAULT;
376 386 break;
377 387 }
378 388
379 389 return status;
380 390 }
381 391
382 int stop_current_mode(void)
392 int stop_current_mode( void )
383 393 {
384 394 /** This function stops the current mode by masking interrupt lines and suspending science tasks.
385 395 *
386 396 * @return RTEMS directive status codes:
387 397 * - RTEMS_SUCCESSFUL - task restarted successfully
388 398 * - RTEMS_INVALID_ID - task id invalid
389 399 * - RTEMS_ALREADY_SUSPENDED - task already suspended
390 400 *
391 401 */
392 402
393 403 rtems_status_code status;
394 404
395 405 status = RTEMS_SUCCESSFUL;
396 406
397 407 // (1) mask interruptions
398 408 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt
399 409 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt
400 410
401 411 // (2) clear interruptions
402 412 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt
403 413 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt
404 414
405 415 // (3) reset registers
406 416 // waveform picker
407 417 reset_wfp_burst_enable(); // reset burst and enable bits
408 418 reset_wfp_status(); // reset all the status bits
409 419 // spectral matrices
410 420 set_irq_on_new_ready_matrix( 0 ); // stop the spectral matrices
411 421 set_run_matrix_spectral( 0 ); // run_matrix_spectral is set to 0
412 422 reset_extractSWF(); // reset the extractSWF flag to false
413 423
414 424 // <Spectral Matrices simulator>
415 425 LEON_Mask_interrupt( IRQ_SM_SIMULATOR ); // mask spectral matrix interrupt simulator
416 426 timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
417 427 LEON_Clear_interrupt( IRQ_SM_SIMULATOR ); // clear spectral matrix interrupt simulator
418 428 // </Spectral Matrices simulator>
419 429
420 430 // suspend several tasks
421 431 if (lfrCurrentMode != LFR_MODE_STANDBY) {
422 432 status = suspend_science_tasks();
423 433 }
424 434
425 435 if (status != RTEMS_SUCCESSFUL)
426 436 {
427 437 PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
428 438 }
429 439
430 440 return status;
431 441 }
432 442
433 int enter_mode(unsigned char mode )
443 int enter_mode( unsigned char mode )
434 444 {
435 445 /** This function is launched after a mode transition validation.
436 446 *
437 447 * @param mode is the mode in which LFR will be put.
438 448 *
439 449 * @return RTEMS directive status codes:
440 450 * - RTEMS_SUCCESSFUL - the mode has been entered successfully
441 451 * - RTEMS_NOT_SATISFIED - the mode has not been entered successfully
442 452 *
443 453 */
444 454
445 455 rtems_status_code status;
446 456
447 status = RTEMS_UNSATISFIED;
457 //**********************
458 // STOP THE CURRENT MODE
459 status = stop_current_mode();
460 if (status != RTEMS_SUCCESSFUL)
461 {
462 PRINTF1("ERR *** in enter_mode *** stop_current_mode with mode = %d\n", mode)
463 }
448 464
449 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
450 updateLFRCurrentMode();
451
465 //*************************
466 // ENTER THE REQUESTED MODE
452 467 if ( (mode == LFR_MODE_NORMAL) || (mode == LFR_MODE_BURST)
453 468 || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2) )
454 469 {
455 470 #ifdef PRINT_TASK_STATISTICS
456 471 rtems_cpu_usage_reset();
457 472 maxCount = 0;
458 473 #endif
459 474 status = restart_science_tasks();
460 475 launch_waveform_picker( mode );
461 launch_spectral_matrix( mode );
476 // launch_spectral_matrix( mode );
462 477 }
463 478 else if ( mode == LFR_MODE_STANDBY )
464 479 {
465 480 #ifdef PRINT_TASK_STATISTICS
466 481 rtems_cpu_usage_report();
467 482 #endif
468 483
469 484 #ifdef PRINT_STACK_REPORT
470 485 rtems_stack_checker_report_usage();
471 486 #endif
472 status = stop_current_mode();
473 487 PRINTF1("maxCount = %d\n", maxCount)
474 488 }
475 489 else
476 490 {
477 491 status = RTEMS_UNSATISFIED;
478 492 }
479 493
480 494 if (status != RTEMS_SUCCESSFUL)
481 495 {
482 PRINTF1("in enter_mode *** ERR = %d\n", status)
496 PRINTF1("ERR *** in enter_mode *** status = %d\n", status)
483 497 status = RTEMS_UNSATISFIED;
484 498 }
485 499
486 500 return status;
487 501 }
488 502
489 503 int restart_science_tasks()
490 504 {
491 505 /** This function is used to restart all science tasks.
