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#include <tc_handler.h>
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#include <fsw_params.h>
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char *errorCCSDSMsg[8] = { "ILLEGAL_APID 0",
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"WRONG_LEN_PACKET 1",
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"INCOR_CHECKSUM 2",
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"ILL_TYPE 3",
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"ILL_SUBTYPE 4",
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"WRONG_APP_DATA 5",
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"WRONG_CMD_CODE 6",
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"CCSDS_TM_VALID 7"
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};
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//**********************
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// GENERAL USE FUNCTIONS
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unsigned int Crc_opt( unsigned char D, unsigned int Chk)
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{
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return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
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}
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void initLookUpTableForCRC()
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{
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unsigned int i, tmp;
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for (i=0; i<256; i++)
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{
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tmp = 0;
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if((i & 1) != 0) tmp = tmp ^ 0x1021;
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if((i & 2) != 0) tmp = tmp ^ 0x2042;
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if((i & 4) != 0) tmp = tmp ^ 0x4084;
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if((i & 8) != 0) tmp = tmp ^ 0x8108;
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if((i & 16) != 0) tmp = tmp ^ 0x1231;
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if((i & 32) != 0) tmp = tmp ^ 0x2462;
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if((i & 64) != 0) tmp = tmp ^ 0x48c4;
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if((i & 128) != 0) tmp = tmp ^ 0x9188;
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lookUpTableForCRC[i] = tmp;
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}
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}
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void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
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{
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unsigned int Chk;
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int j;
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Chk = 0xffff; // reset the syndrom to all ones
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for (j=0; j<sizeOfData; j++) {
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Chk = Crc_opt(data[j], Chk);
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}
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crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
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crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
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}
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//*********************
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// ACCEPTANCE FUNCTIONS
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int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
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{
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rtems_status_code status;
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spw_ioctl_pkt_send spw_ioctl_send;
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TMHeader_t TM_header;
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unsigned int code = 0;
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unsigned char computed_CRC[2];
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char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
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GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
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code = acceptTM( TC, tc_len_recv ) ;
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if ( (code == 0) | (code == 1) | (code == 2)
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| (code == 3) | (code == 4) | (code == 5) )
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{ // generate TM_LFR_TC_EXE_CORRUPTED
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// BUILD HEADER
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TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_EXE_CORR, 0, 0, &TM_header);
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// BUILD DATA
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TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
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// PREPARE TM SENDING
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spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
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spw_ioctl_send.hdr = (char*) &TM_header;
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spw_ioctl_send.dlen = 16;
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spw_ioctl_send.data = data;
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// SEND PACKET
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write_spw(&spw_ioctl_send);
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}
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else { // send valid TC to the action launcher
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status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
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return -1;
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}
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return -1;
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}
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unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
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{
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unsigned char pid = 0;
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unsigned char category = 0;
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unsigned int length = 0;
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unsigned char packetType = 0;
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unsigned char packetSubtype = 0;
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unsigned char * CCSDSContent;
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// APID check *** APID on 2 bytes
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pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx
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category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
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if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID;
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if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID;
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// packet length check
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length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1];
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if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
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if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
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packetType = TMPacket->dataFieldHeader[1];
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packetSubtype = TMPacket->dataFieldHeader[2];
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// service type, subtype and packet length check
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if (packetType == 181){
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switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
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case 3:
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if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 20:
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if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 21:
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if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 24:
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if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 27:
