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-1,974
+1,991
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/** This is the RTEMS initialization module.
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/** This is the RTEMS initialization module.
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*
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*
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* @file
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* @file
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* @author P. LEROY
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* @author P. LEROY
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*
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*
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* This module contains two very different information:
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* This module contains two very different information:
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* - specific instructions to configure the compilation of the RTEMS executive
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* - specific instructions to configure the compilation of the RTEMS executive
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* - functions related to the fligth softwre initialization, especially the INIT RTEMS task
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* - functions related to the fligth softwre initialization, especially the INIT RTEMS task
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*
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*
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*/
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*/
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//*************************
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//*************************
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// GPL reminder to be added
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// GPL reminder to be added
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//*************************
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//*************************
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#include <rtems.h>
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#include <rtems.h>
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/* configuration information */
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/* configuration information */
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#define CONFIGURE_INIT
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#define CONFIGURE_INIT
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#include <bsp.h> /* for device driver prototypes */
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#include <bsp.h> /* for device driver prototypes */
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/* configuration information */
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/* configuration information */
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#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#define CONFIGURE_MAXIMUM_TASKS 21 // number of tasks concurrently active including INIT
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#define CONFIGURE_MAXIMUM_TASKS 22 // number of tasks concurrently active including INIT
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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
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#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
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#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
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#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
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#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
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#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
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#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
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#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
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#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
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#define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
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#define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
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#define CONFIGURE_MAXIMUM_DRIVERS 16
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#define CONFIGURE_MAXIMUM_DRIVERS 16
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#define CONFIGURE_MAXIMUM_PERIODS 6 // [hous] [load] [avgv]
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#define CONFIGURE_MAXIMUM_PERIODS 6 // [hous] [load] [avgv]
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#define CONFIGURE_MAXIMUM_TIMERS 6 // [spiq] [link] [spacewire_reset_link]
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#define CONFIGURE_MAXIMUM_TIMERS 6 // [spiq] [link] [spacewire_reset_link]
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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
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#ifdef PRINT_STACK_REPORT
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#ifdef PRINT_STACK_REPORT
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#define CONFIGURE_STACK_CHECKER_ENABLED
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#define CONFIGURE_STACK_CHECKER_ENABLED
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#endif
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#endif
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#include <rtems/confdefs.h>
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#include <rtems/confdefs.h>
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/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
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/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
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#ifdef RTEMS_DRVMGR_STARTUP
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#ifdef RTEMS_DRVMGR_STARTUP
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#ifdef LEON3
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#ifdef LEON3
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/* Add Timer and UART Driver */
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/* Add Timer and UART Driver */
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#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
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#endif
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#endif
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#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
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#endif
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#endif
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#endif
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#endif
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
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#include <drvmgr/drvmgr_confdefs.h>
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#include <drvmgr/drvmgr_confdefs.h>
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#endif
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#endif
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#include "fsw_init.h"
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#include "fsw_init.h"
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#include "fsw_config.c"
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#include "fsw_config.c"
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#include "GscMemoryLPP.hpp"
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#include "GscMemoryLPP.hpp"
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void initCache()
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void initCache()
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{
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{
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// ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
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// ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
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// These should only be read and written using 32-bit LDA/STA instructions.
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// These should only be read and written using 32-bit LDA/STA instructions.
