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Disabled most dead code + set CMake min Ver to 3.5
jeandet -
r402:eb452cd0caf8 R3++ draft
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@@ -1,14 +1,14
1 cmake_minimum_required (VERSION 3.6)
1 cmake_minimum_required (VERSION 3.5)
2 2 project (LFR_FSW)
3 3
4 4 if(NOT CMAKE_BUILD_TYPE)
5 5 set(CMAKE_BUILD_TYPE "Release" CACHE STRING
6 6 "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE)
7 7 endif(NOT CMAKE_BUILD_TYPE)
8 8
9 9 set(LFR_BP_SRC ${CMAKE_CURRENT_SOURCE_DIR}/LFR_basic-parameters/basic_parameters.c)
10 10
11 11 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/sparc")
12 12
13 13 add_subdirectory(libgcov)
14 14 add_subdirectory(src)
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@@ -1,117 +1,112
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 #include "lfr_cpu_usage_report.h"
14 14
15 15 #define MAX_DELTA_COARSE_TIME 3
16 16 #define NB_SCIENCE_TASKS 10
17 17 #define NB_ASM_TASKS 6
18 18 #define STATUS_0 0
19 19 #define STATUS_1 1
20 20 #define STATUS_2 2
21 21 #define STATUS_3 3
22 22 #define STATUS_4 4
23 23 #define STATUS_5 5
24 24 #define STATUS_6 6
25 25 #define STATUS_7 7
26 26 #define STATUS_8 8
27 27 #define STATUS_9 9
28 28
29 29 #define CAL_F0 625.
30 30 #define CAL_F1 10000.
31 31 #define CAL_W0 (2. * pi * CAL_F0)
32 32 #define CAL_W1 (2. * pi * CAL_F1)
33 33 #define CAL_A0 1.
34 34 #define CAL_A1 2.
35 35 #define CAL_FS 160256.410
36 36 #define CAL_SCALE_FACTOR (0.250 / 0.000654) // 191, 500 mVpp, 2 sinus waves => 500 mVpp each, amplitude = 250 mV
37 37 #define CAL_NB_PTS 256
38 38 #define CAL_DATA_MASK 0xfff
39 39 #define CAL_F_DIVISOR 38 // 25 MHz => 160 256 (39 - 1)
40 40 #define CAL_F_DIVISOR_MIN 38
41 41 #define CAL_F_DIVISOR_MAX (38*2*2*2*2)
42 42 // INTERLEAVED MODE
43 43 #define CAL_FS_INTER 240384.615
44 44 #define CAL_NB_PTS_INTER 384
45 45 #define CAL_DATA_MASK_INTER 0x3f
46 46 #define CAL_DATA_SHIFT_INTER 12
47 47 #define BYTES_FOR_2_SAMPLES 3 // one need 3 bytes = 24 bits to store 3 samples of 12 bits in interleaved mode
48 48 #define STEPS_FOR_STORAGE_INTER 128
49 49 #define CAL_F_DIVISOR_INTER 26 // 25 MHz => 240 384
50 50
51 51 extern unsigned int lastValidEnterModeTime;
52 52 extern unsigned char oneTcLfrUpdateTimeReceived;
53 53
54 //****
55 // ISR
56 rtems_isr commutation_isr1( rtems_vector_number vector );
57 rtems_isr commutation_isr2( rtems_vector_number vector );
58
59 54 //***********
60 55 // RTEMS TASK
61 56 rtems_task actn_task( rtems_task_argument unused );
62 57
63 58 //***********
64 59 // TC ACTIONS
65 60 int action_reset( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
66 61 int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
67 62 int action_update_info( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
68 63 int action_enable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
69 64 int action_disable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
70 65 int action_update_time( ccsdsTelecommandPacket_t *TC);
71 66
72 67 // mode transition
73 68 int check_mode_value( unsigned char requestedMode );
74 69 int check_mode_transition( unsigned char requestedMode );
75 70 void update_last_valid_transition_date( unsigned int transitionCoarseTime );
76 71 int check_transition_date( unsigned int transitionCoarseTime );
77 72 int stop_spectral_matrices( void );
78 73 int stop_current_mode( void );
79 74 int enter_mode_standby(void );
80 75 int enter_mode_normal( unsigned int transitionCoarseTime );
81 76 int enter_mode_burst( unsigned int transitionCoarseTime );
82 77 int enter_mode_sbm1( unsigned int transitionCoarseTime );
83 78 int enter_mode_sbm2( unsigned int transitionCoarseTime );
