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1 1 #############################################################################
2 # Makefile for building: bin/fsw-gsa
3 # Generated by qmake (2.01a) (Qt 4.8.4) on: Fri Jul 12 07:42:51 2013
2 # Makefile for building: bin/fsw
3 # Generated by qmake (2.01a) (Qt 4.8.4) on: Tue Jul 16 13:03:12 2013
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=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=7 -DPRINT_MESSAGES_ON_CONSOLE -DGSA
13 DEFINES = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=8 -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
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 OBJECTS = obj/wf_handler.o \
53 53 obj/tc_handler.o \
54 54 obj/fsw_processing.o \
55 55 obj/fsw_misc.o \
56 56 obj/fsw_init.o \
57 57 obj/fsw_globals.o
58 58 DIST = /usr/lib64/qt4/mkspecs/common/unix.conf \
59 59 /usr/lib64/qt4/mkspecs/common/linux.conf \
60 60 /usr/lib64/qt4/mkspecs/common/gcc-base.conf \
61 61 /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
62 62 /usr/lib64/qt4/mkspecs/common/g++-base.conf \
63 63 /usr/lib64/qt4/mkspecs/common/g++-unix.conf \
64 64 /usr/lib64/qt4/mkspecs/qconfig.pri \
65 65 /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
66 66 /usr/lib64/qt4/mkspecs/features/qt_functions.prf \
67 67 /usr/lib64/qt4/mkspecs/features/qt_config.prf \
68 68 /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
69 69 /usr/lib64/qt4/mkspecs/features/default_pre.prf \
70 70 sparc.pri \
71 71 /usr/lib64/qt4/mkspecs/features/release.prf \
72 72 /usr/lib64/qt4/mkspecs/features/default_post.prf \
73 73 /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
74 74 /usr/lib64/qt4/mkspecs/features/warn_on.prf \
75 75 /usr/lib64/qt4/mkspecs/features/resources.prf \
76 76 /usr/lib64/qt4/mkspecs/features/uic.prf \
77 77 /usr/lib64/qt4/mkspecs/features/yacc.prf \
78 78 /usr/lib64/qt4/mkspecs/features/lex.prf \
79 79 /usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
80 80 fsw-qt.pro
81 QMAKE_TARGET = fsw-gsa
81 QMAKE_TARGET = fsw
82 82 DESTDIR = bin/
83 TARGET = bin/fsw-gsa
83 TARGET = bin/fsw
84 84
85 85 first: all
86 86 ####### Implicit rules
87 87
88 88 .SUFFIXES: .o .c .cpp .cc .cxx .C
89 89
90 90 .cpp.o:
91 91 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
92 92
93 93 .cc.o:
94 94 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
95 95
96 96 .cxx.o:
97 97 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
98 98
99 99 .C.o:
100 100 $(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
101 101
102 102 .c.o:
103 103 $(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
104 104
105 105 ####### Build rules
106 106
107 107 all: Makefile $(TARGET)
108 108
109 109 $(TARGET): $(OBJECTS)
110 110 @$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
111 111 $(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
112 112
113 113 Makefile: fsw-qt.pro /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
114 114 /usr/lib64/qt4/mkspecs/common/linux.conf \
115 115 /usr/lib64/qt4/mkspecs/common/gcc-base.conf \
116 116 /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
117 117 /usr/lib64/qt4/mkspecs/common/g++-base.conf \
118 118 /usr/lib64/qt4/mkspecs/common/g++-unix.conf \
119 119 /usr/lib64/qt4/mkspecs/qconfig.pri \
120 120 /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
121 121 /usr/lib64/qt4/mkspecs/features/qt_functions.prf \
122 122 /usr/lib64/qt4/mkspecs/features/qt_config.prf \
123 123 /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
124 124 /usr/lib64/qt4/mkspecs/features/default_pre.prf \
125 125 sparc.pri \
126 126 /usr/lib64/qt4/mkspecs/features/release.prf \
127 127 /usr/lib64/qt4/mkspecs/features/default_post.prf \
128 128 /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
129 129 /usr/lib64/qt4/mkspecs/features/warn_on.prf \
130 130 /usr/lib64/qt4/mkspecs/features/resources.prf \
131 131 /usr/lib64/qt4/mkspecs/features/uic.prf \
132 132 /usr/lib64/qt4/mkspecs/features/yacc.prf \
133 133 /usr/lib64/qt4/mkspecs/features/lex.prf \
134 134 /usr/lib64/qt4/mkspecs/features/include_source_dir.prf
135 135 $(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
136 136 /usr/lib64/qt4/mkspecs/common/unix.conf:
137 137 /usr/lib64/qt4/mkspecs/common/linux.conf:
138 138 /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
139 139 /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
140 140 /usr/lib64/qt4/mkspecs/common/g++-base.conf:
141 141 /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
142 142 /usr/lib64/qt4/mkspecs/qconfig.pri:
143 143 /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
144 144 /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
145 145 /usr/lib64/qt4/mkspecs/features/qt_config.prf:
146 146 /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
147 147 /usr/lib64/qt4/mkspecs/features/default_pre.prf:
148 148 sparc.pri:
149 149 /usr/lib64/qt4/mkspecs/features/release.prf:
150 150 /usr/lib64/qt4/mkspecs/features/default_post.prf:
151 151 /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
152 152 /usr/lib64/qt4/mkspecs/features/warn_on.prf:
153 153 /usr/lib64/qt4/mkspecs/features/resources.prf:
154 154 /usr/lib64/qt4/mkspecs/features/uic.prf:
155 155 /usr/lib64/qt4/mkspecs/features/yacc.prf:
156 156 /usr/lib64/qt4/mkspecs/features/lex.prf:
157 157 /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
158 158 qmake: FORCE
159 159 @$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
160 160
161 161 dist:
162 @$(CHK_DIR_EXISTS) obj/fsw-gsa1.0.0 || $(MKDIR) obj/fsw-gsa1.0.0
163 $(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw-gsa1.0.0/ && (cd `dirname obj/fsw-gsa1.0.0` && $(TAR) fsw-gsa1.0.0.tar fsw-gsa1.0.0 && $(COMPRESS) fsw-gsa1.0.0.tar) && $(MOVE) `dirname obj/fsw-gsa1.0.0`/fsw-gsa1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw-gsa1.0.0
162 @$(CHK_DIR_EXISTS) obj/fsw1.0.0 || $(MKDIR) obj/fsw1.0.0
163 $(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 . && $(DEL_FILE) -r obj/fsw1.0.0
164 164
165 165
166 166 clean:compiler_clean
167 167 -$(DEL_FILE) $(OBJECTS)
168 168 -$(DEL_FILE) *~ core *.core
169 169
170 170
171 171 ####### Sub-libraries
172 172
173 173 distclean: clean
174 174 -$(DEL_FILE) $(TARGET)
175 175 -$(DEL_FILE) Makefile
176 176
177 177
178 178 grmon:
179 179 cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
180 180
181 181 check: first
182 182
183 183 compiler_rcc_make_all:
184 184 compiler_rcc_clean:
185 185 compiler_uic_make_all:
186 186 compiler_uic_clean:
187 187 compiler_image_collection_make_all: qmake_image_collection.cpp
188 188 compiler_image_collection_clean:
189 189 -$(DEL_FILE) qmake_image_collection.cpp
190 190 compiler_yacc_decl_make_all:
191 191 compiler_yacc_decl_clean:
192 192 compiler_yacc_impl_make_all:
193 193 compiler_yacc_impl_clean:
194 194 compiler_lex_make_all:
195 195 compiler_lex_clean:
196 196 compiler_clean:
197 197
198 198 ####### Compile
199 199
200 200 obj/wf_handler.o: ../src/wf_handler.c
201 201 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
202 202
203 203 obj/tc_handler.o: ../src/tc_handler.c
204 204 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
205 205
206 206 obj/fsw_processing.o: ../src/fsw_processing.c
207 207 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
208 208
209 209 obj/fsw_misc.o: ../src/fsw_misc.c
210 210 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
211 211
212 212 obj/fsw_init.o: ../src/fsw_init.c
213 213 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
214 214
215 215 obj/fsw_globals.o: ../src/fsw_globals.c
216 216 $(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
217 217
218 218 ####### Install
219 219
220 220 install: FORCE
221 221
222 222 uninstall: FORCE
223 223
224 224 FORCE:
225 225
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@@ -1,20 +1,20
1 1 SREC_PREFIX = RpwLfrApp
2 2 SREC_COUNTER = 0001
3 SREC_FSW_REF = fsw-0-6
3 SREC_FSW_REF = fsw-0-7
4 4 SREC_SUFFIX = .srec
5 5 SREC_TEXT = $(SREC_PREFIX)_$(SREC_COUNTER)_text_$(SREC_FSW_REF)$(SREC_SUFFIX)
6 6 SREC_DATA = $(SREC_PREFIX)_$(SREC_COUNTER)_data_$(SREC_FSW_REF)$(SREC_SUFFIX)
7 7 OBJCOPY = sparc-rtems-objcopy
8 8 OBJCOPY_OPT = -g -v
9 9
10 10 all: text data
11 11
12 12 text: fsw
13 13 $(OBJCOPY) $(OBJCOPY_OPT) fsw $(SREC_TEXT) -O srec -j .text
14 14
15 15 data: fsw
16 16 $(OBJCOPY) $(OBJCOPY_OPT) fsw $(SREC_DATA) -O srec -j .data
17 17
18 18 clean:
19 19 rm *.srec
20 20
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@@ -1,51 +1,51
1 1 TEMPLATE = app
2 2 # CONFIG += console v8 sim
3 3 # CONFIG options = verbose *** cpu_usage_report *** gsa
4 CONFIG += console verbose gsa
4 CONFIG += console verbose
5 5 CONFIG -= qt
6 6
7 7 include(./sparc.pri)
8 8
9 9 # flight software version
10 SWVERSION=-0-7
10 SWVERSION=-0-8
11 11 DEFINES += SW_VERSION_N1=0
12 12 DEFINES += SW_VERSION_N2=0
13 13 DEFINES += SW_VERSION_N3=0
14 DEFINES += SW_VERSION_N4=7
14 DEFINES += SW_VERSION_N4=8
15 15
16 16 contains( CONFIG, verbose ) {
17 17 DEFINES += PRINT_MESSAGES_ON_CONSOLE
18 18 }
19 19
20 20 contains( CONFIG, cpu_usage_report ) {
21 21 DEFINES += PRINT_TASK_STATISTICS
22 22 }
23 23
24 24 TARGET = fsw
25 25 contains( CONFIG, gsa ) {
26 26 DEFINES += GSA
27 27 TARGET = fsw-gsa
28 28 }
29 29
30 30 INCLUDEPATH += \
31 31 ../src \
32 32 ../header
33 33
34 34 SOURCES += \
35 35 ../src/wf_handler.c \
