| @@ -0,0 +1,31 | |||
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1 | import time | |
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2 | ||
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3 | proxy.loadSysDriver("SpwPlugin","SpwPlugin0") | |
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4 | SpwPlugin0.selectBridge("STAR-Dundee Spw USB Brick") | |
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5 | ||
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6 | proxy.loadSysDriverToParent("dsu3plugin","SpwPlugin0") | |
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7 | proxy.loadSysDriverToParent("LFRControlPlugin","SpwPlugin0") | |
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8 | ||
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9 | availableBrickCount = SpwPlugin0.StarDundeeGetAvailableBrickCount() | |
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10 | print str(availableBrickCount) + " SpaceWire brick(s) found" | |
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11 | ||
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12 | SpwPlugin0.StarDundeeSelectBrick(1) | |
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13 | SpwPlugin0.StarDundeeSetBrickAsARouter(1) | |
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14 | SpwPlugin0.StarDundeeSelectLinkNumber( 1 ) | |
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15 | SpwPlugin0.connectBridge() | |
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16 | ||
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17 | #SpwPlugin0.TCPServerSetIP("127.0.0.1") | |
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18 | SpwPlugin0.TCPServerConnect() | |
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19 | ||
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20 | # OPEN SPACEWIRE SERVER | |
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21 | #LFRControlPlugin0.SetSpwServerIP(129,104,27,164) | |
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22 | LFRControlPlugin0.TCPServerConnect() | |
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23 | ||
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24 | # OPEN TM ECHO BRIDGE SERVER | |
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25 | LFRControlPlugin0.TMEchoBridgeOpenPort() | |
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26 | ||
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27 | # START SENDING TIMECODES AT 1 Hz | |
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28 | SpwPlugin0.StarDundeeStartTimecodes( 1 ) | |
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29 | ||
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30 | # it is possible to change the time code frequency | |
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31 | #RMAPPlugin0.changeTimecodeFrequency(2) | |
| @@ -0,0 +1,14 | |||
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1 | # LOAD FSW USING LINK 1 | |
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2 | SpwPlugin0.StarDundeeSelectLinkNumber( 1 ) | |
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3 | ||
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4 | dsu3plugin0.openFile("/opt/DEV_PLE/FSW-qt/bin/fsw") | |
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5 | #dsu3plugin0.openFile("/opt/LFR/LFR-FSW/2.0.2.3/fsw") | |
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6 | dsu3plugin0.loadFile() | |
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7 | ||
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8 | dsu3plugin0.run() | |
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9 | ||
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10 | # START SENDING TIMECODES AT 1 Hz | |
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11 | #SpwPlugin0.StarDundeeStartTimecodes( 1 ) | |
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12 | ||
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13 | # it is possible to change the time code frequency | |
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14 | #RMAPPlugin0.changeTimecodeFrequency(2) | |
| @@ -0,0 +1,13 | |||
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1 | # LOAD FSW USING LINK 1 | |
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2 | SpwPlugin0.StarDundeeSelectLinkNumber( 1 ) | |
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3 | ||
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4 | dsu3plugin0.openFile("/opt/LFR/LFR-FSW/3.0.0.10/fsw") | |
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5 | dsu3plugin0.loadFile() | |
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6 | ||
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7 | dsu3plugin0.run() | |
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8 | ||
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9 | # START SENDING TIMECODES AT 1 Hz | |
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10 | SpwPlugin0.StarDundeeStartTimecodes( 1 ) | |
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11 | ||
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12 | # it is possible to change the time code frequency | |
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13 | #RMAPPlugin0.changeTimecodeFrequency(2) | |
| @@ -1,2 +1,2 | |||
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1 | 1 | 3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters |
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2 | 1ffa3d630b9ced4a87a362dafb10d9838e9cc0d9 header/lfr_common_headers | |
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2 | 94f0f2fccbcb8030d9437ffbb69ee0eefaaea188 header/lfr_common_headers | |
| @@ -16,8 +16,8 | |||
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16 | 16 | #include "avf1_prc1.h" |
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17 | 17 | #include "avf2_prc2.h" |
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18 | 18 | |
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19 |
extern rtems_name Task_name[ |
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20 |
extern rtems_id Task_id[ |
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19 | extern rtems_name Task_name[]; /* array of task names */ | |
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20 | extern rtems_id Task_id[]; /* array of task ids */ | |
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21 | 21 | extern rtems_name timecode_timer_name; |
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22 | 22 | extern rtems_id timecode_timer_id; |
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23 | 23 | extern unsigned char pa_bia_status_info; |
| @@ -28,6 +28,8 extern void CCR_getInstructionAndDataErr | |||
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28 | 28 | |
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29 | 29 | rtems_name name_hk_rate_monotonic; // name of the HK rate monotonic |
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30 | 30 | rtems_id HK_id; // id of the HK rate monotonic period |
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31 | rtems_name name_avgv_rate_monotonic; // name of the AVGV rate monotonic | |
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32 | rtems_id AVGV_id; // id of the AVGV rate monotonic period | |
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31 | 33 | |
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32 | 34 | void timer_configure( unsigned char timer, unsigned int clock_divider, |
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33 | 35 | unsigned char interrupt_level, rtems_isr (*timer_isr)() ); |
| @@ -50,6 +52,7 void set_apbuart_scaler_reload_register( | |||
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50 | 52 | // RTEMS TASKS |
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51 | 53 | rtems_task load_task( rtems_task_argument argument ); |