84 79 int restart_science_tasks( unsigned char lfrRequestedMode );
85 80 int restart_asm_tasks(unsigned char lfrRequestedMode );
86 81 int suspend_science_tasks(void);
87 82 int suspend_asm_tasks( void );
88 83 void launch_waveform_picker( unsigned char mode , unsigned int transitionCoarseTime );
89 84 void launch_spectral_matrix( void );
90 85 void set_sm_irq_onNewMatrix( unsigned char value );
91 86 void set_sm_irq_onError( unsigned char value );
92 87
93 88 // other functions
94 89 void updateLFRCurrentMode(unsigned char requestedMode);
95 90 void set_lfr_soft_reset( unsigned char value );
96 91 void reset_lfr( void );
97 92 // CALIBRATION
98 93 void setCalibrationPrescaler( unsigned int prescaler );
99 94 void setCalibrationDivisor( unsigned int divisionFactor );
100 95 void setCalibrationData( void );
101 96 void setCalibrationReload( bool state);
102 97 void setCalibrationEnable( bool state );
103 98 void setCalibrationInterleaved( bool state );
104 99 void setCalibration( bool state );
105 100 void configureCalibration( bool interleaved );
106 101 //
107 102 void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
108 103 void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
109 104 void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
110 105
111 106 extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
112 107 extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
113 108
114 109 #endif // TC_HANDLER_H_INCLUDED
115 110
116 111
117 112
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@@ -1,20 +1,20
1 cmake_minimum_required(VERSION 3.6)
1 cmake_minimum_required(VERSION 3.5)
2 2 project(libgcov C)
3 3 include(sparc-rtems)
4 4 include(cppcheck)
5 5
6 6 set(LIB_GCOV_SOURCES
7 7 gcov-io.c
8 8 gcov-io.h
9 9 gcov-iov.h
10 10 libgcov.c
11 11 )
12 12 if(Coverage)
13 # add_definitions(-DGCOV_USE_EXIT)
13 add_definitions(-DGCOV_USE_EXIT)
14 14 add_definitions(-DGCOV_ENABLED)
15 15 endif()
16 16 add_library(gcov STATIC ${LIB_GCOV_SOURCES})
17 17
18 18 add_custom_target(gcovr
19 19 COMMAND gcovr --exclude='.*gcov.*' --gcov-executable=${rtems_dir}/bin/sparc-rtems-gcov --object-directory ${CMAKE_BINARY_DIR} -r ${CMAKE_SOURCE_DIR} --html --html-details -o ${CMAKE_CURRENT_BINARY_DIR}/gcov.html && xdg-open ${CMAKE_CURRENT_BINARY_DIR}/gcov.html
20 20 )
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@@ -1,39 +1,39
1 1 set(rtems_dir /opt/rtems-4.10/)
2 2
3 3 set(CMAKE_SYSTEM_NAME rtems)
4 4 set(CMAKE_C_COMPILER ${rtems_dir}/bin/sparc-rtems-gcc)
5 5 set(CMAKE_CXX_COMPILER ${rtems_dir}/bin/sparc-rtems-g++)
6 6 set(CMAKE_LINKER ${rtems_dir}/bin/sparc-rtems-g++)
7 7 SET(CMAKE_EXE_LINKER_FLAGS "-static")
8 8 option(fix-b2bst "Activate -mfix-b2bst switch to mitigate \"LEON3FT Stale Cache Entry After Store with Data Tag Parity Error\" errata, GRLIB-TN-0009" ON)
9 9
10 10 option(Coverage "Enables code coverage" OFF)
11 11
12 12
13 13 set(CMAKE_C_FLAGS_RELEASE "-O2")
14 set(CMAKE_C_FLAGS_DEBUG "-O2 -g -fno-inline")
14 set(CMAKE_C_FLAGS_DEBUG "-O2 -g3 -fno-inline")
15 15
16 16
17 17 if(fix-b2bst)
18 18 set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -mfix-b2bst")
19 19 set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -mfix-b2bst")
20 20 endif()
21 21
22 22
23 23 set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_LINKER> <FLAGS> -Xlinker -Map=<TARGET>.map <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>")
24 24
25 25 include_directories("${rtems_dir}/sparc-rtems/leon3/lib/include")
26 26
27 27 function (check_b2bst target bin)
28 28 add_custom_command(TARGET ${target}
29 29 POST_BUILD
30 30 COMMAND ${rtems_dir}/bin/sparc-rtems-objdump -d ${bin}/${target} | ${CMAKE_SOURCE_DIR}/sparc/leon3ft-b2bst-scan.tcl