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// All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
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// All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
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// The table below shows the register addresses:
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// The table below shows the register addresses:
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// 0x00 Cache control register
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// 0x00 Cache control register
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// 0x04 Reserved
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// 0x04 Reserved
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// 0x08 Instruction cache configuration register
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// 0x08 Instruction cache configuration register
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// 0x0C Data cache configuration register
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// 0x0C Data cache configuration register
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// Cache Control Register Leon3 / Leon3FT
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// Cache Control Register Leon3 / Leon3FT
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// 31..30 29 28 27..24 23 22 21 20..19 18 17 16
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// 31..30 29 28 27..24 23 22 21 20..19 18 17 16
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// RFT PS TB DS FD FI FT ST IB
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// RFT PS TB DS FD FI FT ST IB
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// 15 14 13..12 11..10 9..8 7..6 5 4 3..2 1..0
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// 15 14 13..12 11..10 9..8 7..6 5 4 3..2 1..0
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// IP DP ITE IDE DTE DDE DF IF DCS ICS
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// IP DP ITE IDE DTE DDE DF IF DCS ICS
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unsigned int cacheControlRegister;
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unsigned int cacheControlRegister;
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CCR_resetCacheControlRegister();
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CCR_resetCacheControlRegister();
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ASR16_resetRegisterProtectionControlRegister();
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ASR16_resetRegisterProtectionControlRegister();
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cacheControlRegister = CCR_getValue();
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cacheControlRegister = CCR_getValue();
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PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
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PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
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PRINTF1("(0) ASR16 = %x\n", *asr16Ptr);
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PRINTF1("(0) ASR16 = %x\n", *asr16Ptr);
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CCR_enableInstructionCache(); // ICS bits
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CCR_enableInstructionCache(); // ICS bits
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CCR_enableDataCache(); // DCS bits
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CCR_enableDataCache(); // DCS bits
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CCR_enableInstructionBurstFetch(); // IB bit
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CCR_enableInstructionBurstFetch(); // IB bit
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faultTolerantScheme();
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faultTolerantScheme();
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cacheControlRegister = CCR_getValue();
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cacheControlRegister = CCR_getValue();
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PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
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PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
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PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
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PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
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PRINTF("\n");
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PRINTF("\n");
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}
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}
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rtems_task Init( rtems_task_argument ignored )
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rtems_task Init( rtems_task_argument ignored )