36 36 ../src/tc_handler.c \
37 37 ../src/fsw_processing.c \
38 38 ../src/fsw_misc.c \
39 39 ../src/fsw_init.c \
40 40 ../src/fsw_globals.c
41 41
42 42 HEADERS += \
43 43 ../header/wf_handler.h \
44 44 ../header/tc_handler.h \
45 45 ../header/grlib_regs.h \
46 46 ../header/fsw_processing.h \
47 47 ../header/fsw_params.h \
48 48 ../header/fsw_misc.h \
49 49 ../header/fsw_init.h \
50 50 ../header/ccsds_types.h
51 51
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@@ -1,265 +1,255
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Show file before | Show file after | Hide comments
@@ -1,590 +1,590
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 15
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 5
25 25 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
26 26
27 27 #include <rtems/confdefs.h>
28 28
29 29 /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
30 30 #ifdef RTEMS_DRVMGR_STARTUP
31 31 #ifdef LEON3
32 32 /* Add Timer and UART Driver */
33 33 #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
34 34 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
35 35 #endif
36 36 #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
37 37 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
38 38 #endif
39 39 #endif
40 40 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
41 41 #include <drvmgr/drvmgr_confdefs.h>
42 42 #endif
43 43
44 44 #include <fsw_init.h>
45 45 #include <fsw_config.c>
46 46
47 47 char *lstates[6] = {"Error-reset",
48 48 "Error-wait",
49 49 "Ready",
50 50 "Started",
51 51 "Connecting",
52 52 "Run"
53 53 };
54 54
55 55 rtems_task Init( rtems_task_argument ignored )
56 56 {
57 57 rtems_status_code status;
58 58 rtems_isr_entry old_isr_handler;
59 59
60 60 PRINTF("\n\n\n\n\n")
61 61 PRINTF("***************************\n")
62 62 PRINTF("** START Flight Software **\n")
63 63 PRINTF("***************************\n")
64 64 PRINTF("\n\n")
65 65
66 66 //send_console_outputs_on_apbuart_port();
67 67 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
68 68
69 69 initLookUpTableForCRC(); // in tc_handler.h
70 70 init_parameter_dump();
71 71 init_local_mode_parameters();
72 72 init_housekeeping_parameters();
73 73 create_message_queue();
74 74
75 75 create_names(); // create all names
76 76 create_all_tasks(); // create all tasks
77 77 start_all_tasks(); // start all tasks
78 78 stop_current_mode(); // go in STANDBY mode
79 79
80 80 grspw_timecode_callback = &timecode_irq_handler;
81 81
82 82 spacewire_configure_link();
83 83
84 84 //****************************
85 85 // Spectral Matrices simulator
86 86 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
87 87 IRQ_SPARC_SM, spectral_matrices_isr );
88 88
89 89 //**********
90 90 // WAVEFORMS
91 91 // simulator
92 92
93 93 #ifdef GSA
94 94 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
95 95 IRQ_SPARC_WF, waveforms_simulator_isr );
96 96 #else
97 97 // configure the registers of the waveform picker
98 98 reset_wfp_regs();
99 99 // configure the waveform picker interrupt service routine
100 100 status = rtems_interrupt_catch( waveforms_isr,
101 101 IRQ_SPARC_WAVEFORM_PICKER,
102 102 &old_isr_handler) ;
103 103 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
104 104 #endif
105 105
106 106 //**********
107 107
108 108 //*****************************************
109 109 // irq handling of the time management unit
110 110 status = rtems_interrupt_catch( commutation_isr1,
111 111 IRQ_SPARC_TIME1,
112 112 &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
113 113 if (status==RTEMS_SUCCESSFUL) {
114 114 PRINTF("OK *** commutation_isr1 *** rtems_interrupt_catch successfullly configured\n")
115 115 }
116 116
117 117 status = rtems_interrupt_catch( commutation_isr2,
118 118 IRQ_SPARC_TIME2,
119 119 &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
120 120 if (status==RTEMS_SUCCESSFUL) {
121 121 PRINTF("OK *** commutation_isr2 *** rtems_interrupt_catch successfullly configured\n")
122 122 }
123 123
124 124 LEON_Unmask_interrupt( IRQ_TIME1 );
125 125 LEON_Unmask_interrupt( IRQ_TIME2 );
126 126
127 127 #ifdef GSA
128 128 //if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
129 129 // printf("in INIT *** Error sending event to WFRM\n");
130 130 //}
131 131 #endif
132 132
133 133 status = rtems_task_delete(RTEMS_SELF);
134 134
135 135 }
136 136
137 137 rtems_task spiq_task(rtems_task_argument unused)
138 138 {
139 139 rtems_event_set event_out;
140 140 rtems_status_code status;
141 141 unsigned char lfrMode;
142 142
143 143 while(true){
144 144 PRINTF("in SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
145 145 rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
146 146
147 147 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode
148 148
149 149 status = spacewire_wait_for_link();
150 150
151 151 if (status != RTEMS_SUCCESSFUL)
152 152 {
153 153 //****************
154 154 // STOP THE SYSTEM
155 155 spacewire_compute_stats_offsets();
156 156 stop_current_mode();
157 157 if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) { // suspend RECV task
158 158 PRINTF("in SPIQ *** Error suspending RECV Task\n")
159 159 }
160 160 if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) { // suspend HOUS task
161 161 PRINTF("in SPIQ *** Error suspending HOUS Task\n")
162 162 }
163 163
164 164 //***************************
165 165 // RESTART THE SPACEWIRE LINK
166 166 spacewire_configure_link();
167 167
168 168 //*******************
169 169 // RESTART THE SYSTEM
170 170 //ioctl(fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS); // clear statistics
171 171 status = rtems_task_restart( Task_id[TASKID_HOUS], 1 );
172 172 if (status != RTEMS_SUCCESSFUL) {
173 173 PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status)
174 174 }
175 175 if (rtems_task_restart(Task_id[TASKID_RECV], 1) != RTEMS_SUCCESSFUL) { // restart RECV task
176 176 PRINTF("in SPIQ *** Error restarting RECV Task\n")
177 177 }
178 178 //enter_mode(lfrMode, NULL); // enter the mode that was running before the SpaceWire interruption
179 179 }
180 180 }
181 181 }
182 182
183 183 void init_parameter_dump(void)
184 184 {
185 185 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
186 186 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
187 187 parameter_dump_packet.reserved = CCSDS_RESERVED;
188 188 parameter_dump_packet.userApplication = CCSDS_USER_APP;
189 189 parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
190 190 parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
191 191 parameter_dump_packet.packetSequenceControl[0] = (unsigned char) (TM_PACKET_SEQ_CTRL_STANDALONE << 6);
192 192 parameter_dump_packet.packetSequenceControl[1] = 0x00;
193 193 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
194 194 parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
195 195 // DATA FIELD HEADER
196 196 parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
197 197 parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
198 198 parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
199 199 parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
200 200 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
201 201 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
202 202 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
203 203 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
204 204 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
205 205 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
206 206 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
207 207
208 208 //******************
209 209 // COMMON PARAMETERS
210 210 parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
211 211 parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
212 212
213 213 //******************
214 214 // NORMAL PARAMETERS
215 215 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8);
216 216 parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_L;
217 217 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8);
218 218 parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_P;
219 219 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8);
220 220 parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) DEFAULT_SY_LFR_N_ASM_P;
221 221 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0;
222 222 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1;
223 223
224 224 //*****************
225 225 // BURST PARAMETERS
226 226 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
227 227 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
228 228
229 229 //****************
230 230 // SBM1 PARAMETERS
231 231 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0;
232 232 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0;
233 233
234 234 //****************
235 235 // SBM2 PARAMETERS
236 236 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
237 237 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
238 238 }
239 239
240 240 void init_local_mode_parameters(void)
241 241 {
242 242 // LOCAL PARAMETERS
243 243 // (2 snapshots of 2048 points per seconds) * (period of the NORM snashots)
244 244 param_local.local_sbm1_nb_cwf_max = 2 * (
245 245 parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
246 246 + parameter_dump_packet.sy_lfr_n_swf_p[1]
247 247 );
248 248 // (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz)