31 31 )
32 32 endfunction()
33 33
34 34 function (build_srec target bin rev)
35 35 add_custom_command(TARGET ${target}
36 36 POST_BUILD
37 37 COMMAND ${rtems_dir}/bin/sparc-rtems-objcopy -j .data -F srec ${bin}/${target} RpwLfrApp_XXXX_data_rev-${rev}.srec && ${rtems_dir}/bin/sparc-rtems-objcopy -j .text -F srec ${bin}/${target} RpwLfrApp_XXXX_text_rev-${rev}.srec
38 38 )
39 39 endfunction()
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@@ -1,130 +1,136
1 cmake_minimum_required (VERSION 3.6)
1 cmake_minimum_required (VERSION 3.5)
2 2 project (fsw)
3 3
4 4 include(sparc-rtems)
5 5 include(cppcheck)
6 6
7 7 include_directories("../header"
8 "../header/lfr_common_headers"
9 "../header/processing"
10 "../LFR_basic-parameters"
11 "../src")
8 "../header/lfr_common_headers"
9 "../header/processing"
10 "../LFR_basic-parameters"
11 "../src")
12 12
13 13 set(SOURCES wf_handler.c
14 tc_handler.c
15 fsw_misc.c
16 fsw_init.c
17 fsw_globals.c
18 fsw_spacewire.c
19 tc_load_dump_parameters.c
20 tm_lfr_tc_exe.c
21 tc_acceptance.c
22 processing/fsw_processing.c
23 processing/avf0_prc0.c
24 processing/avf1_prc1.c
25 processing/avf2_prc2.c
26 lfr_cpu_usage_report.c
27 ${LFR_BP_SRC}
28 ../header/wf_handler.h
29 ../header/tc_handler.h
30 ../header/grlib_regs.h
31 ../header/fsw_misc.h
32 ../header/fsw_init.h
33 ../header/fsw_spacewire.h
34 ../header/tc_load_dump_parameters.h
35 ../header/tm_lfr_tc_exe.h
36 ../header/tc_acceptance.h
37 ../header/processing/fsw_processing.h
38 ../header/processing/avf0_prc0.h
39 ../header/processing/avf1_prc1.h
40 ../header/processing/avf2_prc2.h
41 ../header/fsw_params_wf_handler.h
42 ../header/lfr_cpu_usage_report.h
43 ../header/lfr_common_headers/ccsds_types.h
44 ../header/lfr_common_headers/fsw_params.h
45 ../header/lfr_common_headers/fsw_params_nb_bytes.h
46 ../header/lfr_common_headers/fsw_params_processing.h
47 ../header/lfr_common_headers/tm_byte_positions.h
48 ../LFR_basic-parameters/basic_parameters.h
49 ../LFR_basic-parameters/basic_parameters_params.h
50 ../header/GscMemoryLPP.hpp
51 )
14 tc_handler.c
15 fsw_misc.c
16 fsw_init.c
17 fsw_globals.c
18 fsw_spacewire.c
19 tc_load_dump_parameters.c
20 tm_lfr_tc_exe.c
21 tc_acceptance.c
22 processing/fsw_processing.c
23 processing/avf0_prc0.c
24 processing/avf1_prc1.c
25 processing/avf2_prc2.c
26 lfr_cpu_usage_report.c
27 ${LFR_BP_SRC}
28 ../header/wf_handler.h
29 ../header/tc_handler.h
30 ../header/grlib_regs.h
31 ../header/fsw_misc.h
32 ../header/fsw_init.h
33 ../header/fsw_spacewire.h
34 ../header/tc_load_dump_parameters.h
35 ../header/tm_lfr_tc_exe.h
36 ../header/tc_acceptance.h
37 ../header/processing/fsw_processing.h
38 ../header/processing/avf0_prc0.h
39 ../header/processing/avf1_prc1.h
40 ../header/processing/avf2_prc2.h
41 ../header/fsw_params_wf_handler.h
42 ../header/lfr_cpu_usage_report.h
43 ../header/lfr_common_headers/ccsds_types.h
44 ../header/lfr_common_headers/fsw_params.h
45 ../header/lfr_common_headers/fsw_params_nb_bytes.h
46 ../header/lfr_common_headers/fsw_params_processing.h
47 ../header/lfr_common_headers/tm_byte_positions.h
48 ../LFR_basic-parameters/basic_parameters.h
49 ../LFR_basic-parameters/basic_parameters_params.h
50 ../header/GscMemoryLPP.hpp
51 )
52 52
53 53
54 54 option(FSW_verbose "Enable verbose LFR" OFF)
55 55 option(FSW_boot_messages "Enable LFR boot messages" OFF)
56 56 option(FSW_debug_messages "Enable LFR debug messages" OFF)
57 57 option(FSW_cpu_usage_report "Enable LFR cpu usage report" OFF)
58 58 option(FSW_stack_report "Enable LFR stack report" OFF)
59 59 option(FSW_vhdl_dev "?" OFF)
60 60 option(FSW_lpp_dpu_destid "Set to debug at LPP" OFF)