492 506 *
493 507 * @return RTEMS directive status codes:
494 508 * - RTEMS_SUCCESSFUL - task restarted successfully
495 509 * - RTEMS_INVALID_ID - task id invalid
496 510 * - RTEMS_INCORRECT_STATE - task never started
497 511 * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
498 512 *
499 513 * Science tasks are AVF0, BPF0, WFRM, CWF3, CW2, CWF1
500 514 *
501 515 */
502 516
503 517 rtems_status_code status[6];
504 518 rtems_status_code ret;
505 519
506 520 ret = RTEMS_SUCCESSFUL;
507 521
508 522 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
509 523 if (status[0] != RTEMS_SUCCESSFUL)
510 524 {
511 525 PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
512 526 }
513 527
514 528 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
515 529 if (status[2] != RTEMS_SUCCESSFUL)
516 530 {
517 531 PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
518 532 }
519 533
520 534 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
521 535 if (status[3] != RTEMS_SUCCESSFUL)
522 536 {
523 537 PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
524 538 }
525 539
526 540 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
527 541 if (status[4] != RTEMS_SUCCESSFUL)
528 542 {
529 543 PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
530 544 }
531 545
532 546 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
533 547 if (status[5] != RTEMS_SUCCESSFUL)
534 548 {
535 549 PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
536 550 }
537 551
538 552 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
539 553 (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
540 554 {
541 555 ret = RTEMS_UNSATISFIED;
542 556 }
543 557
544 558 return ret;
545 559 }
546 560
547 561 int suspend_science_tasks()
548 562 {
549 563 /** This function suspends the science tasks.
550 564 *
551 565 * @return RTEMS directive status codes:
552 566 * - RTEMS_SUCCESSFUL - task restarted successfully
553 567 * - RTEMS_INVALID_ID - task id invalid
554 568 * - RTEMS_ALREADY_SUSPENDED - task already suspended
555 569 *
556 570 */
557 571
558 572 rtems_status_code status;
559 573
560 574 status = rtems_task_suspend( Task_id[TASKID_AVF0] );
561 575 if (status != RTEMS_SUCCESSFUL)
562 576 {
563 577 PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
564 578 }
565 579
566 580 if (status == RTEMS_SUCCESSFUL) // suspend WFRM
567 581 {
568 582 status = rtems_task_suspend( Task_id[TASKID_WFRM] );
569 583 if (status != RTEMS_SUCCESSFUL)
570 584 {
571 585 PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
572 586 }
573 587 }
574 588
575 589 if (status == RTEMS_SUCCESSFUL) // suspend CWF3
576 590 {
577 591 status = rtems_task_suspend( Task_id[TASKID_CWF3] );
578 592 if (status != RTEMS_SUCCESSFUL)
579 593 {
580 594 PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
581 595 }
582 596 }
583 597
584 598 if (status == RTEMS_SUCCESSFUL) // suspend CWF2
585 599 {
586 600 status = rtems_task_suspend( Task_id[TASKID_CWF2] );
587 601 if (status != RTEMS_SUCCESSFUL)
588 602 {
589 603 PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
590 604 }
591 605 }
592 606
593 607 if (status == RTEMS_SUCCESSFUL) // suspend CWF1
594 608 {
595 609 status = rtems_task_suspend( Task_id[TASKID_CWF1] );
596 610 if (status != RTEMS_SUCCESSFUL)
597 611 {
598 612 PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
599 613 }
600 614 }
601 615
602 616 return status;
603 617 }
604 618
605 619 void launch_waveform_picker( unsigned char mode )
606 620 {
607 621 int startDate;
608 622
609 623 reset_current_ring_nodes();
610 624 reset_waveform_picker_regs();
611 625 set_wfp_burst_enable_register( mode );
612 626
613 627 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
614 628 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
615 629
616 630 startDate = time_management_regs->coarse_time + 2;
617 631 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x80; // [1000 0000]
618 632 waveform_picker_regs->start_date = startDate;
619 633 }
620 634
621 635 void launch_spectral_matrix( unsigned char mode )
622 636 {
623 637 reset_nb_sm_f0();
624 638 reset_current_sm_ring_nodes();
625 639 reset_spectral_matrix_regs();
626 640
627 641 #ifdef VHDL_DEV
642 struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
643 grgpio_regs->io_port_direction_register =
644 grgpio_regs->io_port_direction_register | 0x01; // [0001 1000], 0 = output disabled, 1 = output enabled
645 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x01; // set the bit 0 to 1
628 646 set_irq_on_new_ready_matrix( 1 );
629 647 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
630 648 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
631 649 set_run_matrix_spectral( 1 );
632 650 #else
633 651 // Spectral Matrices simulator
634 652 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
635 653 LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
636 654 LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
637 655 #endif
638 656 }
639 657
640 658 void set_irq_on_new_ready_matrix( unsigned char value )
641 659 {
642 660 if (value == 1)
643 661 {
644 662 spectral_matrix_regs->config = spectral_matrix_regs->config | 0x01;
645 663 }
646 664 else
647 665 {
648 666 spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe; // 1110
649 667 }
650 668 }
651 669
652 670 void set_run_matrix_spectral( unsigned char value )
653 671 {
654 672 if (value == 1)
655 673 {
656 674 spectral_matrix_regs->config = spectral_matrix_regs->config | 0x4; // [0100] set run_matrix spectral to 1
657 675 }
658 676 else
659 677 {