249 249 param_local.local_sbm2_nb_cwf_max = (
250 250 parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
251 251 + parameter_dump_packet.sy_lfr_n_swf_p[1]
252 252 )/ 8;
253 253
254 254 PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
255 255 PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
256 256
257 257 param_local.local_sbm1_nb_cwf_sent = 0;
258 258 param_local.local_sbm2_nb_cwf_sent = 0;
259 259 }
260 260
261 261 void init_housekeeping_parameters(void)
262 262 {
263 263 unsigned int i = 0;
264 264 unsigned int j = 0;
265 265 unsigned int k = 0;
266 266 char *parameters;
267 267
268 268 parameters = (char*) &housekeeping_packet.lfr_status_word;
269 269 for(i = 0; i< SIZE_HK_PARAMETERS; i++)
270 270 {
271 271 parameters[i] = 0x00;
272 272 }
273 273 // init status word
274 274 housekeeping_packet.lfr_status_word[0] = 0x00;
275 275 housekeeping_packet.lfr_status_word[1] = 0x00;
276 276 // init software version
277 277 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
278 278 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
279 279 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
280 280 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
281 281 // init sequence counters
282 282 for (i = 0; i<SEQ_CNT_NB_PID; i++)
283 283 {
284 284 for(j = 0; j<SEQ_CNT_NB_CAT; j++)
285 285 {
286 286 for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
287 287 {
288 288 sequenceCounters[i][j][k] = 0x00;
289 289 }
290 290 }
291 291 }
292 292 }
293 293
294 294 int create_names( void )
295 295 {
296 296 // task names
297 297 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
298 298 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
299 299 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
300 300 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
301 301 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
302 302 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
303 303 Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
304 304 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
305 305 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
306 306 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
307 307
308 308 // rate monotonic period name
309 309 HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
310 310
311 311 return 0;
312 312 }
313 313
314 314 int create_all_tasks( void )
315 315 {
316 316 rtems_status_code status;
317 317
318 318 // RECV
319 319 status = rtems_task_create(
320 320 Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
321 321 RTEMS_DEFAULT_MODES,
322 322 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
323 323 );
324 324 // ACTN
325 325 status = rtems_task_create(
326 326 Task_name[TASKID_ACTN], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
327 327 RTEMS_DEFAULT_MODES,
328 328 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN]
329 329 );
330 330 // SPIQ
331 331 status = rtems_task_create(
332 332 Task_name[TASKID_SPIQ], 5, RTEMS_MINIMUM_STACK_SIZE * 2,
333 333 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
334 334 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
335 335 );
336 336 // SMIQ
337 337 status = rtems_task_create(
338 338 Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
339 339 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
340 340 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
341 341 );
342 342 // STAT
343 343 status = rtems_task_create(
344 344 Task_name[TASKID_STAT], 150, RTEMS_MINIMUM_STACK_SIZE * 2,
345 345 RTEMS_DEFAULT_MODES,
346 346 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
347 347 );
348 348 // AVF0
349 349 status = rtems_task_create(
350 350 Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
351 351 RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
352 352 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
353 353 );
354 354 // BPF0
355 355 status = rtems_task_create(
356 356 Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
357 357 RTEMS_DEFAULT_MODES,
358 358 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
359 359 );
360 360 // WFRM
361 361 status = rtems_task_create(
362 362 Task_name[TASKID_WFRM], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
363 363 RTEMS_DEFAULT_MODES,
364 364 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
365 365 );
366 366 // DUMB
367 367 status = rtems_task_create(
368 368 Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
369 369 RTEMS_DEFAULT_MODES,
370 370 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
371 371 );
372 372 // HOUS
373 373 status = rtems_task_create(
374 374 Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2,
375 375 RTEMS_DEFAULT_MODES,
376 376 RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
377 377 );
378 378
379 379 return 0;
380 380 }
381 381
382 382 int start_all_tasks( void )
383 383 {
384 384 rtems_status_code status;
385 385
386 386 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
387 387 if (status!=RTEMS_SUCCESSFUL) {
388 388 PRINTF("In INIT *** Error starting TASK_SPIQ\n")
389 389 }
390 390
391 391 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
392 392 if (status!=RTEMS_SUCCESSFUL) {
393 393 PRINTF("In INIT *** Error starting TASK_RECV\n")
394 394 }
395 395
396 396 status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
397 397 if (status!=RTEMS_SUCCESSFUL) {
398 398 PRINTF("In INIT *** Error starting TASK_ACTN\n")
399 399 }
400 400
401 401 status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
402 402 if (status!=RTEMS_SUCCESSFUL) {
403 403 PRINTF("In INIT *** Error starting TASK_BPPR\n")
404 404 }
405 405
406 406 status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
407 407 if (status!=RTEMS_SUCCESSFUL) {
408 408 PRINTF("In INIT *** Error starting TASK_STAT\n")
409 409 }
410 410
411 411 status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
412 412 if (status!=RTEMS_SUCCESSFUL) {
413 413 PRINTF("In INIT *** Error starting TASK_AVF0\n")
414 414 }
415 415
416 416 status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
417 417 if (status!=RTEMS_SUCCESSFUL) {
418 418 PRINTF("In INIT *** Error starting TASK_BPF0\n")
419 419 }
420 420
421 421 status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
422 422 if (status!=RTEMS_SUCCESSFUL) {
423 423 PRINTF("In INIT *** Error starting TASK_WFRM\n")
424 424 }
425 425
426 426 status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
427 427 if (status!=RTEMS_SUCCESSFUL) {
428 428 PRINTF("In INIT *** Error starting TASK_DUMB\n")
429 429 }
430 430
431 431 status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
432 432 if (status!=RTEMS_SUCCESSFUL) {
433 433 PRINTF("In INIT *** Error starting TASK_HOUS\n")
434 434 }
435 435
436 436 return 0;
437 437 }
438 438
439 439 int spacewire_configure_link( void )
440 440 {
441 441 rtems_status_code status;
442 442
443 443 close(fdSPW); // close the device if it is already open
444 444 PRINTF("OK *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n")
445 445 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
446 446 if ( fdSPW<0 ) {
447 447 PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
448 448 }
449 449
450 450 while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, -1) != RTEMS_SUCCESSFUL){
451 451 PRINTF(".")
452 452 fflush( stdout );
453 453 close( fdSPW ); // close the device
454 454 fdSPW = open( GRSPW_DEVICE_NAME, O_RDWR ); // open the device. the open call reset the hardware
455 455 if (fdSPW<0) {
456 456 PRINTF("ERR *** In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
457 457 }
458 458 rtems_task_wake_after(100);
459 459 }
460 460
461 461 PRINTF("OK *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
462 462
463 463 spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force
464 464 spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to break the no port force configuration
465 465
466 466 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
467 467 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
468 468 //
469 469 //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
470 470 //if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
471 471 //
472 472 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
473 473 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
474 474 //
475 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
475 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 0); // sets the link-error interrupt bit
476 476 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
477 477 //
478 478 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
479 479 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
480 480 //
481 481 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0); // transmission blocks on full
482 482 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
483 483 //
484 484 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909);
485 485 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
486 486
487 487 PRINTF("OK *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
488 488
489 489 return RTEMS_SUCCESSFUL;
490 490 }
491 491
492 492 int spacewire_wait_for_link(void)
493 493 {
494 494 unsigned int i;
495 495 int linkStatus;
496 496 rtems_status_code status = RTEMS_UNSATISFIED;
497 497
498 498 for(i = 0; i< 10; i++){
499 499 PRINTF(".")