61 61 option(FSW_debug_watchdog "Enable debug watchdog" OFF)
62 62 option(FSW_debug_tch "?" OFF)
63 63 option(FSW_Instrument_Scrubbing "Enable scrubbing counter" OFF)
64 option(FSW_Enable_Dead_Code "Enable dead code compilation, this is used to hide by default unused code." OFF)
64 65
65 66 set(SW_VERSION_N1 "3" CACHE STRING "Choose N1 FSW Version." FORCE)
66 67 set(SW_VERSION_N2 "2" CACHE STRING "Choose N2 FSW Version." FORCE)
67 68 set(SW_VERSION_N3 "0" CACHE STRING "Choose N3 FSW Version." FORCE)
68 69 set(SW_VERSION_N4 "22" CACHE STRING "Choose N4 FSW Version." FORCE)
69 70
70 71 if(FSW_verbose)
71 add_definitions(-DPRINT_MESSAGES_ON_CONSOLE)
72 add_definitions(-DPRINT_MESSAGES_ON_CONSOLE)
72 73 endif()
73 74 if(FSW_boot_messages)
74 add_definitions(-DBOOT_MESSAGES)
75 add_definitions(-DBOOT_MESSAGES)
75 76 endif()
76 77 if(FSW_debug_messages)
77 add_definitions(-DDEBUG_MESSAGES)
78 add_definitions(-DDEBUG_MESSAGES)
78 79 endif()
79 80 if(FSW_cpu_usage_report)
80 add_definitions(-DPRINT_TASK_STATISTICS)
81 add_definitions(-DPRINT_TASK_STATISTICS)
81 82 endif()
82 83 if(FSW_stack_report)
83 add_definitions(-DPRINT_STACK_REPORT)
84 add_definitions(-DPRINT_STACK_REPORT)
84 85 endif()
85 86 if(FSW_vhdl_dev)
86 add_definitions(-DVHDL_DEV)
87 add_definitions(-DVHDL_DEV)
87 88 endif()
88 89 if(FSW_lpp_dpu_destid)
89 add_definitions(-DLPP_DPU_DESTID)
90 add_definitions(-DLPP_DPU_DESTID)
90 91 endif()
91 92 if(FSW_debug_watchdog)
92 add_definitions(-DDEBUG_WATCHDOG)
93 add_definitions(-DDEBUG_WATCHDOG)
93 94 endif()
94 95 if(FSW_debug_tch)
95 add_definitions(-DDEBUG_TCH)
96 add_definitions(-DDEBUG_TCH)
96 97 endif()
97 98
99 if(FSW_Enable_Dead_Code)
100 add_definitions(-DENABLE_DEAD_CODE)
101 endif()
102
103
98 104
99 105
100 106 add_definitions(-DMSB_FIRST_TCH)
101 107
102 108 add_definitions(-DSWVERSION=-1-0)
103 109 add_definitions(-DSW_VERSION_N1=${SW_VERSION_N1})
104 110 add_definitions(-DSW_VERSION_N2=${SW_VERSION_N2})
105 111 add_definitions(-DSW_VERSION_N3=${SW_VERSION_N3})
106 112 add_definitions(-DSW_VERSION_N4=${SW_VERSION_N4})
107 113
108 114 add_executable(fsw ${SOURCES})
109 115
110 116 if(FSW_Instrument_Scrubbing)
111 117 add_definitions(-DENABLE_SCRUBBING_COUNTER)
112 118 endif()
113 119
114 120 if(Coverage)
115 121 target_link_libraries(fsw gcov)
116 122 SET_TARGET_PROPERTIES(fsw PROPERTIES COMPILE_FLAGS "-fprofile-arcs -ftest-coverage")
117 123 endif()
118 124
119 125
120 126 if(fix-b2bst)
121 127 check_b2bst(fsw ${CMAKE_CURRENT_BINARY_DIR})
122 128 endif()
123 129
124 130 if(NOT FSW_lpp_dpu_destid)
125 131 build_srec(fsw ${CMAKE_CURRENT_BINARY_DIR} "${SW_VERSION_N1}-${SW_VERSION_N2}-${SW_VERSION_N3}-${SW_VERSION_N4}")
126 132 endif()
127 133
128 134
129 135 #add_test_cppcheck(fsw STYLE UNUSED_FUNCTIONS POSSIBLE_ERROR MISSING_INCLUDE)
130 136
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@@ -1,1109 +1,1111
1 1 /*------------------------------------------------------------------------------
2 2 -- Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
3 3 -- This file is a part of the LFR FSW
4 4 -- Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
5 5 --
6 6 -- This program is free software; you can redistribute it and/or modify
7 7 -- it under the terms of the GNU General Public License as published by
8 8 -- the Free Software Foundation; either version 2 of the License, or
9 9 -- (at your option) any later version.
10 10 --
11 11 -- This program is distributed in the hope that it will be useful,
12 12 -- but WITHOUT ANY WARRANTY; without even the implied warranty of
13 13 -- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 14 -- GNU General Public License for more details.