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if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 28:
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if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 30:
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if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 40:
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if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 50:
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if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 60:
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if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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case 61:
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if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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break;
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default:
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return ILL_SUBTYPE;
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break;
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}
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}
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else if (packetType == 9){
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if (packetSubtype!=129) return ILL_SUBTYPE;
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if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
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}
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else return ILL_TYPE;
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// source ID check // Source ID not documented in the ICD
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// packet error control, CRC check
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CCSDSContent = (unsigned char*) TMPacket->packetID;
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GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
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if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM;
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if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM;
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return CCSDS_TM_VALID;
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}
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unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
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unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
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{
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TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
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TMHeader->protocolIdentifier = 0x02;
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TMHeader->reserved = 0x00;
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TMHeader->userApplication = 0x00;
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TMHeader->packetID[0] = 0x0c;
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TMHeader->packetSequenceControl[0] = 0xc0;
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TMHeader->packetSequenceControl[1] = 0x00;
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TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
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TMHeader->packetLength[1] = (unsigned char) packetLength;
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TMHeader->dataFieldHeader[0] = 0x10;
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TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
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switch (tm_type){
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case(TM_LFR_TC_EXE_OK):
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TMHeader->packetID[1] = 0xc1;
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TMHeader->dataFieldHeader[1] = 1; // type
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TMHeader->dataFieldHeader[2] = 7; // subtype
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break;
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case(TM_LFR_TC_EXE_ERR):
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TMHeader->packetID[1] = 0xc1;
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TMHeader->dataFieldHeader[1] = 1; // type
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TMHeader->dataFieldHeader[2] = 8; // subtype
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break;
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case(TM_LFR_HK):
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TMHeader->packetID[1] = 0xc4;
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TMHeader->dataFieldHeader[1] = 3; // type
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TMHeader->dataFieldHeader[2] = 25; // subtype
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break;
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case(TM_LFR_SCI):
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TMHeader->packetID[1] = 0xcc;
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TMHeader->dataFieldHeader[1] = 21; // type
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TMHeader->dataFieldHeader[2] = 3; // subtype
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break;
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case(TM_LFR_SCI_SBM):
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TMHeader->packetID[1] = 0xfc;
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TMHeader->dataFieldHeader[1] = 21; // type
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TMHeader->dataFieldHeader[2] = 3; // subtype
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break;
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case(TM_LFR_PAR_DUMP):
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TMHeader->packetID[1] = 0xc9;
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TMHeader->dataFieldHeader[1] = 181; // type
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TMHeader->dataFieldHeader[2] = 31; // subtype
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break;
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default:
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return 0;
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}
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TMHeader->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
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TMHeader->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
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TMHeader->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
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TMHeader->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
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TMHeader->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
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TMHeader->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
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return 1;
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}
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unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
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{
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unsigned int packetLength;
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packetLength = TC->packetLength[0] * 256 + TC->packetLength[1];
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switch (SID){
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case (SID_NOT_EXE):
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break;
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case (SID_NOT_IMP):
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data[0] = 0x9c;
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data[1] = 0x42;
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data[2] = TC->packetID[0];
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data[3] = TC->packetID[1];
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data[4] = TC->packetSequenceControl[0];
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data[5] = TC->packetSequenceControl[1];
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data[6] = TC->dataFieldHeader[1]; // type
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data[7] = TC->dataFieldHeader[2]; // subtype
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break;
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case (SID_EXE_ERR):
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break;
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case (SID_EXE_CORR):
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data[0] = 0x9c;