500 500 fflush( stdout );
501 501 ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
502 PRINTF1("in spacewire_try_to_start *** link status is: %s\n", lstates[linkStatus])
502 PRINTF1("in spacewire_wait_for_link *** link status is: %s\n", lstates[linkStatus])
503 503 if ( linkStatus == 5) {
504 PRINTF("in spacewire_try_to_start *** link is running\n")
504 PRINTF("in spacewire_wait_for_link *** link is running\n")
505 505 status = RTEMS_SUCCESSFUL;
506 506 break;
507 507 }
508 508 rtems_task_wake_after(100);
509 509 }
510 510
511 511 return status;
512 512 }
513 513
514 514 void spacewire_set_NP(unsigned char val, unsigned int regAddr) // [N]o [P]ort force
515 515 {
516 516 unsigned int *spwptr = (unsigned int*) regAddr;
517 517
518 518 if (val == 1) {
519 519 *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
520 520 }
521 521 if (val== 0) {
522 522 *spwptr = *spwptr & 0xffdfffff;
523 523 }
524 524 }
525 525
526 526 void spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable
527 527 {
528 528 unsigned int *spwptr = (unsigned int*) regAddr;
529 529
530 530 if (val == 1)
531 531 {
532 532 *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
533 533 }
534 534 if (val== 0)
535 535 {
536 536 *spwptr = *spwptr & 0xfffdffff;
537 537 }
538 538 }
539 539
540 540 void spacewire_compute_stats_offsets()
541 541 {
542 542 spw_stats spacewire_stats_grspw;
543 543 rtems_status_code status;
544 544
545 545 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
546 546
547 547 spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
548 548 + spacewire_stats.packets_received;
549 549 spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
550 550 + spacewire_stats.packets_sent;
551 551 spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
552 552 + spacewire_stats.parity_err;
553 553 spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
554 554 + spacewire_stats.disconnect_err;
555 555 spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
556 556 + spacewire_stats.escape_err;
557 557 spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
558 558 + spacewire_stats.credit_err;
559 559 spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
560 560 + spacewire_stats.write_sync_err;
561 561 spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
562 562 + spacewire_stats.rx_rmap_header_crc_err;
563 563 spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
564 564 + spacewire_stats.rx_rmap_data_crc_err;
565 565 spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
566 566 + spacewire_stats.early_ep;
567 567 spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
568 568 + spacewire_stats.invalid_address;
569 569 spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
570 570 + spacewire_stats.rx_eep_err;
571 571 spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
572 572 + spacewire_stats.rx_truncated;
573 573 }
574 574
575 575 rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
576 576 {
577 577 rtems_status_code status;
578 578 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
579 579 if (status != RTEMS_SUCCESSFUL){
580 580 //PRINTF1("ERR *** in write_spw *** write operation failed with code: %d\n", status)
581 581 }
582 582 return status;
583 583 }
584 584
585 585 void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc)
586 586 {
587 587 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
588 588 printf("In timecode_irq_handler *** Error sending event to DUMB\n");
589 589 }
590 590 }
Show file before | Show file after | Hide comments
@@ -1,1281 +1,1281
1 1 #include <tc_handler.h>
2 2 #include <fsw_params.h>
3 3
4 4 char *DumbMessages[5] = {"in DUMB *** default", // RTEMS_EVENT_0
5 5 "in DUMB *** timecode_irq_handler", // RTEMS_EVENT_1
6 6 "in DUMB *** waveforms_isr", // RTEMS_EVENT_2
7 7 "in DUMB *** in SMIQ *** Error sending event to AVF0", // RTEMS_EVENT_3
8 8 "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ" // RTEMS_EVENT_4
9 9 };
10 10
11 11 unsigned char currentTC_LEN_RCV[2]; // SHALL be equal to the current TC packet estimated packet length field
12 12 unsigned char currentTC_COMPUTED_CRC[2];
13 13 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
14 14 unsigned int currentTM_length;
15 15 unsigned char currentTC_processedFlag;
16 16
17 17 unsigned int lookUpTableForCRC[256];
18 18
19 19 //**********************
20 20 // GENERAL USE FUNCTIONS
21 21 unsigned int Crc_opt( unsigned char D, unsigned int Chk)
22 22 {
23 23 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
24 24 }
25 25
26 26 void initLookUpTableForCRC( void )
27 27 {
28 28 unsigned int i;
29 29 unsigned int tmp;
30 30
31 31 for (i=0; i<256; i++)
32 32 {
33 33 tmp = 0;
34 34 if((i & 1) != 0) {
35 35 tmp = tmp ^ 0x1021;
36 36 }
37 37 if((i & 2) != 0) {
38 38 tmp = tmp ^ 0x2042;
39 39 }
40 40 if((i & 4) != 0) {
41 41 tmp = tmp ^ 0x4084;
42 42 }
43 43 if((i & 8) != 0) {
44 44 tmp = tmp ^ 0x8108;
45 45 }
46 46 if((i & 16) != 0) {
47 47 tmp = tmp ^ 0x1231;
48 48 }
49 49 if((i & 32) != 0) {
50 50 tmp = tmp ^ 0x2462;
51 51 }
52 52 if((i & 64) != 0) {
53 53 tmp = tmp ^ 0x48c4;
54 54 }
55 55 if((i & 128) != 0) {
56 56 tmp = tmp ^ 0x9188;
57 57 }
58 58 lookUpTableForCRC[i] = tmp;
59 59 }
60 60 }
61 61
62 62 void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
63 63 {
64 64 unsigned int Chk;
65 65 int j;
66 66 Chk = 0xffff; // reset the syndrom to all ones
67 67 for (j=0; j<sizeOfData; j++) {
68 68 Chk = Crc_opt(data[j], Chk);
69 69 }
70 70 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
71 71 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
72 72 }
73 73
74 74 //*********************
75 75 // ACCEPTANCE FUNCTIONS
76 76 int TC_acceptance(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
77 77 {
78 78 int ret = 0;
79 79 rtems_status_code status;
80 80 spw_ioctl_pkt_send spw_ioctl_send;
81 81 TMHeader_t TM_header;
82 82 unsigned int code = 0;
83 83 unsigned char computed_CRC[2];
84 84 char data[ PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
85 85
86 86 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
87 87 code = TC_parser( TC, tc_len_recv ) ;
88 88 if ( (code == ILLEGAL_APID) | (code == WRONG_LEN_PACKET) | (code == INCOR_CHECKSUM)
89 89 | (code == ILL_TYPE) | (code == ILL_SUBTYPE) | (code == WRONG_APP_DATA) )
90 90 { // generate TM_LFR_TC_EXE_CORRUPTED
91 91 // BUILD HEADER
92 92 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_CORRUPTED,
93 93 &TM_header, TC->sourceID); // TC source ID
94 94 // BUILD DATA
95 95 TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
96 96 // PREPARE TM SENDING
97 97 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
98 98 spw_ioctl_send.hdr = (char*) &TM_header;
99 99 spw_ioctl_send.dlen = 16;
100 100 spw_ioctl_send.data = data;
101 101 // SEND PACKET
102 102 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
103 103 }
104 104 else { // send valid TC to the action launcher
105 105 status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
106 106 ret = -1;
107 107 }
108 108 return ret;
109 109 }
110 110
111 111 unsigned char TC_parser(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
112 112 {
113 113 unsigned char ret = 0;
114 114 unsigned char pid = 0;
115 115 unsigned char category = 0;
116 116 unsigned int length = 0;
117 117 unsigned char packetType = 0;
118 118 unsigned char packetSubtype = 0;
119 119 unsigned char * CCSDSContent = NULL;
120 120
121 121 // APID check *** APID on 2 bytes
122 122 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx
123 123 category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
124 124 length = (TMPacket->packetLength[0] * 256) + TMPacket->packetLength[1];
125 125 packetType = TMPacket->serviceType;
126 126 packetSubtype = TMPacket->serviceSubType;
127 127
128 128 if ( pid != CCSDS_PROCESS_ID ) {
129 129 ret = ILLEGAL_APID;
130 130 }
131 131 else if ( category != CCSDS_PACKET_CATEGORY ) {
132 132 ret = ILLEGAL_APID;
133 133 }
134 134 else if (length != TC_LEN_RCV ) { // packet length check
135 135 ret = WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
136 136 }
137 137 else if ( length >= CCSDS_TC_PKT_MAX_SIZE ) {
138 138 ret = WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
139 139 }
140 140 else if ( packetType == TC_TYPE_GEN ){ // service type, subtype and packet length check
141 141 switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
142 142 case TC_SUBTYPE_RESET:
143 143 if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
144 144 ret = WRONG_LEN_PACKET;
145 145 }
146 146 else {
147 147 ret = CCSDS_TM_VALID;
148 148 }
149 149 break;
150 150 case TC_SUBTYPE_LOAD_COMM:
151 151 if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
152 152 ret = WRONG_LEN_PACKET;
153 153 }
154 154 else {
155 155 ret = CCSDS_TM_VALID;
156 156 }
157 157 break;
158 158 case TC_SUBTYPE_LOAD_NORM:
159 159 if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
160 160 ret = WRONG_LEN_PACKET;
161 161 }
162 162 else {
163 163 ret = CCSDS_TM_VALID;
164 164 }
165 165 break;
166 166 case TC_SUBTYPE_LOAD_BURST:
167 167 if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
168 168 ret = WRONG_LEN_PACKET;
169 169 }
170 170 else {
171 171 ret = CCSDS_TM_VALID;
172 172 }
173 173 break;
174 174 case TC_SUBTYPE_LOAD_SBM1:
175 175 if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