15 15 --
16 16 -- You should have received a copy of the GNU General Public License
17 17 -- along with this program; if not, write to the Free Software
18 18 -- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 19 -------------------------------------------------------------------------------*/
20 20 /*-- Author : Paul Leroy
21 21 -- Contact : Alexis Jeandet
22 22 -- Mail : alexis.jeandet@lpp.polytechnique.fr
23 23 ----------------------------------------------------------------------------*/
24 24
25 25 /** General usage functions and RTEMS tasks.
26 26 *
27 27 * @file
28 28 * @author P. LEROY
29 29 *
30 30 */
31 31
32 32 #include "fsw_misc.h"
33 33
34 34 int16_t hk_lfr_sc_v_f3_as_int16 = 0;
35 35 int16_t hk_lfr_sc_e1_f3_as_int16 = 0;
36 36 int16_t hk_lfr_sc_e2_f3_as_int16 = 0;
37 37
38 38 void timer_configure(unsigned char timer, unsigned int clock_divider,
39 39 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
40 40 {
41 41 /** This function configures a GPTIMER timer instantiated in the VHDL design.
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 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
46 46 * @param interrupt_level is the interrupt level that the timer drives.
47 47 * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
48 48 *
49 49 * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
50 50 *
51 51 */
52 52
53 53 rtems_status_code status;
54 54 rtems_isr_entry old_isr_handler;
55 55
56 56 old_isr_handler = NULL;
57 57
58 58 gptimer_regs->timer[timer].ctrl = INIT_CHAR; // reset the control register
59 59
60 60 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
61 61 if (status!=RTEMS_SUCCESSFUL)
62 62 {
63 63 PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
64 64 }
65 65
66 66 timer_set_clock_divider( timer, clock_divider);
67 67 }
68 68
69 #ifdef ENABLE_DEAD_CODE
69 70 void timer_start(unsigned char timer)
70 71 {
71 72 /** This function starts a GPTIMER timer.
72 73 *
73 74 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
74 75 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
75 76 *
76 77 */
77 78
78 79 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_CLEAR_IRQ;
79 80 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_LD;
80 81 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_EN;
81 82 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_RS;
82 83 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_IE;
83 84 }
85 #endif
84 86
85 87 void timer_stop(unsigned char timer)
86 88 {
87 89 /** This function stops a GPTIMER timer.
88 90 *
89 91 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
90 92 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
91 93 *
92 94 */
93 95
94 96 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & GPTIMER_EN_MASK;
95 97 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & GPTIMER_IE_MASK;
96 98 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_CLEAR_IRQ;
97 99 }
98 100
99 101 void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider)
100 102 {
101 103 /** This function sets the clock divider of a GPTIMER timer.
102 104 *
103 105 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
104 106 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
105 107 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
106 108 *
107 109 */
108 110
109 111 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
110 112 }
111 113
112 114 // WATCHDOG, this ISR should never be triggered.
113 115
114 116 rtems_isr watchdog_isr( rtems_vector_number vector )
115 117 {
116 118 rtems_status_code status_code;
117 119
118 120 status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_12 );
119 121
120 122 PRINTF("watchdog_isr *** this is the end, exit(0)\n");
121 123
122 124 exit(0);
123 125 }
124 126
125 127 void watchdog_configure(void)
126 128 {
127 129 /** This function configure the watchdog.
128 130 *
129 131 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
130 132 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
131 133 *
132 134 * The watchdog is a timer provided by the GPTIMER IP core of the GRLIB.
133 135 *
134 136 */
135 137
136 138 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG ); // mask gptimer/watchdog interrupt during configuration
137 139
138 140 timer_configure( TIMER_WATCHDOG, CLKDIV_WATCHDOG, IRQ_SPARC_GPTIMER_WATCHDOG, watchdog_isr );
139 141
140 142 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG ); // clear gptimer/watchdog interrupt
141 143 }
142 144
143 145 void watchdog_stop(void)
144 146 {
145 147 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG ); // mask gptimer/watchdog interrupt line
146 148 timer_stop( TIMER_WATCHDOG );
147 149 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG ); // clear gptimer/watchdog interrupt
148 150 }
149 151
150 152 void watchdog_reload(void)
151 153 {
152 154 /** This function reloads the watchdog timer counter with the timer reload value.
153 155 *
154 156 * @param void
155 157 *
156 158 * @return void
157 159 *
158 160 */
159 161
160 162 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
161 163 }
162 164
163 165 void watchdog_start(void)
164 166 {
165 167 /** This function starts the watchdog timer.
166 168 *
167 169 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
168 170 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
169 171 *
170 172 */
171 173
172 174 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );
173 175
174 176 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_CLEAR_IRQ;
175 177 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
176 178 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_EN;
177 179 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_IE;
178 180
179 181 LEON_Unmask_interrupt( IRQ_GPTIMER_WATCHDOG );
180 182
181 183 }
182 184
183 185 int enable_apbuart_transmitter( void ) // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
184 186 {
185 187 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
186 188
187 189 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
188 190
189 191 return 0;
190 192 }
191 193
192 194 void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
193 195 {
194 196 /** This function sets the scaler reload register of the apbuart module
195 197 *
196 198 * @param regs is the address of the apbuart registers in memory
197 199 * @param value is the value that will be stored in the scaler register
198 200 *
199 201 * The value shall be set by the software to get data on the serial interface.