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{
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{
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/** This is the RTEMS INIT taks, it is the first task launched by the system.
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/** This is the RTEMS INIT taks, it is the first task launched by the system.
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*
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*
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* @param unused is the starting argument of the RTEMS task
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* @param unused is the starting argument of the RTEMS task
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*
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*
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* The INIT task create and run all other RTEMS tasks.
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* The INIT task create and run all other RTEMS tasks.
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*
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*
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*/
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*/
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//***********
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//***********
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// INIT CACHE
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// INIT CACHE
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unsigned char *vhdlVersion;
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unsigned char *vhdlVersion;
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reset_lfr();
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reset_lfr();
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reset_local_time();
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reset_local_time();
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rtems_cpu_usage_reset();
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rtems_cpu_usage_reset();
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rtems_status_code status;
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rtems_status_code status;
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rtems_status_code status_spw;
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rtems_status_code status_spw;
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rtems_isr_entry old_isr_handler;
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rtems_isr_entry old_isr_handler;
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old_isr_handler = NULL;
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old_isr_handler = NULL;
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// UART settings
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// UART settings
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enable_apbuart_transmitter();
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enable_apbuart_transmitter();
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set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
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set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
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DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
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DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
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PRINTF("\n\n\n\n\n")
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PRINTF("\n\n\n\n\n")
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initCache();
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initCache();
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PRINTF("*************************\n")
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PRINTF("*************************\n")
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PRINTF("** LFR Flight Software **\n")
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PRINTF("** LFR Flight Software **\n")
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PRINTF1("** %d-", SW_VERSION_N1)
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PRINTF1("** %d-", SW_VERSION_N1)
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PRINTF1("%d-" , SW_VERSION_N2)
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PRINTF1("%d-" , SW_VERSION_N2)
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PRINTF1("%d-" , SW_VERSION_N3)
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PRINTF1("%d-" , SW_VERSION_N3)
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PRINTF1("%d **\n", SW_VERSION_N4)
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PRINTF1("%d **\n", SW_VERSION_N4)
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vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
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vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