176 176 ret = WRONG_LEN_PACKET;
177 177 }
178 178 else {
179 179 ret = CCSDS_TM_VALID;
180 180 }
181 181 break;
182 182 case TC_SUBTYPE_LOAD_SBM2:
183 183 if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
184 184 ret = WRONG_LEN_PACKET;
185 185 }
186 186 else {
187 187 ret = CCSDS_TM_VALID;
188 188 }
189 189 break;
190 190 case TC_SUBTYPE_DUMP:
191 191 if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
192 192 ret = WRONG_LEN_PACKET;
193 193 }
194 194 else {
195 195 ret = CCSDS_TM_VALID;
196 196 }
197 197 break;
198 198 case TC_SUBTYPE_ENTER:
199 199 if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
200 200 ret = WRONG_LEN_PACKET;
201 201 }
202 202 else {
203 203 ret = CCSDS_TM_VALID;
204 204 }
205 205 break;
206 206 case TC_SUBTYPE_UPDT_INFO:
207 207 if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
208 208 ret = WRONG_LEN_PACKET;
209 209 }
210 210 else {
211 211 ret = CCSDS_TM_VALID;
212 212 }
213 213 break;
214 214 case TC_SUBTYPE_EN_CAL:
215 215 if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
216 216 ret = WRONG_LEN_PACKET;
217 217 }
218 218 else {
219 219 ret = CCSDS_TM_VALID;
220 220 }
221 221 break;
222 222 case TC_SUBTYPE_DIS_CAL:
223 223 if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
224 224 ret = WRONG_LEN_PACKET;
225 225 }
226 226 else {
227 227 ret = CCSDS_TM_VALID;
228 228 }
229 229 break;
230 230 default:
231 231 ret = ILL_SUBTYPE;
232 232 break;
233 233 }
234 234 }
235 235 else if ( packetType == TC_TYPE_TIME ){
236 236 if (packetSubtype!=TC_SUBTYPE_UPDT_TIME) {
237 237 ret = ILL_SUBTYPE;
238 238 }
239 239 else if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
240 240 ret = WRONG_LEN_PACKET;
241 241 }
242 242 else {
243 243 ret = CCSDS_TM_VALID;
244 244 }
245 245 }
246 246 else {
247 247 ret = ILL_TYPE;
248 248 }
249 249
250 250 // source ID check // Source ID not documented in the ICD
251 251
252 252 // packet error control, CRC check
253 253 if ( ret == CCSDS_TM_VALID ) {
254 254 CCSDSContent = (unsigned char*) TMPacket->packetID;
255 255 GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
256 256 if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
257 257 ret = INCOR_CHECKSUM;
258 258 }
259 259 else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
260 260 ret = INCOR_CHECKSUM;
261 261 }
262 262 else {
263 263 ret = CCSDS_TM_VALID;
264 264 }
265 265 }
266 266
267 267 return ret;
268 268 }
269 269
270 270 unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
271 271 TMHeader_t *TMHeader, unsigned char tc_sid)
272 272 {
273 273 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
274 274 TMHeader->protocolIdentifier = CCSDS_PROTOCOLE_ID;
275 275 TMHeader->reserved = 0x00;
276 276 TMHeader->userApplication = 0x00;
277 277 TMHeader->packetID[0] = 0x0c;
278 278 TMHeader->packetSequenceControl[0] = 0xc0;
279 279 TMHeader->packetSequenceControl[1] = 0x00;
280 280 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
281 281 TMHeader->packetLength[1] = (unsigned char) packetLength;
282 282 TMHeader->spare1_pusVersion_spare2 = 0x10;
283 283 TMHeader->destinationID = CCSDS_DESTINATION_ID; // default destination id
284 284 switch (tm_type){
285 285 case(TM_LFR_TC_EXE_OK):
286 286 TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE;
287 287 TMHeader->serviceType = TM_TYPE_TC_EXE; // type
288 288 TMHeader->serviceSubType = TM_SUBTYPE_EXE_OK; // subtype
289 289 TMHeader->destinationID = tc_sid; // destination id
290 290 break;
291 291 case(TM_LFR_TC_EXE_ERR):
292 292 TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE;
293 293 TMHeader->serviceType = TM_TYPE_TC_EXE; // type
294 294 TMHeader->serviceSubType = TM_SUBTYPE_EXE_NOK; // subtype
295 295 break;
296 296 case(TM_LFR_HK):
297 297 TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_HK;
298 298 TMHeader->serviceType = TM_TYPE_HK; // type
299 299 TMHeader->serviceSubType = TM_SUBTYPE_HK; // subtype
300 300 break;
301 301 case(TM_LFR_SCI):
302 302 TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_NORMAL;
303 303 TMHeader->serviceType = TM_TYPE_LFR_SCIENCE; // type
304 304 TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE; // subtype
305 305 break;
306 306 case(TM_LFR_SCI_SBM):
307 307 TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2;
308 308 TMHeader->serviceType = TM_TYPE_LFR_SCIENCE; // type
309 309 TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE; // subtype
310 310 break;
311 311 case(TM_LFR_PAR_DUMP):
312 312 TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
313 313 TMHeader->serviceType = TM_TYPE_HK; // type
314 314 TMHeader->serviceSubType = TM_SUBTYPE_HK; // subtype
315 315 break;
316 316 default:
317 317 return 0;
318 318 }
319 319 TMHeader->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
320 320 TMHeader->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
321 321 TMHeader->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
322 322 TMHeader->time[3] = (unsigned char) (time_management_regs->coarse_time);
323 323 TMHeader->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
324 324 TMHeader->time[5] = (unsigned char) (time_management_regs->fine_time);
325 325
326 326 return LFR_SUCCESSFUL;
327 327 }
328 328
329 329 unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
330 330 {
331 331 unsigned int packetLength;
332 332 packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];
333 333 switch (SID){
334 334 case (SID_NOT_EXE):
335 335 break;
336 336 case (SID_NOT_IMP):
337 data[0] = 0x9c;
338 data[1] = 0x42;
337 data[0] = (unsigned char) (SID_NOT_IMP >> 8);
338 data[1] = (unsigned char) SID_NOT_IMP;
339 339 data[2] = TC->packetID[0];
340 340 data[3] = TC->packetID[1];
341 341 data[4] = TC->packetSequenceControl[0];
342 342 data[5] = TC->packetSequenceControl[1];
343 343 data[6] = TC->serviceType; // type
344 344 data[7] = TC->serviceSubType; // subtype
345 345 break;
346 346 case (SID_EXE_ERR):
347 347 break;
348 348 case (SID_EXE_CORR):
349 data[0] = 0x9c;
350 data[1] = 0x45;
349 data[0] = (unsigned char) (SID_EXE_CORR >> 8);
350 data[1] = (unsigned char) SID_EXE_CORR;
351 351 data[2] = TC->packetID[0];
352 352 data[3] = TC->packetID[1];
353 353 data[4] = TC->packetSequenceControl[0];
354 354 data[5] = TC->packetSequenceControl[1];
355 355 data[6] = TC->serviceType; // type
356 356 data[7] = TC->serviceSubType; // subtype
357 357 data[8] = currentTC_LEN_RCV[0];
358 358 data[9] = currentTC_LEN_RCV[1];
359 359 data[10] = TC->packetLength[0];
360 360 data[11] = TC->packetLength[1];
361 361 data[12] = TC->dataAndCRC[packetLength];
362 362 data[13] = TC->dataAndCRC[packetLength+1];
363 363 data[14] = computed_CRC[0];
364 364 data[15] = computed_CRC[1];
365 365 break;
366 366 default:
367 367 return 0;
368 368 }
369 369 return 1;
370 370 }
371 371
372 372 int create_message_queue( void )
373 373 {
374 374 rtems_status_code status;
375 375 misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
376 376 status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
377 377 RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
378 378 if (status!=RTEMS_SUCCESSFUL) {
379 379 PRINTF("in create_message_queue *** error creating message queue\n")
380 380 }
381 381
382 382 return 0;
383 383 }
384 384
385 385 //***********
386 386 // RTEMS TASK
387 387 rtems_task recv_task( rtems_task_argument unused )
388 388 {
389 389 int len = 0;
390 390 unsigned int i = 0;
391 391 unsigned int data_length = 0;
392 392 ccsdsTelecommandPacket_t currentTC;
393 393 char data[100];
394 394
395 395 for(i=0; i<100; i++) data[i] = 0;
396 396
397 397 PRINTF("in RECV *** \n")
398 398
399 399 while(1)
400 400 {
401 401 len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
402 402 if (len == -1){ // error during the read call
403 403 PRINTF("In RECV *** last read call returned -1\n")
404 404 //if (rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) {
405 405 // PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
406 406 //}
407 407 //if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) {
408 408 // PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
409 409 //}
410 410 }
411 411 else {
412 412 PRINTF1("Got pck of length %d\n", len+1)
413 413 if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
414 414 PRINTF("In RECV *** packet lenght too short\n")
415 415 }
416 416 else {
417 417 currentTC_LEN_RCV[0] = 0x00;
418 418 currentTC_LEN_RCV[1] = (unsigned char) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // build the corresponding packet size field
419 419 currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
420 420 // CHECK THE TC AND BUILD THE APPROPRIATE TM
421 421 data_length = TC_acceptance(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
422 422 if (data_length!=-1)
423 423 {
424 424 }
425 425 }
426 426 }
427 427 }
428 428 }
429 429
430 430 rtems_task actn_task( rtems_task_argument unused )
431 431 {
432 432 int result;
433 433 rtems_status_code status; // RTEMS status code
434 434 ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
435 435 size_t size; // size of the incoming TC packet
436 436 unsigned char subtype; // subtype of the current TC packet
437 437
438 438 result = LFR_SUCCESSFUL;
439 439 subtype = 0; // subtype of the current TC packet
440 440
441 441 PRINTF("in ACTN *** \n")
442 442
443 443 while(1)