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52 | 54 | rtems_task hous_task( rtems_task_argument argument ); |
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55 | rtems_task avgv_task( rtems_task_argument argument ); | |
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53 | 56 | rtems_task dumb_task( rtems_task_argument unused ); |
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54 | 57 | |
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55 | 58 | void init_housekeeping_parameters( void ); |
| @@ -26,7 +26,7 | |||
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26 | 26 | #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER |
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27 | 27 | #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER |
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28 | 28 | |
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29 | #define CONFIGURE_MAXIMUM_TASKS 20 | |
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29 | #define CONFIGURE_MAXIMUM_TASKS 21 // number of tasks concurrently active including INIT | |
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30 | 30 | #define CONFIGURE_RTEMS_INIT_TASKS_TABLE |
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31 | 31 | #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE) |
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32 | 32 | #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32 |
| @@ -34,7 +34,7 | |||
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34 | 34 | #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT) |
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35 | 35 | #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT) |
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36 | 36 | #define CONFIGURE_MAXIMUM_DRIVERS 16 |
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37 | #define CONFIGURE_MAXIMUM_PERIODS 5 | |
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37 | #define CONFIGURE_MAXIMUM_PERIODS 5 // [hous] [load] [avgv] | |
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38 | 38 | #define CONFIGURE_MAXIMUM_TIMERS 5 // [spiq] [link] [spacewire_reset_link] |
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39 | 39 | #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5 |
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40 | 40 | #ifdef PRINT_STACK_REPORT |
| @@ -143,10 +143,10 rtems_task Init( rtems_task_argument ign | |||
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143 | 143 | |
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144 | 144 | PRINTF("*************************\n") |
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145 | 145 | PRINTF("** LFR Flight Software **\n") |
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146 |
PRINTF1("** %d |
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147 |
PRINTF1("%d |
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148 |
PRINTF1("%d |
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149 | PRINTF1("%d **\n", SW_VERSION_N4) | |
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146 | PRINTF1("** %d-", SW_VERSION_N1) | |
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147 | PRINTF1("%d-" , SW_VERSION_N2) | |
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148 | PRINTF1("%d-" , SW_VERSION_N3) | |
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149 | PRINTF1("%d **\n", SW_VERSION_N4) | |
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150 | 150 | |
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151 | 151 | vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION); |
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152 | 152 | PRINTF("** VHDL **\n") |
| @@ -342,6 +342,7 void create_names( void ) // create all | |||
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342 | 342 | */ |
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343 | 343 | |
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344 | 344 | // task names |
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345 | Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' ); | |
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345 | 346 | Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' ); |
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346 | 347 | Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' ); |
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347 | 348 | Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' ); |
| @@ -364,6 +365,7 void create_names( void ) // create all | |||
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364 | 365 | |
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365 | 366 | // rate monotonic period names |
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366 | 367 | name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' ); |
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368 | name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' ); | |
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367 | 369 | |
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368 | 370 | misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' ); |
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369 | 371 | misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' ); |
| @@ -553,6 +555,14 int create_all_tasks( void ) // create a | |||
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553 | 555 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS] |
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554 | 556 | ); |
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555 | 557 | } |
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558 | if (status == RTEMS_SUCCESSFUL) // AVGV | |
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559 | { | |
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560 | status = rtems_task_create( | |
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561 | Task_name[TASKID_AVGV], TASK_PRIORITY_AVGV, RTEMS_MINIMUM_STACK_SIZE, | |
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562 | RTEMS_DEFAULT_MODES, | |
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563 | RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVGV] | |
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564 | ); | |
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565 | } | |
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556 | 566 | |
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557 | 567 | return status; |
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558 | 568 | } |
| @@ -708,6 +718,13 int start_all_tasks( void ) // start all | |||
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708 | 718 | BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n") |
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709 | 719 | } |
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710 | 720 | } |
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721 | if (status == RTEMS_SUCCESSFUL) // AVGV | |
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722 | { | |
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723 | status = rtems_task_start( Task_id[TASKID_AVGV], avgv_task, 1 ); | |
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724 | if (status!=RTEMS_SUCCESSFUL) { | |
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725 | BOOT_PRINTF("in INIT *** Error starting TASK_AVGV\n") | |
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726 | } | |
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727 | } | |
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711 | 728 | if (status == RTEMS_SUCCESSFUL) // DUMB |
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712 | 729 | { |
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713 | 730 | status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); |