200 202 *
201 203 */
202 204
203 205 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
204 206
205 207 apbuart_regs->scaler = value;
206 208
207 209 BOOT_PRINTF1("OK *** apbuart port scaler reload register set to 0x%x\n", value)
208 210 }
209 211
210 212 /**
211 213 * @brief load_task starts and keeps the watchdog alive.
212 214 * @param argument
213 215 * @return
214 216 */
215 217
216 218 rtems_task load_task(rtems_task_argument argument)
217 219 {
218 220 BOOT_PRINTF("in LOAD *** \n")
219 221
220 222 rtems_status_code status;
221 223 unsigned int i;
222 224 unsigned int j;
223 225 rtems_name name_watchdog_rate_monotonic; // name of the watchdog rate monotonic
224 226 rtems_id watchdog_period_id; // id of the watchdog rate monotonic period
225 227
226 228 watchdog_period_id = RTEMS_ID_NONE;
227 229
228 230 name_watchdog_rate_monotonic = rtems_build_name( 'L', 'O', 'A', 'D' );
229 231
230 232 status = rtems_rate_monotonic_create( name_watchdog_rate_monotonic, &watchdog_period_id );
231 233 if( status != RTEMS_SUCCESSFUL ) {
232 234 PRINTF1( "in LOAD *** rtems_rate_monotonic_create failed with status of %d\n", status )
233 235 }
234 236
235 237 i = 0;
236 238 j = 0;
237 239
238 240 watchdog_configure();
239 241
240 242 watchdog_start();
241 243
242 244 set_sy_lfr_watchdog_enabled( true );
243 245
244 246 while(1){
245 247 status = rtems_rate_monotonic_period( watchdog_period_id, WATCHDOG_PERIOD );
246 248 watchdog_reload();
247 249 i = i + 1;
248 250 if ( i == WATCHDOG_LOOP_PRINTF )
249 251 {
250 252 i = 0;
251 253 j = j + 1;
252 254 PRINTF1("%d\n", j)
253 255 }
254 256 #ifdef DEBUG_WATCHDOG
255 257 if (j == WATCHDOG_LOOP_DEBUG )
256 258 {
257 259 status = rtems_task_delete(RTEMS_SELF);
258 260 }
259 261 #endif
260 262 }
261 263 }
262 264
263 265 /**
264 266 * @brief hous_task produces and sends HK each seconds
265 267 * @param argument
266 268 * @return
267 269 */
268 270 rtems_task hous_task(rtems_task_argument argument)
269 271 {
270 272 rtems_status_code status;
271 273 rtems_status_code spare_status;
272 274 rtems_id queue_id;
273 275 rtems_rate_monotonic_period_status period_status;
274 276 bool isSynchronized;
275 277
276 278 queue_id = RTEMS_ID_NONE;
277 279 memset(&period_status, 0, sizeof(rtems_rate_monotonic_period_status));
278 280 isSynchronized = false;
279 281
280 282 status = get_message_queue_id_send( &queue_id );
281 283 if (status != RTEMS_SUCCESSFUL)
282 284 {
283 285 PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
284 286 }
285 287
286 288 BOOT_PRINTF("in HOUS ***\n");
287 289
288 290 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
289 291 status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
290 292 if( status != RTEMS_SUCCESSFUL ) {
291 293 PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status );
292 294 }
293 295 }
294 296
295 297 status = rtems_rate_monotonic_cancel(HK_id);
296 298 if( status != RTEMS_SUCCESSFUL ) {
297 299 PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status );
298 300 }
299 301 else {
300 302 DEBUG_PRINTF("OK *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n");
301 303 }
302 304
303 305 // startup phase
304 306 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
305 307 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
306 308 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
307 309 while( (period_status.state != RATE_MONOTONIC_EXPIRED)
308 310 && (isSynchronized == false) ) // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
309 311 {
310 312 if ((time_management_regs->coarse_time & VAL_LFR_SYNCHRONIZED) == INT32_ALL_0) // check time synchronization
311 313 {
312 314 isSynchronized = true;
313 315 }
314 316 else
315 317 {
316 318 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
317 319
318 320 status = rtems_task_wake_after( HK_SYNC_WAIT ); // wait HK_SYNCH_WAIT 100 ms = 10 * 10 ms
319 321 }
320 322 }
321 323 status = rtems_rate_monotonic_cancel(HK_id);
322 324 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
323 325
324 326 set_hk_lfr_reset_cause( POWER_ON );
325 327
326 328 while(1){ // launch the rate monotonic task