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PRINTF("** VHDL **\n")
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PRINTF("** VHDL **\n")
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PRINTF1("** %d-", vhdlVersion[1])
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PRINTF1("** %d-", vhdlVersion[1])
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PRINTF1("%d-" , vhdlVersion[2])
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PRINTF1("%d-" , vhdlVersion[2])
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PRINTF1("%d **\n", vhdlVersion[3])
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PRINTF1("%d **\n", vhdlVersion[3])
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PRINTF("*************************\n")
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PRINTF("*************************\n")
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PRINTF("\n\n")
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PRINTF("\n\n")
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init_parameter_dump();
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init_parameter_dump();
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init_kcoefficients_dump();
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init_kcoefficients_dump();
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init_local_mode_parameters();
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init_local_mode_parameters();
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init_housekeeping_parameters();
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init_housekeeping_parameters();
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init_k_coefficients_prc0();
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init_k_coefficients_prc0();
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init_k_coefficients_prc1();
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init_k_coefficients_prc1();
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init_k_coefficients_prc2();
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init_k_coefficients_prc2();
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pa_bia_status_info = INIT_CHAR;
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pa_bia_status_info = INIT_CHAR;
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// initialize all reaction wheels frequencies to NaN
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// initialize all reaction wheels frequencies to NaN
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172
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rw_f.cp_rpw_sc_rw1_f1 = NAN;
|
|
173
|
rw_f.cp_rpw_sc_rw1_f1 = NAN;
|
|
|
173
|
rw_f.cp_rpw_sc_rw1_f2 = NAN;
|
|
174
|
rw_f.cp_rpw_sc_rw1_f2 = NAN;
|
|
|
174
|
rw_f.cp_rpw_sc_rw1_f3 = NAN;
|
|
175
|
rw_f.cp_rpw_sc_rw1_f3 = NAN;
|
|
|
175
|
rw_f.cp_rpw_sc_rw1_f4 = NAN;
|
|
176
|
rw_f.cp_rpw_sc_rw1_f4 = NAN;
|
|
|
176
|
rw_f.cp_rpw_sc_rw2_f1 = NAN;
|
|
177
|
rw_f.cp_rpw_sc_rw2_f1 = NAN;
|
|
|
177
|
rw_f.cp_rpw_sc_rw2_f2 = NAN;
|
|
178
|
rw_f.cp_rpw_sc_rw2_f2 = NAN;
|
|
|
178
|
rw_f.cp_rpw_sc_rw2_f3 = NAN;
|
|
179
|
rw_f.cp_rpw_sc_rw2_f3 = NAN;
|
|
|
179
|
rw_f.cp_rpw_sc_rw2_f4 = NAN;
|
|
180
|
rw_f.cp_rpw_sc_rw2_f4 = NAN;
|
|
|
180
|
rw_f.cp_rpw_sc_rw3_f1 = NAN;
|
|
181
|
rw_f.cp_rpw_sc_rw3_f1 = NAN;
|
|
|
181
|
rw_f.cp_rpw_sc_rw3_f2 = NAN;
|
|
182
|
rw_f.cp_rpw_sc_rw3_f2 = NAN;
|
|
|
182
|
rw_f.cp_rpw_sc_rw3_f3 = NAN;
|
|
183
|
rw_f.cp_rpw_sc_rw3_f3 = NAN;
|
|
|
183
|
rw_f.cp_rpw_sc_rw3_f4 = NAN;
|
|
184
|
rw_f.cp_rpw_sc_rw3_f4 = NAN;
|
|
|
184
|
rw_f.cp_rpw_sc_rw4_f1 = NAN;
|
|
185
|
rw_f.cp_rpw_sc_rw4_f1 = NAN;
|
|
|
185
|
rw_f.cp_rpw_sc_rw4_f2 = NAN;
|
|
186
|
rw_f.cp_rpw_sc_rw4_f2 = NAN;
|
|
|
186
|
rw_f.cp_rpw_sc_rw4_f3 = NAN;
|
|
187
|
rw_f.cp_rpw_sc_rw4_f3 = NAN;
|
|
|
187
|
rw_f.cp_rpw_sc_rw4_f4 = NAN;
|
|
188
|
rw_f.cp_rpw_sc_rw4_f4 = NAN;
|
|
|
188
|
|
|
189
|
|
|
|
189
|
// initialize filtering parameters
|
|
190
|
// initialize filtering parameters
|
|
|
190
|
filterPar.spare_sy_lfr_pas_filter_enabled = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
|
|
191
|
filterPar.spare_sy_lfr_pas_filter_enabled = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
|
|
|
191
|
filterPar.sy_lfr_sc_rw_delta_f = DEFAULT_SY_LFR_SC_RW_DELTA_F;
|
|
192
|
filterPar.sy_lfr_sc_rw_delta_f = DEFAULT_SY_LFR_SC_RW_DELTA_F;
|
|
|
192
|
filterPar.sy_lfr_pas_filter_tbad = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
|
|
193
|
filterPar.sy_lfr_pas_filter_tbad = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
|
|
|
193
|
filterPar.sy_lfr_pas_filter_shift = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
|
|
194
|
filterPar.sy_lfr_pas_filter_shift = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
|
|
|
194
|
filterPar.modulus_in_finetime = DEFAULT_MODULUS;
|
|
195
|
filterPar.modulus_in_finetime = DEFAULT_MODULUS;
|
|
|
195
|
filterPar.tbad_in_finetime = DEFAULT_TBAD;
|
|
196
|
filterPar.tbad_in_finetime = DEFAULT_TBAD;
|
|
|
196
|