444 444 {
445 445 status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
446 446 RTEMS_WAIT, RTEMS_NO_TIMEOUT);
447 447 if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
448 448 else
449 449 {
450 450 subtype = TC.serviceSubType;
451 451 switch(subtype)
452 452 {
453 453 case TC_SUBTYPE_RESET:
454 454 result = action_default( &TC );
455 455 break;
456 456 //
457 457 case TC_SUBTYPE_LOAD_COMM:
458 458 result = action_load_comm( &TC );
459 459 close_action( &TC, result );
460 460 break;
461 461 //
462 462 case TC_SUBTYPE_LOAD_NORM:
463 463 result = action_load_norm( &TC );
464 464 close_action( &TC, result );
465 465 break;
466 466 //
467 467 case TC_SUBTYPE_LOAD_BURST:
468 468 result = action_default( &TC );
469 469 close_action( &TC, result );
470 470 break;
471 471 //
472 472 case TC_SUBTYPE_LOAD_SBM1:
473 473 result = action_default( &TC );
474 474 close_action( &TC, result );
475 475 break;
476 476 //
477 477 case TC_SUBTYPE_LOAD_SBM2:
478 478 result = action_default( &TC );
479 479 close_action( &TC, result );
480 480 break;
481 481 //
482 482 case TC_SUBTYPE_DUMP:
483 483 result = action_dump( &TC );
484 484 close_action( &TC, result );
485 485 break;
486 486 //
487 487 case TC_SUBTYPE_ENTER:
488 488 result = action_enter( &TC );
489 489 close_action( &TC, result );
490 490 break;
491 491 //
492 492 case TC_SUBTYPE_UPDT_INFO:
493 493 result = action_updt_info( &TC );
494 494 close_action( &TC, result );
495 495 break;
496 496 //
497 497 case TC_SUBTYPE_EN_CAL:
498 498 result = action_enable_calibration( &TC );
499 499 close_action( &TC, result );
500 500 break;
501 501 //
502 502 case TC_SUBTYPE_DIS_CAL:
503 503 result = action_disable_calibration( &TC );
504 504 close_action( &TC, result );
505 505 break;
506 506 //
507 507 case TC_SUBTYPE_UPDT_TIME:
508 508 result = action_updt_time( &TC );
509 509 break;
510 510 //
511 511 default:
512 512 break;
513 513 }
514 514 }
515 515 }
516 516 }
517 517
518 518 rtems_task dumb_task( rtems_task_argument unused )
519 519 {
520 520 unsigned int i;
521 521 unsigned int intEventOut;
522 522 unsigned int coarse_time = 0;
523 523 unsigned int fine_time = 0;
524 524 rtems_event_set event_out;
525 525
526 526 PRINTF("in DUMB *** \n")
527 527
528 528 while(1){
529 529 rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4,
530 530 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
531 531 intEventOut = (unsigned int) event_out;
532 532 PRINTF1("in DUMB *** event_out %x\n", (int) event_out)
533 533 for ( i=0; i<32; i++)
534 534 {
535 535 if ( ((intEventOut >> i) & 0x0001) != 0)
536 536 {
537 537 coarse_time = time_management_regs->coarse_time;
538 538 fine_time = time_management_regs->fine_time;
539 539 printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
540 540 }
541 541 }
542 542 }
543 543 }
544 544
545 545 //***********
546 546 // TC ACTIONS
547 547
548 548 int action_default(ccsdsTelecommandPacket_t *TC)
549 549 {
550 550 rtems_status_code status;
551 551 TMHeader_t header;
552 552 spw_ioctl_pkt_send spw_ioctl_send;
553 553 unsigned char data[10];
554 554
555 555 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED,
556 556 &header, TC->sourceID);
557 557
558 558 spw_ioctl_send.hlen = TM_HEADER_LEN + 4;
559 559 spw_ioctl_send.hdr = (char *) &header;
560 560 spw_ioctl_send.dlen = 8;
561 561 spw_ioctl_send.data = (char *) data;
562 562 spw_ioctl_send.options = 0;
563 563
564 564 data[0] = (char) (FAILURE_CODE_NOT_IMPLEMENTED >> 8);
565 565 data[1] = (char) FAILURE_CODE_NOT_IMPLEMENTED;
566 566 data[2] = TC->packetID[0];
567 567 data[3] = TC->packetID[1];
568 568 data[4] = TC->packetSequenceControl[0];
569 569 data[5] = TC->packetSequenceControl[1];
570 570 data[6] = TC->serviceType; // type
571 571 data[7] = TC->serviceSubType; // subtype
572 572
573 573 // SEND DATA
574 574 status = write_spw(&spw_ioctl_send);
575 575 if (status != RTEMS_SUCCESSFUL)
576 576 {
577 577 PRINTF("ERR *** in action_default *** send TM packet\n")
578 578 }
579 579
580 580 return LFR_DEFAULT;
581 581 }
582 582
583 583 int action_enter(ccsdsTelecommandPacket_t *TC)
584 584 {
585 585 rtems_status_code status;
586 586 unsigned char requestedMode;
587 587
588 588 requestedMode = TC->dataAndCRC[1];
589 589
590 590 printf("try to enter mode %d\n", requestedMode);
591 591
592 592 status = transition_validation(requestedMode);
593 593
594 594 if ( status == LFR_SUCCESSFUL ) {
595 595 if ( (housekeeping_packet.lfr_status_word[0] & 0xf0) != LFR_MODE_STANDBY)
596 596 {
597 597 status = stop_current_mode();
598 598 }
599 599 if (status != RTEMS_SUCCESSFUL)
600 600 {
601 601 PRINTF("ERR *** in action_enter *** stop_current_mode\n")
602 602 }
603 603 status = enter_mode(requestedMode, TC);
604 604 }
605 605 else
606 606 {
607 607 PRINTF("ERR *** in action_enter *** transition rejected\n")
608 608 send_tm_lfr_tc_exe_not_executable( TC );
609 609 }
610 610
611 611 return status;
612 612 }
613 613
614 614 int action_load_comm(ccsdsTelecommandPacket_t *TC)
615 615 {
616 616 parameter_dump_packet.unused0 = TC->dataAndCRC[0];
617 617 parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1];
618 618
619 619 set_wfp_data_shaping(parameter_dump_packet.bw_sp0_sp1_r0_r1);
620 620
621 621 return LFR_SUCCESSFUL;
622 622 }
623 623
624 624 int action_load_norm(ccsdsTelecommandPacket_t *TC)
625 625 {
626 626 int result;
627 627 unsigned char lfrMode;
628 628
629 629 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
630 630
631 631 if ( lfrMode == LFR_MODE_NORMAL ) {
632 632 send_tm_lfr_tc_exe_not_executable( TC );
633 633 result = LFR_DEFAULT;
634 634 }
635 635 else {
636 636 parameter_dump_packet.sy_lfr_n_swf_l[0] = TC->dataAndCRC[0];
637 637 parameter_dump_packet.sy_lfr_n_swf_l[1] = TC->dataAndCRC[1];
638 638
639 639 parameter_dump_packet.sy_lfr_n_swf_p[0] = TC->dataAndCRC[2];
640 640 parameter_dump_packet.sy_lfr_n_swf_p[1] = TC->dataAndCRC[3];
641 641
642 642 parameter_dump_packet.sy_lfr_n_asm_p[0] = TC->dataAndCRC[4];
643 643 parameter_dump_packet.sy_lfr_n_asm_p[1] = TC->dataAndCRC[5];
644 644
645 645 parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
646 646 parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
647 647
648 648 result = LFR_SUCCESSFUL;
649 649 }
650 650
651 651 return result;
652 652 }
653 653
654 654 int action_load_burst(ccsdsTelecommandPacket_t *TC)
655 655 {
656 656 int result;
657 657 unsigned char lfrMode;
658 658
659 659 result = LFR_DEFAULT;
660 660 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
661 661
662 662 if ( lfrMode == LFR_MODE_BURST ) {
663 663 send_tm_lfr_tc_exe_not_executable( TC );
664 664 result = LFR_DEFAULT;
665 665 }
666 666 else {
667 667 send_tm_lfr_tc_exe_not_implemented( TC );
668 668 result = LFR_DEFAULT;
669 669 }
670 670
671 671 return result;
672 672 }
673 673
674 674 int action_load_sbm1(ccsdsTelecommandPacket_t *TC)
675 675 {
676 676 int result;
677 677 unsigned char lfrMode;
678 678
679 679 result = LFR_DEFAULT;
680 680 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
681 681
682 682 if ( (lfrMode == LFR_MODE_SBM1) | (lfrMode == LFR_MODE_SBM2) ) {
683 683 send_tm_lfr_tc_exe_not_executable( TC );
684 684 result = LFR_DEFAULT;
685 685 }
686 686 else {
687 687 send_tm_lfr_tc_exe_not_implemented( TC );
688 688 result = LFR_DEFAULT;
689 689 }
690 690
691 691 return result;
692 692 }
693 693
694 694 int action_load_sbm2(ccsdsTelecommandPacket_t *TC)
695 695 {
696 696 int result;
697 697 unsigned char lfrMode;
698 698
699 699 result = LFR_DEFAULT;
700 700 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
701 701
702 702 if ( (lfrMode == LFR_MODE_SBM1) | (lfrMode == LFR_MODE_SBM2) ) {
703 703 send_tm_lfr_tc_exe_not_executable( TC );
704 704 result = LFR_DEFAULT;
705 705 }
706 706 else {
707 707 send_tm_lfr_tc_exe_not_implemented( TC );
708 708 result = LFR_DEFAULT;
709 709 }
710 710
711 711 return result;
712 712 }
713 713
714 714 int action_dump(ccsdsTelecommandPacket_t *TC)
715 715 {
716 716 int status;
717 717 // send parameter dump packet
718 718 status = write(fdSPW, (char *) &parameter_dump_packet,
719 719 PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + 4);
720 720 if (status == -1)
721 721 {
722 722 PRINTF1("in action_dump *** ERR sending packet, code %d", status)
723 723 status = RTEMS_UNSATISFIED;
724 724 }
725 725 else
726 726 {
727 727 status = RTEMS_SUCCESSFUL;
728 728 }
729 729
730 730 return status;
731 731 }
732 732
733 733 int action_updt_info(ccsdsTelecommandPacket_t *TC) {
734 734 unsigned int val;
735 735 int result;
736 736 unsigned char lfrMode;
737 737
738 738 result = LFR_DEFAULT;
739 739 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
740 740
741 741 if ( (lfrMode == LFR_MODE_STANDBY) ) {
742 742 send_tm_lfr_tc_exe_not_executable( TC );
743 743 result = LFR_DEFAULT;
744 744 }
745 745 else {
746 746 val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
747 747 + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
748 748 val++;
749 749 housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
750 750 housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
751 751 result = LFR_SUCCESSFUL;
752 752 }
753 753
754 754 return result;
755 755 }
756 756
757 757 int action_enable_calibration(ccsdsTelecommandPacket_t *TC)
758 758 {
759 759 int result;
760 760 unsigned char lfrMode;