660 678 spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb; // [1011] set run_matrix spectral to 0
661 679 }
662 680 }
663 681
664 682 void launch_spectral_matrix_simu( unsigned char mode )
665 683 {
666 684 reset_nb_sm_f0();
667 685 reset_current_sm_ring_nodes();
668 686 reset_spectral_matrix_regs();
669 687
670 688 // Spectral Matrices simulator
671 689 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
672 690 LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
673 691 LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
674 692 set_local_nb_interrupt_f0_MAX();
675 693 }
676 694
677 695 //****************
678 696 // CLOSING ACTIONS
679 697 void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time )
680 698 {
681 699 /** This function is used to update the HK packets statistics after a successful TC execution.
682 700 *
683 701 * @param TC points to the TC being processed
684 702 * @param time is the time used to date the TC execution
685 703 *
686 704 */
687 705
688 706 unsigned int val;
689 707
690 708 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
691 709 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
692 710 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
693 711 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
694 712 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
695 713 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
696 714 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0];
697 715 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1];
698 716 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2];
699 717 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3];
700 718 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4];
701 719 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5];
702 720
703 721 val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
704 722 val++;
705 723 housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
706 724 housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
707 725 }
708 726
709 727 void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time )
710 728 {
711 729 /** This function is used to update the HK packets statistics after a TC rejection.
712 730 *
713 731 * @param TC points to the TC being processed
714 732 * @param time is the time used to date the TC rejection
715 733 *
716 734 */
717 735
718 736 unsigned int val;
719 737
720 738 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
721 739 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
722 740 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
723 741 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
724 742 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
725 743 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
726 744 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0];
727 745 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1];
728 746 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2];
729 747 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3];
730 748 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4];
731 749 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5];
732 750
733 751 val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
734 752 val++;
735 753 housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
736 754 housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
737 755 }
738 756
739 757 void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
740 758 {
741 759 /** This function is the last step of the TC execution workflow.
742 760 *
743 761 * @param TC points to the TC being processed
744 762 * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
745 763 * @param queue_id is the id of the RTEMS message queue used to send TM packets
746 764 * @param time is the time used to date the TC execution
747 765 *
748 766 */
749 767
768 unsigned char requestedMode;
769
750 770 if (result == LFR_SUCCESSFUL)
751 771 {
752 772 if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
753 773 &
754 774 !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
755 775 )
756 776 {
757 777 send_tm_lfr_tc_exe_success( TC, queue_id );
758 778 }
779 if ( (TC->serviceType == TC_TYPE_GEN) & (TC->serviceSubType == TC_SUBTYPE_ENTER) )
780 {
781 //**********************************
782 // UPDATE THE LFRMODE LOCAL VARIABLE
783 requestedMode = TC->dataAndCRC[1];
784 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((requestedMode << 4) + 0x0d);
785 updateLFRCurrentMode();
786 }
759 787 }
760 788 }
761 789
762 790 //***************************
763 791 // Interrupt Service Routines
764 792 rtems_isr commutation_isr1( rtems_vector_number vector )
765 793 {
766 794 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
767 795 printf("In commutation_isr1 *** Error sending event to DUMB\n");
768 796 }
769 797 }
770 798
771 799 rtems_isr commutation_isr2( rtems_vector_number vector )
772 800 {
773 801 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
774 802 printf("In commutation_isr2 *** Error sending event to DUMB\n");
775 803 }
776 804 }
777 805
778 806 //****************
779 807 // OTHER FUNCTIONS
780 808 void updateLFRCurrentMode()
781 809 {
782 810 /** This function updates the value of the global variable lfrCurrentMode.
783 811 *
784 812 * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
785 813 *
786 814 */
787 815 // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
788 816 lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
789 817 }
790 818
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