filterPar.offset_in_finetime = DEFAULT_OFFSET;
|
|
197
|
filterPar.offset_in_finetime = DEFAULT_OFFSET;
|
|
|
197
|
filterPar.shift_in_finetime = DEFAULT_SHIFT;
|
|
198
|
filterPar.shift_in_finetime = DEFAULT_SHIFT;
|
|
|
198
|
update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE );
|
|
199
|
update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE );
|
|
|
199
|
|
|
200
|
|
|
|
200
|
// waveform picker initialization
|
|
201
|
// waveform picker initialization
|
|
|
201
|
WFP_init_rings();
|
|
202
|
WFP_init_rings();
|
|
|
202
|
LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG ); // initialize the waveform rings
|
|
203
|
LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG ); // initialize the waveform rings
|
|
|
203
|
WFP_reset_current_ring_nodes();
|
|
204
|
WFP_reset_current_ring_nodes();
|
|
|
204
|
reset_waveform_picker_regs();
|
|
205
|
reset_waveform_picker_regs();
|
|
|
205
|
|
|
206
|
|
|
|
206
|
// spectral matrices initialization
|
|
207
|
// spectral matrices initialization
|
|
|
207
|
SM_init_rings(); // initialize spectral matrices rings
|
|
208
|
SM_init_rings(); // initialize spectral matrices rings
|
|
|
208
|
SM_reset_current_ring_nodes();
|
|
209
|
SM_reset_current_ring_nodes();
|
|
|
209
|
reset_spectral_matrix_regs();
|
|
210
|
reset_spectral_matrix_regs();
|
|
|
210
|
|
|
211
|
|
|
|
211
|
// configure calibration
|
|
212
|
// configure calibration
|
|
|
212
|
configureCalibration( false ); // true means interleaved mode, false is for normal mode
|
|
213
|
configureCalibration( false ); // true means interleaved mode, false is for normal mode
|
|
|
213
|
|
|
214
|
|
|
|
214
|
updateLFRCurrentMode( LFR_MODE_STANDBY );
|
|
215
|
updateLFRCurrentMode( LFR_MODE_STANDBY );
|
|
|
215
|
|
|
216
|
|
|
|
216
|
BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
|
|
217
|
BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
|
|
|
217
|
|
|
218
|
|
|
|
218
|
create_names(); // create all names
|
|
219
|
create_names(); // create all names
|
|
|
219
|
|
|
220
|
|
|
|
220
|
status = create_timecode_timer(); // create the timer used by timecode_irq_handler
|
|
221
|
status = create_timecode_timer(); // create the timer used by timecode_irq_handler
|
|
|
221
|
if (status != RTEMS_SUCCESSFUL)
|
|
222
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
222
|
{
|
|
223
|
{
|
|
|
223
|
PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
|
|
224
|
PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
|
|
|
224
|
}
|
|
225
|
}
|
|
|
225
|
|
|
226
|
|
|
|
226
|
status = create_message_queues(); // create message queues
|
|
227
|
status = create_message_queues(); // create message queues
|
|
|
227
|
if (status != RTEMS_SUCCESSFUL)
|
|
228
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
228
|
{
|
|
229
|
{
|
|
|
229
|
PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
|
|
230
|
PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
|
|
|
230
|
}
|
|
231
|
}
|
|
|
231
|
|
|
232
|
|
|
|
232
|
status = create_all_tasks(); // create all tasks
|
|
233
|
status = create_all_tasks(); // create all tasks
|
|
|
233
|
if (status != RTEMS_SUCCESSFUL)
|
|
234
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
234
|
{
|
|
235
|
{
|
|
|
235
|
PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
|
|
236
|
PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
|
|
|
236
|
}
|
|
237
|
}
|
|
|
237
|
|
|
238
|
|
|
|
238
|
// **************************
|
|
239
|
// **************************
|
|
|
239
|
// <SPACEWIRE INITIALIZATION>
|
|
240
|
// <SPACEWIRE INITIALIZATION>
|
|
|
240
|
status_spw = spacewire_open_link(); // (1) open the link
|
|
241
|
status_spw = spacewire_open_link(); // (1) open the link
|
|
|
241
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
242
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
|
242
|
{
|
|
243
|
{
|
|
|
243
|
PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
|
|
244
|
PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
|
|
|
244
|
}
|
|
245
|
}
|
|
|
245
|
|
|
246
|
|
|
|
246
|
if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
|
|
247
|
if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
|
|
|
247
|
{
|
|
248
|
{
|
|
|
248
|
status_spw = spacewire_configure_link( fdSPW );
|
|
249
|
status_spw = spacewire_configure_link( fdSPW );
|
|
|
249
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
250
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
|
250
|
{
|
|
251
|
{
|
|
|
251
|
PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
|
|
252
|
PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
|
|
|
252
|
}
|
|
253
|
}
|
|
|
253
|
}
|
|
254
|
}
|
|
|
254
|
|
|
255
|
|
|
|
255
|
if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
|
|
256
|
if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
|
|
|
256
|
{
|
|
257
|
{
|
|
|
257
|
status_spw = spacewire_start_link( fdSPW );
|
|
258
|
status_spw = spacewire_start_link( fdSPW );
|
|
|
258
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
259