761 761
762 762 result = LFR_DEFAULT;
763 763 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
764 764
765 765 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
766 766 send_tm_lfr_tc_exe_not_executable( TC );
767 767 result = LFR_DEFAULT;
768 768 }
769 769 else {
770 770 send_tm_lfr_tc_exe_not_implemented( TC );
771 771 result = LFR_DEFAULT;
772 772 }
773 773 return result;
774 774 }
775 775
776 776 int action_disable_calibration(ccsdsTelecommandPacket_t *TC)
777 777 {
778 778 int result;
779 779 unsigned char lfrMode;
780 780
781 781 result = LFR_DEFAULT;
782 782 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
783 783
784 784 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
785 785 send_tm_lfr_tc_exe_not_executable( TC );
786 786 result = LFR_DEFAULT;
787 787 }
788 788 else {
789 789 send_tm_lfr_tc_exe_not_implemented( TC );
790 790 result = LFR_DEFAULT;
791 791 }
792 792 return result;
793 793 }
794 794
795 795 int action_updt_time(ccsdsTelecommandPacket_t *TC)
796 796 {
797 797 unsigned int val;
798 798
799 799 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
800 800 + (TC->dataAndCRC[1] << 16)
801 801 + (TC->dataAndCRC[2] << 8)
802 802 + TC->dataAndCRC[3];
803 803 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
804 804 + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
805 805 val++;
806 806 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
807 807 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
808 808 //time_management_regs->ctrl = time_management_regs->ctrl | 1;
809 809
810 810 return LFR_SUCCESSFUL;
811 811 }
812 812
813 813 //*******************
814 814 // ENTERING THE MODES
815 815
816 816 int transition_validation(unsigned char requestedMode)
817 817 {
818 818 int status;
819 819 unsigned char lfrMode;
820 820
821 821 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
822 822
823 823 switch (requestedMode)
824 824 {
825 825 case LFR_MODE_STANDBY:
826 826 if ( (lfrMode == LFR_MODE_STANDBY) ) {
827 827 status = LFR_DEFAULT;
828 828 }
829 829 else
830 830 {
831 831 status = LFR_SUCCESSFUL;
832 832 }
833 833 break;
834 834 case LFR_MODE_NORMAL:
835 835 if ( (lfrMode == LFR_MODE_NORMAL) ) {
836 836 status = LFR_DEFAULT;
837 837 }
838 838 else {
839 839 status = LFR_SUCCESSFUL;
840 840 }
841 841 break;
842 842 case LFR_MODE_BURST:
843 843 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST)
844 844 | (lfrMode == LFR_MODE_SBM2) ) {
845 845 status = LFR_DEFAULT;
846 846 }
847 847 else {
848 848 status = LFR_SUCCESSFUL;
849 849 }
850 850 break;
851 851 case LFR_MODE_SBM1:
852 852 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_SBM1) ) {
853 853 status = LFR_DEFAULT;
854 854 }
855 855 else {
856 856 status = LFR_SUCCESSFUL;
857 857 }
858 858 break;
859 859 case LFR_MODE_SBM2:
860 860 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_NORMAL)
861 861 | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
862 862 status = LFR_DEFAULT;
863 863 }
864 864 else {
865 865 status = LFR_SUCCESSFUL;
866 866 }
867 867 break;
868 868 default:
869 869 status = LFR_DEFAULT;
870 870 break;
871 871 }
872 872
873 873 return status;
874 874 }
875 875
876 876 int stop_current_mode()
877 877 {
878 878 rtems_status_code status;
879 879 unsigned char lfrMode;
880 880
881 881 status = RTEMS_SUCCESSFUL;
882 882 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode
883 883
884 884 // mask all IRQ lines related to signal processing
885 885 LEON_Mask_interrupt( IRQ_WF ); // mask waveform interrupt (coming from the timer VHDL IP)
886 886 LEON_Mask_interrupt( IRQ_SM ); // mask spectral matrices interrupt (coming from the timer VHDL IP)
887 887 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt
888 888
889 889 // clear all pending interruptions related to signal processing
890 890 LEON_Clear_interrupt( IRQ_WF ); // clear waveform interrupt (coming from the timer VHDL IP)
891 891 LEON_Clear_interrupt( IRQ_SM ); // clear spectral matrices interrupt (coming from the timer VHDL IP)
892 892 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt
893 893
894 894 // suspend several tasks
895 895
896 896 if (lfrMode != LFR_MODE_STANDBY) {
897 897 status = rtems_task_suspend( Task_id[TASKID_AVF0] );
898 898 if (status == RTEMS_SUCCESSFUL) {
899 899 status = rtems_task_suspend( Task_id[TASKID_BPF0] );
900 900 if (status == RTEMS_SUCCESSFUL) {
901 901 status = rtems_task_suspend( Task_id[TASKID_WFRM] );
902 902 }
903 903 }
904 904 }
905 905
906 906 if (status != RTEMS_SUCCESSFUL)
907 907 {
908 908 PRINTF("ERR *** in stop_current_mode *** suspending tasks\n")
909 909 }
910 910
911 911 // initialize the registers
912 912 waveform_picker_regs->burst_enable = 0x00; // initialize
913 913
914 914 return status;
915 915 }
916 916
917 917 int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC )
918 918 {
919 919 rtems_status_code status;
920 920
921 921 switch(mode){
922 922 case LFR_MODE_STANDBY:
923 923 status = enter_standby_mode( TC );
924 924 break;
925 925 case LFR_MODE_NORMAL:
926 926 status = enter_normal_mode( TC );
927 927 break;
928 928 case LFR_MODE_BURST:
929 929 status = enter_burst_mode( TC );
930 930 break;
931 931 case LFR_MODE_SBM1:
932 932 status = enter_sbm1_mode( TC );
933 933 break;
934 934 case LFR_MODE_SBM2:
935 935 status = enter_sbm2_mode( TC );
936 936 break;
937 937 default:
938 938 status = RTEMS_UNSATISFIED;
939 939 }
940 940
941 941 if (status == RTEMS_SUCCESSFUL)
942 942 {
943 943 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
944 944 }
945 945
946 946 return status;
947 947 }
948 948
949 949 int enter_standby_mode(ccsdsTelecommandPacket_t *TC)
950 950 {
951 951 return LFR_SUCCESSFUL;
952 952 }
953 953
954 954 int enter_normal_mode( ccsdsTelecommandPacket_t *TC )
955 955 {
956 956 rtems_status_code status;
957 957
958 958 status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
959 959 if (status == RTEMS_SUCCESSFUL) {
960 960 status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
961 961 if (status == RTEMS_SUCCESSFUL) {
962 962 status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
963 963 }
964 964 }
965 965
966 966 #ifdef GSA
967 967 LEON_Unmask_interrupt( IRQ_WF );
968 968 #else
969 969 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
970 970 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
971 971 waveform_picker_regs->burst_enable = 0x07;
972 972 waveform_picker_regs->addr_data_f1 = (int) wf_snap_f1;
973 973 waveform_picker_regs->status = 0x00;
974 974 #endif
975 975 LEON_Unmask_interrupt( IRQ_SM );
976 976
977 977 return status;
978 978 }
979 979
980 980 int enter_burst_mode(ccsdsTelecommandPacket_t *TC)
981 981 {
982 982 rtems_status_code status;
983 983 unsigned char lfrMode;
984 984
985 985 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
986 986
987 987 status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
988 988 if (status == RTEMS_SUCCESSFUL) {
989 989 status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
990 990 if (status == RTEMS_SUCCESSFUL) {
991 991 status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
992 992 }
993 993 }
994 994
995 995 #ifdef GSA
996 996 #else
997 997 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
998 998 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
999 999 waveform_picker_regs->addr_data_f2 = (int) wf_snap_f2;
1000 1000 waveform_picker_regs->burst_enable = 0x40; // [0100 0000] burst f2, f1, f0 enable f3 f2 f1 f0
1001 1001 waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x04;
1002 1002 waveform_picker_regs->status = 0x00;
1003 1003 #endif
1004 1004
1005 1005 LEON_Unmask_interrupt( IRQ_SM );
1006 1006
1007 1007 return status;
1008 1008 }
1009 1009
1010 1010 int enter_sbm1_mode(ccsdsTelecommandPacket_t *TC)
1011 1011 {
1012 1012 rtems_status_code status;
1013 1013
1014 1014 status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
1015 1015 if (status == RTEMS_SUCCESSFUL) {
1016 1016 status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
1017 1017 if (status == RTEMS_SUCCESSFUL) {
1018 1018 status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
1019 1019 }
1020 1020 }
1021 1021
1022 1022 // at the beginning of the mode, the parameter local_sbm1_nb_cwf_max has a specific value
1023 1023 param_local.local_sbm1_nb_cwf_max = 2 * (
1024 1024 (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256)
1025 1025 + parameter_dump_packet.sy_lfr_n_swf_p[1]
1026 1026 )/ 4;
1027 1027
1028 1028 #ifdef GSA
1029 1029 #else
1030 1030 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
1031 1031 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
1032 1032 waveform_picker_regs->addr_data_f1 = (int) wf_snap_f1;
1033 1033 waveform_picker_regs->burst_enable = 0x20; // [0010 0000] burst f2, f1, f0 enable f3 f2 f1 f0
1034 1034 waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x07; // [0111] enable f3 f2 f1 f0
1035 1035 waveform_picker_regs->status = 0x00;
1036 1036 #endif
1037 1037
1038 1038 LEON_Unmask_interrupt( IRQ_SM );
1039 1039
1040 1040 return status;
1041 1041 }
1042 1042
1043 1043 int enter_sbm2_mode(ccsdsTelecommandPacket_t *TC)
1044 1044 {
1045 1045 rtems_status_code status;
1046 1046
1047 1047 status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
1048 1048 if (status == RTEMS_SUCCESSFUL) {