| @@ -335,6 +335,91 rtems_task hous_task(rtems_task_argument | |||
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335 | 335 | return; |
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336 | 336 | } |
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337 | 337 | |
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338 | rtems_task avgv_task(rtems_task_argument argument) | |
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339 | { | |
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340 | #define MOVING_AVERAGE 16 | |
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341 | rtems_status_code status; | |
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342 | unsigned int v[MOVING_AVERAGE]; | |
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343 | unsigned int e1[MOVING_AVERAGE]; | |
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344 | unsigned int e2[MOVING_AVERAGE]; | |
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345 | float average_v; | |
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346 | float average_e1; | |
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347 | float average_e2; | |
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348 | unsigned char k; | |
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349 | unsigned char indexOfOldValue; | |
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350 | ||
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351 | BOOT_PRINTF("in AVGV ***\n"); | |
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352 | ||
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353 | if (rtems_rate_monotonic_ident( name_avgv_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) { | |
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354 | status = rtems_rate_monotonic_create( name_avgv_rate_monotonic, &AVGV_id ); | |
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355 | if( status != RTEMS_SUCCESSFUL ) { | |
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356 | PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status ); | |
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357 | } | |
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358 | } | |
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359 | ||
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360 | status = rtems_rate_monotonic_cancel(AVGV_id); | |
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361 | if( status != RTEMS_SUCCESSFUL ) { | |
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362 | PRINTF1( "ERR *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id) ***code: %d\n", status ); | |
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363 | } | |
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364 | else { | |
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365 | DEBUG_PRINTF("OK *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id)\n"); | |
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366 | } | |
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367 | ||
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368 | // initialize values | |
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369 | k = 0; | |
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370 | indexOfOldValue = MOVING_AVERAGE - 1; | |
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371 | for (k = 0; k < MOVING_AVERAGE; k++) | |
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372 | { | |
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373 | v[k] = 0; | |
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374 | e1[k] = 0; | |
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375 | e2[k] = 0; | |
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376 | average_v = 0.; | |
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377 | average_e1 = 0.; | |
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378 | average_e2 = 0.; | |
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379 | } | |
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380 | ||
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381 | k = 0; | |
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382 | ||
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383 | while(1){ // launch the rate monotonic task | |
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384 | status = rtems_rate_monotonic_period( AVGV_id, AVGV_PERIOD ); | |
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385 | if ( status != RTEMS_SUCCESSFUL ) { | |
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386 | PRINTF1( "in AVGV *** ERR period: %d\n", status); | |
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387 | } | |
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388 | else { | |
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389 | // store new value in buffer | |
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390 | v[k] = waveform_picker_regs->v; | |
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391 | e1[k] = waveform_picker_regs->e1; | |
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392 | e2[k] = waveform_picker_regs->e2; | |
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393 | if (k == (MOVING_AVERAGE - 1)) | |
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394 | { | |
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395 | indexOfOldValue = 0; | |
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396 | } | |
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397 | else | |
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398 | { | |
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399 | indexOfOldValue = k + 1; | |
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400 | } | |
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401 | average_v = average_v + v[k] - v[indexOfOldValue]; | |
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402 | average_e1 = average_e1 + e1[k] - e1[indexOfOldValue]; | |
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403 | average_e2 = average_e2 + e2[k] - e2[indexOfOldValue]; | |
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404 | } | |
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405 | if (k == (MOVING_AVERAGE-1)) | |
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406 | { | |
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407 | k = 0; | |
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408 | printf("tick\n"); | |
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409 | } | |
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410 | else | |
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411 | { | |
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412 | k++; | |
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413 | } | |
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414 | } | |
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415 | ||
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416 | PRINTF("in AVGV *** deleting task\n") | |
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417 | ||
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418 | status = rtems_task_delete( RTEMS_SELF ); // should not return | |
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419 | ||
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420 | return; | |
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421 | } | |
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422 | ||
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338 | 423 | rtems_task dumb_task( rtems_task_argument unused ) |
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339 | 424 | { |
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340 | 425 | /** This RTEMS taks is used to print messages without affecting the general behaviour of the software. |
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