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data[1] = 0x45;
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data[2] = TC->packetID[0];
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data[3] = TC->packetID[1];
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data[4] = TC->packetSequenceControl[0];
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data[5] = TC->packetSequenceControl[1];
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data[6] = TC->dataFieldHeader[1]; // type
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data[7] = TC->dataFieldHeader[2]; // subtype
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data[8] = currentTC_LEN_RCV[0];
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data[9] = currentTC_LEN_RCV[1];
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data[10] = TC->packetLength[0];
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data[11] = TC->packetLength[1];
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data[12] = TC->dataAndCRC[packetLength];
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data[13] = TC->dataAndCRC[packetLength+1];
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data[14] = computed_CRC[0];
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data[15] = computed_CRC[1];
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break;
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default:
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return 0;
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}
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return 1;
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}
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//***********
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// RTEMS TASK
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rtems_task recv_task( rtems_task_argument unused )
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{
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int len = 0;
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unsigned int i = 0;
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unsigned int data_length = 0;
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ccsdsTelecommandPacket_t currentTC;
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char data[100];
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for(i=0; i<100; i++) data[i] = 0;
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PRINTF("In RECV *** \n")
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while(1)
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{
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len = read(fdSPW, (char*) ¤tTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
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if (len == -1){ // error during the read call
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PRINTF("In RECV *** last read call returned -1\n")
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if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL)
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PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
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if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL)
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PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
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}
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else {
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PRINTF1("Got pck of length %d\n", len+1)
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currentTC_LEN_RCV[0] = 0x00;
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currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // build the corresponding packet size field
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currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes
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// CHECK THE TC AND BUILD THE APPROPRIATE TM
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data_length = TC_checker(¤tTC, currentTC_LEN_RCV_AsUnsignedInt);
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if (data_length!=-1)
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{
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}
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}
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}
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}
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rtems_task actn_task( rtems_task_argument unused )
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{
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int result = 0;
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rtems_status_code status; // RTEMS status code
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ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
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size_t size; // size of the incoming TC packet
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unsigned char subtype = 0; // subtype of the current TC packet
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PRINTF("In ACTN *** \n")
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while(1)
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{
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status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
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RTEMS_WAIT, RTEMS_NO_TIMEOUT);
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if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status)
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else
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{
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subtype = TC.dataFieldHeader[2];
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switch(subtype)
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{
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case TC_SUBTYPE_RESET:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_LOAD_COMM:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_LOAD_NORM:
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result = action_load_norm( &TC );
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send_tm_lfr_tc_exe_success( &TC );
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break;
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//
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case TC_SUBTYPE_LOAD_BURST:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_LOAD_SBM1:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_LOAD_SBM2:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_DUMP:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_ENTER:
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result = action_enter( &TC );
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send_tm_lfr_tc_exe_success( &TC );
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break;
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//
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case TC_SUBTYPE_UPDT_INFO:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_EN_CAL:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_DIS_CAL:
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result = action_default( &TC );
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break;
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//
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case TC_SUBTYPE_UPDT_TIME:
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result = action_updt_time( &TC );
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send_tm_lfr_tc_exe_success( &TC );
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break;
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//
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default:
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break;
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}
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}
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}
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}
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int create_message_queue()
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{
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rtems_status_code status;
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misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
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status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
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RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
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if (status!=RTEMS_SUCCESSFUL) PRINTF("in create_message_queue *** error creating message queue\n")