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
|
259
|
{
|
|
260
|
{
|
|
|
260
|
PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
|
|
261
|
PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
|
|
|
261
|
}
|
|
262
|
}
|
|
|
262
|
}
|
|
263
|
}
|
|
|
263
|
// </SPACEWIRE INITIALIZATION>
|
|
264
|
// </SPACEWIRE INITIALIZATION>
|
|
|
264
|
// ***************************
|
|
265
|
// ***************************
|
|
|
265
|
|
|
266
|
|
|
|
266
|
status = start_all_tasks(); // start all tasks
|
|
267
|
status = start_all_tasks(); // start all tasks
|
|
|
267
|
if (status != RTEMS_SUCCESSFUL)
|
|
268
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
268
|
{
|
|
269
|
{
|
|
|
269
|
PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
|
|
270
|
PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
|
|
|
270
|
}
|
|
271
|
}
|
|
|
271
|
|
|
272
|
|
|
|
272
|
// start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
|
|
273
|
// start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
|
|
|
273
|
status = start_recv_send_tasks();
|
|
274
|
status = start_recv_send_tasks();
|
|
|
274
|
if ( status != RTEMS_SUCCESSFUL )
|
|
275
|
if ( status != RTEMS_SUCCESSFUL )
|
|
|
275
|
{
|
|
276
|
{
|
|
|
276
|
PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
|
|
277
|
PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
|
|
|
277
|
}
|
|
278
|
}
|
|
|
278
|
|
|
279
|
|
|
|
279
|
// suspend science tasks, they will be restarted later depending on the mode
|
|
280
|
// suspend science tasks, they will be restarted later depending on the mode
|
|
|
280
|
status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
|
|
281
|
status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
|
|
|
281
|
if (status != RTEMS_SUCCESSFUL)
|
|
282
|
if (status != RTEMS_SUCCESSFUL)
|
|
|
282
|
{
|
|
283
|
{
|
|
|
283
|
PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
|
|
284
|
PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
|
|
|
284
|
}
|
|
285
|
}
|
|
|
285
|
|
|
286
|
|
|
|
286
|
// configure IRQ handling for the waveform picker unit
|
|
287
|
// configure IRQ handling for the waveform picker unit
|
|
|
287
|
status = rtems_interrupt_catch( waveforms_isr,
|
|
288
|
status = rtems_interrupt_catch( waveforms_isr,
|
|
|
288
|
IRQ_SPARC_WAVEFORM_PICKER,
|
|
289
|
IRQ_SPARC_WAVEFORM_PICKER,
|
|
|
289
|
&old_isr_handler) ;
|
|
290
|
&old_isr_handler) ;
|
|
|
290
|
// configure IRQ handling for the spectral matrices unit
|
|
291
|
// configure IRQ handling for the spectral matrices unit
|
|
|
291
|
status = rtems_interrupt_catch( spectral_matrices_isr,
|
|
292
|
status = rtems_interrupt_catch( spectral_matrices_isr,
|
|
|
292
|
IRQ_SPARC_SPECTRAL_MATRIX,
|
|
293
|
IRQ_SPARC_SPECTRAL_MATRIX,
|
|
|
293
|
&old_isr_handler) ;
|
|
294
|
&old_isr_handler) ;
|
|
|
294
|
|
|
295
|
|
|
|
295
|
// if the spacewire link is not up then send an event to the SPIQ task for link recovery
|
|
296
|
// if the spacewire link is not up then send an event to the SPIQ task for link recovery
|
|
|
296
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
297
|
if ( status_spw != RTEMS_SUCCESSFUL )
|
|
|
297
|
{
|
|
298
|
{
|
|
|
298
|
status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
|
|
299
|
status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
|
|
|
299
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
300
|
if ( status != RTEMS_SUCCESSFUL ) {
|
|
|
300
|
PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
|
|
301
|
PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
|
|
|
301
|
}
|
|
302
|
}
|
|
|
302
|
}
|
|
303
|
}
|
|
|
303
|
|
|
304
|
|
|
|
304
|
BOOT_PRINTF("delete INIT\n")
|
|
305
|
BOOT_PRINTF("delete INIT\n")
|
|
|
305
|
|
|
306
|
|
|
|
306
|
set_hk_lfr_sc_potential_flag( true );
|
|
307
|
set_hk_lfr_sc_potential_flag( true );
|
|
|
307
|
|
|
308
|
|
|
|
308
|
// start the timer to detect a missing spacewire timecode
|
|
309
|
// start the timer to detect a missing spacewire timecode
|
|
|
309
|
// the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
|
|
310
|
// the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
|
|
|
310
|
// if a tickout is generated, the timer is restarted
|
|
311
|
// if a tickout is generated, the timer is restarted
|
|
|
311
|
status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
|
|
312
|
status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
|
|
|
312
|
|
|
313
|
|
|
|
313
|
grspw_timecode_callback = &timecode_irq_handler;
|
|
314
|
grspw_timecode_callback = &timecode_irq_handler;
|
|
|
314
|
|
|
315
|
|
|
|
315
|
status = rtems_task_delete(RTEMS_SELF);
|
|
316
|
status = rtems_task_delete(RTEMS_SELF);
|
|
|
316
|
|
|
317
|
|
|
|
317
|
}
|
|
318
|
}
|
|
|
318
|
|
|
319
|
|
|
|
319
|
void init_local_mode_parameters( void )
|
|
320
|
void init_local_mode_parameters( void )
|
|
|
320
|
{
|
|
321
|
{
|
|
|
321
|
/** This function initialize the param_local global variable with default values.
|
|
322
|
/** This function initialize the param_local global variable with default values.