1049 1049 status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
1050 1050 if (status == RTEMS_SUCCESSFUL) {
1051 1051 status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
1052 1052 }
1053 1053 }
1054 1054
1055 1055 // at the beginning of the mode, the parameter local_sbm2_nb_cwf_max has a specific value
1056 1056 param_local.local_sbm1_nb_cwf_max = (
1057 1057 (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256)
1058 1058 + parameter_dump_packet.sy_lfr_n_swf_p[1]
1059 1059 ) / 16;
1060 1060
1061 1061 #ifdef GSA
1062 1062 #else
1063 1063 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
1064 1064 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
1065 1065 waveform_picker_regs->addr_data_f2 = (int) wf_snap_f2;
1066 1066 waveform_picker_regs->burst_enable = 0x40; // [0100 0000] burst f2, f1, f0 enable f3 f2 f1 f0
1067 1067 waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x04;
1068 1068 waveform_picker_regs->status = 0x00;
1069 1069 #endif
1070 1070
1071 1071 LEON_Unmask_interrupt( IRQ_SM );
1072 1072
1073 1073 return status;
1074 1074 }
1075 1075
1076 1076 //****************
1077 1077 // CLOSING ACTIONS
1078 1078
1079 1079 int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
1080 1080 {
1081 1081 rtems_status_code status;
1082 1082 TMHeader_t TM_header;
1083 1083 char data[4];
1084 1084 spw_ioctl_pkt_send spw_ioctl_send;
1085 1085
1086 1086 TM_build_header( TM_LFR_TC_EXE_OK, PACKET_LENGTH_TC_EXE_SUCCESS,
1087 1087 &TM_header,
1088 1088 TC->sourceID); // TC source ID
1089 1089
1090 1090 data[0] = TC->packetID[0];
1091 1091 data[1] = TC->packetID[1];
1092 1092 data[2] = TC->packetSequenceControl[0];
1093 1093 data[3] = TC->packetSequenceControl[1];
1094 1094
1095 1095 // filling the structure for the spacewire transmission
1096 1096 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
1097 1097 spw_ioctl_send.hdr = (char*) &TM_header;
1098 1098 spw_ioctl_send.dlen = 4;
1099 1099 spw_ioctl_send.data = data;
1100 1100 spw_ioctl_send.options = 0;
1101 1101
1102 1102 // SEND DATA
1103 1103 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
1104 1104
1105 1105 return LFR_SUCCESSFUL;
1106 1106 }
1107 1107
1108 1108 int send_tm_lfr_tc_exe_not_executable(ccsdsTelecommandPacket_t *TC)
1109 1109 {
1110 1110 rtems_status_code status;
1111 1111 TMHeader_t TM_header;
1112 1112 char data[10];
1113 1113 spw_ioctl_pkt_send spw_ioctl_send;
1114 1114
1115 1115 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE,
1116 1116 &TM_header,
1117 1117 TC->sourceID); // TC source ID
1118 1118
1119 1119 data[0] = (char) (FAILURE_CODE_NOT_EXECUTABLE >> 8);
1120 1120 data[1] = (char) FAILURE_CODE_NOT_EXECUTABLE;
1121 1121 data[2] = TC->packetID[0];
1122 1122 data[3] = TC->packetID[1];
1123 1123 data[4] = TC->packetSequenceControl[0];
1124 1124 data[5] = TC->packetSequenceControl[1];
1125 1125 data[6] = TC->serviceType; // type of the rejected TC
1126 1126 data[7] = TC->serviceSubType; // subtype of the rejected TC
1127 1127 data[8] = housekeeping_packet.lfr_status_word[0];
1128 1128 data[6] = housekeeping_packet.lfr_status_word[1];
1129 1129
1130 1130 // filling the structure for the spacewire transmission
1131 1131 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
1132 1132 spw_ioctl_send.hdr = (char*) &TM_header;
1133 1133 spw_ioctl_send.dlen = 10;
1134 1134 spw_ioctl_send.data = data;
1135 1135 spw_ioctl_send.options = 0;
1136 1136
1137 1137 // SEND DATA
1138 1138 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
1139 1139
1140 1140 return LFR_SUCCESSFUL;
1141 1141 }
1142 1142
1143 1143 int send_tm_lfr_tc_exe_not_implemented(ccsdsTelecommandPacket_t *TC)
1144 1144 {
1145 1145 rtems_status_code status;
1146 1146 TMHeader_t TM_header;
1147 1147 char data[8];
1148 1148 spw_ioctl_pkt_send spw_ioctl_send;
1149 1149
1150 1150 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED,
1151 1151 &TM_header,
1152 1152 TC->sourceID); // TC source ID
1153 1153
1154 1154 data[0] = (char) (FAILURE_CODE_NOT_IMPLEMENTED >> 8);
1155 1155 data[1] = (char) FAILURE_CODE_NOT_IMPLEMENTED;
1156 1156 data[2] = TC->packetID[0];
1157 1157 data[3] = TC->packetID[1];
1158 1158 data[4] = TC->packetSequenceControl[0];
1159 1159 data[5] = TC->packetSequenceControl[1];
1160 1160 data[6] = TC->serviceType; // type of the rejected TC
1161 1161 data[7] = TC->serviceSubType; // subtype of the rejected TC
1162 1162
1163 1163 // filling the structure for the spacewire transmission
1164 1164 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
1165 1165 spw_ioctl_send.hdr = (char*) &TM_header;
1166 1166 spw_ioctl_send.dlen = 8;
1167 1167 spw_ioctl_send.data = data;
1168 1168 spw_ioctl_send.options = 0;
1169 1169
1170 1170 // SEND DATA
1171 1171 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
1172 1172
1173 1173 return LFR_SUCCESSFUL;
1174 1174 }
1175 1175
1176 1176 int send_tm_lfr_tc_exe_error(ccsdsTelecommandPacket_t *TC)
1177 1177 {
1178 1178 rtems_status_code status;
1179 1179 TMHeader_t TM_header;
1180 1180 char data[8];
1181 1181 spw_ioctl_pkt_send spw_ioctl_send;
1182 1182
1183 1183 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_ERROR,
1184 1184 &TM_header,
1185 1185 TC->sourceID); // TC source ID
1186 1186
1187 1187 data[0] = (char) (FAILURE_CODE_ERROR >> 8);
1188 1188 data[1] = (char) FAILURE_CODE_ERROR;
1189 1189 data[2] = TC->packetID[0];
1190 1190 data[3] = TC->packetID[1];
1191 1191 data[4] = TC->packetSequenceControl[0];
1192 1192 data[5] = TC->packetSequenceControl[1];
1193 1193 data[6] = TC->serviceType; // type of the rejected TC
1194 1194 data[7] = TC->serviceSubType; // subtype of the rejected TC
1195 1195
1196 1196 // filling the structure for the spacewire transmission
1197 1197 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
1198 1198 spw_ioctl_send.hdr = (char*) &TM_header;
1199 1199 spw_ioctl_send.dlen = 8;
1200 1200 spw_ioctl_send.data = data;
1201 1201 spw_ioctl_send.options = 0;
1202 1202
1203 1203 // SEND DATA
1204 1204 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
1205 1205
1206 1206 return LFR_SUCCESSFUL;
1207 1207 }
1208 1208
1209 1209 void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
1210 1210 {
1211 1211 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
1212 1212 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
1213 1213 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
1214 1214 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
1215 1215 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
1216 1216 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
1217 1217 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
1218 1218 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
1219 1219 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
1220 1220 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
1221 1221 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
1222 1222 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
1223 1223 }
1224 1224
1225 1225 void update_last_TC_rej(ccsdsTelecommandPacket_t *TC)
1226 1226 {
1227 1227 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
1228 1228 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
1229 1229 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
1230 1230 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
1231 1231 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
1232 1232 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
1233 1233 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
1234 1234 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
1235 1235 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
1236 1236 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
1237 1237 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
1238 1238 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
1239 1239 }
1240 1240
1241 1241 void close_action(ccsdsTelecommandPacket_t *TC, int result)
1242 1242 {
1243 1243 unsigned int val = 0;
1244 1244 if (result == LFR_SUCCESSFUL)
1245 1245 {
1246 1246 send_tm_lfr_tc_exe_success( TC );
1247 1247 update_last_TC_exe( TC );
1248 1248 val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1];
1249 1249 val++;
1250 1250 housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
1251 1251 housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val);
1252 1252 }
1253 1253 else
1254 1254 {
1255 1255 update_last_TC_rej( TC );
1256 1256 val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1];
1257 1257 val++;
1258 1258 housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
1259 1259 housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val);
1260 1260 }
1261 1261 }
1262 1262
1263 1263 //***************************
1264 1264 // Interrupt Service Routines
1265 1265 rtems_isr commutation_isr1( rtems_vector_number vector )
1266 1266 {
1267 1267 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
1268 1268 printf("In commutation_isr1 *** Error sending event to DUMB\n");
1269 1269 }
1270 1270 }
1271 1271
1272 1272 rtems_isr commutation_isr2( rtems_vector_number vector )
1273 1273 {
1274 1274 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
1275 1275 printf("In commutation_isr2 *** Error sending event to DUMB\n");
1276 1276 }
1277 1277 }
1278 1278
1279 1279
1280 1280
1281 1281
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