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return 0;
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}
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//***********
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// TC ACTIONS
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int action_default(ccsdsTelecommandPacket_t *TC)
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{
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TMHeader_t TM_header;
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char data[8];
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spw_ioctl_pkt_send spw_ioctl_send;
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TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP,
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time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header);
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data[0] = 0x9c;
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data[1] = 0x42;
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data[2] = TC->packetID[0];
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data[3] = TC->packetID[1];
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data[4] = TC->packetSequenceControl[0];
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data[5] = TC->packetSequenceControl[1];
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data[6] = TC->dataFieldHeader[1]; // type
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data[7] = TC->dataFieldHeader[2]; // subtype
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// filling the structure for the spacewire transmission
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spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
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spw_ioctl_send.hdr = (char*) &TM_header;
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spw_ioctl_send.dlen = 8;
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spw_ioctl_send.data = data;
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// SEND DATA
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write_spw(&spw_ioctl_send);
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return 0;
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}
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int action_enter(ccsdsTelecommandPacket_t *TC)
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{
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unsigned char lfr_mode = TC->dataAndCRC[1];
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printf("enter mode %d\n", lfr_mode);
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switch(lfr_mode)
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{
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case(LFR_MODE_STANDBY):
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LEON_Mask_interrupt( IRQ_WF );
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LEON_Mask_interrupt( IRQ_SM );
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break;
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case(LFR_MODE_NORMAL):
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LEON_Unmask_interrupt( IRQ_WF );
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LEON_Unmask_interrupt( IRQ_SM );
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break;
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case(LFR_MODE_BURST):
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break;
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case(LFR_MODE_SBM1):
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break;
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case(LFR_MODE_SBM2):
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break;
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}
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return 0;
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}
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int action_load_norm(ccsdsTelecommandPacket_t *TC)
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{
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param_norm.sy_lfr_n_swf_l = TC->dataAndCRC[0] * 256 + TC->dataAndCRC[1];
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param_norm.sy_lfr_n_swf_p = TC->dataAndCRC[2] * 256 + TC->dataAndCRC[3];
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param_norm.sy_lfr_n_asm_p = TC->dataAndCRC[4] * 256 + TC->dataAndCRC[5];
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param_norm.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
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param_norm.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
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/*printf("sy_lfr_n_ => swf_l %d, swf_p %d, asm_p %d, bsp_p0 %d, bsp_p1 %d\n",
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param_norm.sy_lfr_n_swf_l, param_norm.sy_lfr_n_swf_p,
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param_norm.sy_lfr_n_asm_p, param_norm.sy_lfr_n_bp_p0, param_norm.sy_lfr_n_bp_p1);*/
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return 0;
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}
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int action_updt_time(ccsdsTelecommandPacket_t *TC)
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|
|
{
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|
|
time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
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|
+ (TC->dataAndCRC[1] << 16)
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|
+ (TC->dataAndCRC[2] << 8)
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|
|
+ TC->dataAndCRC[3];
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//time_management_regs->ctrl = time_management_regs->ctrl | 1;
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|
|
return 0;
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|
}
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|
|
int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
|
|
|
{
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|
|
TMHeader_t TM_header;
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|
|
char data[4];
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|
|
spw_ioctl_pkt_send spw_ioctl_send;
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|
|
|
|
|
TM_build_header( TM_LFR_TC_EXE_OK, TM_LEN_EXE,
|
|
|
time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header);
|
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|
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|
|
data[0] = TC->packetID[0];
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|
data[1] = TC->packetID[1];
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|
data[2] = TC->packetSequenceControl[0];
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|
|
data[3] = TC->packetSequenceControl[1];
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|
|
|
|
|
// filling the structure for the spacewire transmission
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|
|
spw_ioctl_send.hlen = TM_HEADER_LEN + 3; // + 4 is for the protocole extra header
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|
|
spw_ioctl_send.hdr = (char*) &TM_header;
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|
|
spw_ioctl_send.dlen = 3;
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|
|
spw_ioctl_send.data = data;
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|
|
|
|
|
// SEND DATA
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|
|
write_spw(&spw_ioctl_send);
|
|
|
|
|
|
return 0;
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|
|
}
|
|
|
|
|
|
//***************************
|
|
|
// Interrupt Service Routines
|
|
|
rtems_isr commutation_isr1( rtems_vector_number vector )
|
|
|
{
|
|
|
if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
|
|
|
printf("In commutation_isr1 *** Error sending event to DUMB\n");
|
|
|
}
|
|
|
|
|
|
rtems_isr commutation_isr2( rtems_vector_number vector )
|
|
|
{
|
|
|
if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
|
|
|
printf("In commutation_isr2 *** Error sending event to DUMB\n");
|
|
|
}
|
|
|
|
|
|
rtems_task dumb_task( rtems_task_argument unused )
|
|
|
{
|
|
|
unsigned int coarse_time;
|
|
|
unsigned int fine_time;
|
|
|
rtems_event_set event_out;
|
|
|
|
|
|
PRINTF("In DUMB *** \n")
|
|
|
|
|
|
while(1){
|
|
|
rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
|
|
|
coarse_time = time_management_regs->coarse_time;
|
|
|
fine_time = time_management_regs->fine_time;
|
|
|
printf("commutation_isr*, coarse time = %x, fine time = %x\n", coarse_time, fine_time);
|
|
|
}
|
|
|
}
|
|
|
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|
|
|
|
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|