|
|
|
322
|
*
|
|
323
|
*
|
|
|
323
|
*/
|
|
324
|
*/
|
|
|
324
|
|
|
325
|
|
|
|
325
|
unsigned int i;
|
|
326
|
unsigned int i;
|
|
|
326
|
|
|
327
|
|
|
|
327
|
// LOCAL PARAMETERS
|
|
328
|
// LOCAL PARAMETERS
|
|
|
328
|
|
|
329
|
|
|
|
329
|
BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
|
|
330
|
BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
|
|
|
330
|
BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
|
|
331
|
BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
|
|
|
331
|
|
|
332
|
|
|
|
332
|
// init sequence counters
|
|
333
|
// init sequence counters
|
|
|
333
|
|
|
334
|
|
|
|
334
|
for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
|
|
335
|
for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
|
|
|
335
|
{
|
|
336
|
{
|
|
|
336
|
sequenceCounters_TC_EXE[i] = INIT_CHAR;
|
|
337
|
sequenceCounters_TC_EXE[i] = INIT_CHAR;
|
|
|
337
|
sequenceCounters_TM_DUMP[i] = INIT_CHAR;
|
|
338
|
sequenceCounters_TM_DUMP[i] = INIT_CHAR;
|
|
|
338
|
}
|
|
339
|
}
|
|
|
339
|
sequenceCounters_SCIENCE_NORMAL_BURST = INIT_CHAR;
|
|
340
|
sequenceCounters_SCIENCE_NORMAL_BURST = INIT_CHAR;
|
|
|
340
|
sequenceCounters_SCIENCE_SBM1_SBM2 = INIT_CHAR;
|
|
341
|
sequenceCounters_SCIENCE_SBM1_SBM2 = INIT_CHAR;
|
|
|
341
|
sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << TM_PACKET_SEQ_SHIFT;
|
|
342
|
sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << TM_PACKET_SEQ_SHIFT;
|
|
|
342
|
}
|
|
343
|
}
|
|
|
343
|
|
|
344
|
|
|
|
344
|
void reset_local_time( void )
|
|
345
|
void reset_local_time( void )
|
|
|
345
|
{
|
|
346
|
{
|
|
|
346
|
time_management_regs->ctrl = time_management_regs->ctrl | VAL_SOFTWARE_RESET; // [0010] software reset, coarse time = 0x80000000
|
|
347
|
time_management_regs->ctrl = time_management_regs->ctrl | VAL_SOFTWARE_RESET; // [0010] software reset, coarse time = 0x80000000
|
|
|
347
|
}
|
|
348
|
}
|
|
|
348
|
|
|
349
|
|
|
|
349
|
void create_names( void ) // create all names for tasks and queues
|
|
350
|
void create_names( void ) // create all names for tasks and queues
|
|
|
350
|
{
|
|
351
|
{
|
|
|
351
|
/** This function creates all RTEMS names used in the software for tasks and queues.
|
|
352
|
/** This function creates all RTEMS names used in the software for tasks and queues.
|
|
|
352
|
*
|
|
353
|
*
|
|
|
353
|
* @return RTEMS directive status codes:
|
|
354
|
* @return RTEMS directive status codes:
|
|
|
354
|
* - RTEMS_SUCCESSFUL - successful completion
|
|
355
|
* - RTEMS_SUCCESSFUL - successful completion
|
|
|
355
|
*
|
|
356
|
*
|
|
|
356
|
*/
|
|
357
|
*/
|
|
|
357
|
|
|
358
|
|
|
|
358
|
// task names
|
|
359
|
// task names
|
|
|
359
|
Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' );
|
|
360
|
Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' );
|
|
|
360
|
Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
|
|
361
|
Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
|
|
|
361
|
Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
|
|
362
|
Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
|
|
|
362
|
Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
|
|
363
|
Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
|
|
|
363
|
Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
|
|
364
|
Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
|
|
|
364
|
Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
|
|
365
|
Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
|
|
|
365
|
Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
|
|
366
|
Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
|
|
|
366
|
Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
|
|
367
|
Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
|
|
|
367
|
Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
|
|
368
|
Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
|
|
|
368
|
Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
|
|
369
|
Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
|
|
|
369
|
Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
|
|
370
|
Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
|
|
|
370
|
Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
|
|
371
|
Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
|
|
|
371
|
Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
|
|
372
|
Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
|
|
|
372
|
Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
|
|
373
|
Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
|
|
|
373
|
Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
|
|
374
|
Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
|
|
|
374
|
Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
|
|
375
|
Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
|
|
|
375
|
Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
|
|
376
|
Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
|
|
|
376
|
Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
|
|
377
|
Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
|
|
|
377
|
Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
|
|
378
|
Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
|
|
|
378
|
Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
|
|
379
|
Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
|
|
|
|
|
|
380
|
Task_name[TASKID_SCRB] = rtems_build_name( 'S', 'C', 'R', 'B' );
|
|
|
379
|
|
|
381
|
|
|
|
380
|
// rate monotonic period names
|
|
382
|
// rate monotonic period names
|
|
|
381
|
name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
|
|
383
|
name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
|
|
|
382
|
name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' );
|
|
384
|
name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' );
|
|
|
383
|
|
|
385
|
|
|
|
384
|
misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
|
|
386
|
misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
|
|
|
385
|
misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
|
|
387
|
misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
|
|
|
386
|
misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
|
|
388
|
misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
|
|
|
387
|
misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
|
|
389
|
misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
|
|
|
388
|
misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
|
|
390
|
misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
|
|
|
389
|
|
|
391
|
|
|
|
390
|
timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
|
|
392
|
timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
|
|
|
391
|
}
|
|
393
|
}
|
|
|
392
|
|
|
394
|
|
|
|
393
|
int create_all_tasks( void ) // create all tasks which run in the software
|
|
395
|
int create_all_tasks( void ) // create all tasks which run in the software
|
|
|
394
|
{
|
|
396
|
{
|
|
|
395
|
/** This function creates all RTEMS tasks used in the software.