327 329 status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
328 330 if ( status != RTEMS_SUCCESSFUL ) {
329 331 PRINTF1( "in HOUS *** ERR period: %d\n", status);
330 332 spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
331 333 }
332 334 else {
333 335 housekeeping_packet.packetSequenceControl[BYTE_0] = (unsigned char) (sequenceCounterHK >> SHIFT_1_BYTE);
334 336 housekeeping_packet.packetSequenceControl[BYTE_1] = (unsigned char) (sequenceCounterHK );
335 337 increment_seq_counter( &sequenceCounterHK );
336 338
337 339 housekeeping_packet.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
338 340 housekeeping_packet.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
339 341 housekeeping_packet.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
340 342 housekeeping_packet.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
341 343 housekeeping_packet.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
342 344 housekeeping_packet.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
343 345
344 346 spacewire_update_hk_lfr_link_state( &housekeeping_packet.lfr_status_word[0] );
345 347
346 348 spacewire_read_statistics();
347 349
348 350 update_hk_with_grspw_stats();
349 351
350 352 set_hk_lfr_time_not_synchro();
351 353
352 354 housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max;
353 355 housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max;
354 356 housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max;
355 357 housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max;
356 358 housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max;
357 359
358 360 housekeeping_packet.sy_lfr_common_parameters_spare = parameter_dump_packet.sy_lfr_common_parameters_spare;
359 361 housekeeping_packet.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
360 362 get_temperatures( housekeeping_packet.hk_lfr_temp_scm );
361 363 get_v_e1_e2_f3( housekeeping_packet.hk_lfr_sc_v_f3 );
362 364 get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
363 365
364 366 hk_lfr_le_me_he_update();
365 367
366 368 // SEND PACKET
367 369 status = rtems_message_queue_send( queue_id, &housekeeping_packet,
368 370 PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
369 371 if (status != RTEMS_SUCCESSFUL) {
370 372 PRINTF1("in HOUS *** ERR send: %d\n", status)
371 373 }
372 374 }
373 375 }
374 376
375 377 PRINTF("in HOUS *** deleting task\n")
376 378
377 379 status = rtems_task_delete( RTEMS_SELF ); // should not return
378 380
379 381 return;
380 382 }
381 383
382 384 /**
383 385 * @brief filter is a Direct-Form-II filter implementation, mostly used to filter electric field for HK
384 386 * @param x, new sample
385 387 * @param ctx, filter context, used to store previous input and output samples
386 388 * @return a new filtered sample
387 389 */
388 390 int filter( int x, filter_ctx* ctx )
389 391 {
390 392 static const int b[NB_COEFFS][NB_COEFFS]={ {B00, B01, B02}, {B10, B11, B12}, {B20, B21, B22} };
391 393 static const int a[NB_COEFFS][NB_COEFFS]={ {A00, A01, A02}, {A10, A11, A12}, {A20, A21, A22} };
392 394 static const int b_gain[NB_COEFFS]={GAIN_B0, GAIN_B1, GAIN_B2};
393 395 static const int a_gain[NB_COEFFS]={GAIN_A0, GAIN_A1, GAIN_A2};
394 396
395 397 int_fast32_t W;
396 398 int i;
397 399
398 400 W = INIT_INT;
399 401 i = INIT_INT;
400 402
401 403 //Direct-Form-II
402 404 for ( i = 0; i < NB_COEFFS; i++ )
403 405 {
404 406 x = x << a_gain[i];
405 407 W = (x - ( a[i][COEFF1] * ctx->W[i][COEFF0] )
406 408 - ( a[i][COEFF2] * ctx->W[i][COEFF1] ) ) >> a_gain[i];
407 409 x = ( b[i][COEFF0] * W )
408 410 + ( b[i][COEFF1] * ctx->W[i][COEFF0] )
409 411 + ( b[i][COEFF2] * ctx->W[i][COEFF1] );
410 412 x = x >> b_gain[i];
411 413 ctx->W[i][1] = ctx->W[i][0];
412 414 ctx->W[i][0] = W;
413 415 }
414 416 return x;
415 417 }
416 418
417 419 /**
418 420 * @brief avgv_task pruduces HK rate elctrical field from F3 data
419 421 * @param argument
420 422 * @return
421 423 */
422 424 rtems_task avgv_task(rtems_task_argument argument)
423 425 {
424 426 #define MOVING_AVERAGE 16
425 427 rtems_status_code status;
426 428 static int32_t v[MOVING_AVERAGE] = {0};
427 429 static int32_t e1[MOVING_AVERAGE] = {0};
428 430 static int32_t e2[MOVING_AVERAGE] = {0};
429 431 static int old_v = 0;
430 432 static int old_e1 = 0;
431 433 static int old_e2 = 0;
432 434 int32_t current_v;
433 435 int32_t current_e1;
434 436 int32_t current_e2;
435 437 int32_t average_v;
436 438 int32_t average_e1;
437 439 int32_t average_e2;
438 440 int32_t newValue_v;
439 441 int32_t newValue_e1;
440 442 int32_t newValue_e2;
441 443 unsigned char k;
442 444 unsigned char indexOfOldValue;
443 445
444 446 static filter_ctx ctx_v = { { {0,0,0}, {0,0,0}, {0,0,0} } };
445 447 static filter_ctx ctx_e1 = { { {0,0,0}, {0,0,0}, {0,0,0} } };
446 448 static filter_ctx ctx_e2 = { { {0,0,0}, {0,0,0}, {0,0,0} } };
447 449
448 450 BOOT_PRINTF("in AVGV ***\n");
449 451
450 452 if (rtems_rate_monotonic_ident( name_avgv_rate_monotonic, &AVGV_id) != RTEMS_SUCCESSFUL) {
451 453 status = rtems_rate_monotonic_create( name_avgv_rate_monotonic, &AVGV_id );
452 454 if( status != RTEMS_SUCCESSFUL ) {
453 455 PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status );
454 456 }
455 457 }
456 458
457 459 status = rtems_rate_monotonic_cancel(AVGV_id);
458 460 if( status != RTEMS_SUCCESSFUL ) {
459 461 PRINTF1( "ERR *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id) ***code: %d\n", status );
460 462 }
461 463 else {
462 464 DEBUG_PRINTF("OK *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id)\n");
463 465 }
464 466
465 467 // initialize values
466 468 indexOfOldValue = MOVING_AVERAGE - 1;
467 469 current_v = 0;
468 470 current_e1 = 0;
469 471 current_e2 = 0;
470 472 average_v = 0;
471 473 average_e1 = 0;
472 474 average_e2 = 0;
473 475 newValue_v = 0;
474 476 newValue_e1 = 0;
475 477 newValue_e2 = 0;
476 478
477 479 k = INIT_CHAR;
478 480
479 481 while(1)
480 482 { // launch the rate monotonic task
481 483 status = rtems_rate_monotonic_period( AVGV_id, AVGV_PERIOD );
482 484 if ( status != RTEMS_SUCCESSFUL )
483 485 {
484 486 PRINTF1( "in AVGV *** ERR period: %d\n", status);
485 487 }
486 488 else
487 489 {
488 490 current_v = waveform_picker_regs->v;
489 491 current_e1 = waveform_picker_regs->e1;
490 492 current_e2 = waveform_picker_regs->e2;
491 493 if ( (current_v != old_v)
492 494 || (current_e1 != old_e1)
493 495 || (current_e2 != old_e2))
494 496 {
495 497 average_v = filter( current_v, &ctx_v );
496 498 average_e1 = filter( current_e1, &ctx_e1 );
497 499 average_e2 = filter( current_e2, &ctx_e2 );
498 500
499 501 //update int16 values
500 502 hk_lfr_sc_v_f3_as_int16 = (int16_t) average_v;
501 503 hk_lfr_sc_e1_f3_as_int16 = (int16_t) average_e1;
502 504 hk_lfr_sc_e2_f3_as_int16 = (int16_t) average_e2;
503 505 }
504 506 old_v = current_v;
505 507 old_e1 = current_e1;
506 508 old_e2 = current_e2;
507 509 }
508 510 }
509 511
510 512 PRINTF("in AVGV *** deleting task\n");
511 513
512 514 status = rtems_task_delete( RTEMS_SELF ); // should not return
513 515
514 516 return;
515 517 }
516 518
517 519 rtems_task dumb_task( rtems_task_argument unused )
518 520 {
519 521 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
520 522 *
521 523 * @param unused is the starting argument of the RTEMS task
522 524 *
523 525 * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
524 526 *
525 527 */
526 528
527 529 unsigned int i;
528 530 unsigned int intEventOut;
529 531 unsigned int coarse_time = 0;
530 532 unsigned int fine_time = 0;
531 533 rtems_event_set event_out;
532 534
533 535 event_out = EVENT_SETS_NONE_PENDING;
534 536
535 537 BOOT_PRINTF("in DUMB *** \n")
536 538
537 539 while(1){
538 540 rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
539 541 | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
540 542 | RTEMS_EVENT_8 | RTEMS_EVENT_9 | RTEMS_EVENT_12 | RTEMS_EVENT_13
541 543 | RTEMS_EVENT_14,
542 544 RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
543 545 intEventOut = (unsigned int) event_out;
544 546 for ( i=0; i<NB_RTEMS_EVENTS; i++)
545 547 {
546 548 if ( ((intEventOut >> i) & 1) != 0)
547 549 {
548 550 coarse_time = time_management_regs->coarse_time;
549 551 fine_time = time_management_regs->fine_time;