|
|
397
|
/** This function creates all RTEMS tasks used in the software.
|
|
|
396
|
*
|
|
398
|
*
|
|
|
397
|
* @return RTEMS directive status codes:
|
|
399
|
* @return RTEMS directive status codes:
|
|
|
398
|
* - RTEMS_SUCCESSFUL - task created successfully
|
|
400
|
* - RTEMS_SUCCESSFUL - task created successfully
|
|
|
399
|
* - RTEMS_INVALID_ADDRESS - id is NULL
|
|
401
|
* - RTEMS_INVALID_ADDRESS - id is NULL
|
|
|
400
|
* - RTEMS_INVALID_NAME - invalid task name
|
|
402
|
* - RTEMS_INVALID_NAME - invalid task name
|
|
|
401
|
* - RTEMS_INVALID_PRIORITY - invalid task priority
|
|
403
|
* - RTEMS_INVALID_PRIORITY - invalid task priority
|
|
|
402
|
* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
|
|
404
|
* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
|
|
|
403
|
* - RTEMS_TOO_MANY - too many tasks created
|
|
405
|
* - RTEMS_TOO_MANY - too many tasks created
|
|
|
404
|
* - RTEMS_UNSATISFIED - not enough memory for stack/FP context
|
|
406
|
* - RTEMS_UNSATISFIED - not enough memory for stack/FP context
|
|
|
405
|
* - RTEMS_TOO_MANY - too many global objects
|
|
407
|
* - RTEMS_TOO_MANY - too many global objects
|
|
|
406
|
*
|
|
408
|
*
|
|
|
407
|
*/
|
|
409
|
*/
|
|
|
408
|
|
|
410
|
|
|
|
409
|
rtems_status_code status;
|
|
411
|
rtems_status_code status;
|
|
|
410
|
|
|
412
|
|
|
|
411
|
//**********
|
|
413
|
//**********
|
|
|
412
|
// SPACEWIRE
|
|
414
|
// SPACEWIRE
|
|
|
413
|
// RECV
|
|
415
|
// RECV
|
|
|
414
|
status = rtems_task_create(
|
|
416
|
status = rtems_task_create(
|
|
|
415
|
Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
|
|
417
|
Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
|
|
|
416
|
RTEMS_DEFAULT_MODES,
|
|
418
|
RTEMS_DEFAULT_MODES,
|
|
|
417
|
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
|
|
419
|
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
|
|
|
418
|
);
|
|
420
|
);
|
|
|
419
|
if (status == RTEMS_SUCCESSFUL) // SEND
|
|
421
|
if (status == RTEMS_SUCCESSFUL) // SEND
|
|
|
420
|
{
|
|
422
|
{
|
|
|
421
|
status = rtems_task_create(
|
|
423
|
status = rtems_task_create(
|
|
|
422
|
Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
|
|
424
|
Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
|
|
|
423
|
RTEMS_DEFAULT_MODES,
|
|
425
|
RTEMS_DEFAULT_MODES,
|
|
|
424
|
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
|
|
426
|
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
|
|
|
425
|
);
|
|
427
|
);
|
|
|
426
|
}
|
|
428
|
}
|
|
|
427
|
if (status == RTEMS_SUCCESSFUL) // LINK
|
|
429
|
if (status == RTEMS_SUCCESSFUL) // LINK
|
|
|
428
|
{
|
|
430
|
{
|
|
|
429
|
status = rtems_task_create(
|
|
431
|
status = rtems_task_create(
|
|
|
430
|
Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
|
|
432
|
Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
|
|
|
