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//*************************
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// GPL reminder to be added
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//*************************
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#include <rtems.h>
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/* configuration information */
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#define CONFIGURE_INIT
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#include <bsp.h> /* for device driver prototypes */
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/* configuration information */
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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_MAXIMUM_TASKS 20
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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_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_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
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#define CONFIGURE_MAXIMUM_DRIVERS 16
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#define CONFIGURE_MAXIMUM_PERIODS 5
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#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
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#ifdef PRINT_STACK_REPORT
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#define CONFIGURE_STACK_CHECKER_ENABLED
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#endif
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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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#ifdef RTEMS_DRVMGR_STARTUP
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#ifdef LEON3
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/* Add Timer and UART 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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#endif
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#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
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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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#include <drvmgr/drvmgr_confdefs.h>
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#endif
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#include <fsw_init.h>
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#include <fsw_config.c>
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rtems_task Init( rtems_task_argument ignored )
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{
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rtems_status_code status;
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rtems_isr_entry old_isr_handler;
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BOOT_PRINTF("\n\n\n\n\n")
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BOOT_PRINTF("***************************\n")
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BOOT_PRINTF("** START Flight Software **\n")
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BOOT_PRINTF("***************************\n")
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BOOT_PRINTF("\n\n")
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//send_console_outputs_on_apbuart_port();
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set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
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initLookUpTableForCRC(); // in tc_handler.h
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init_parameter_dump();
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init_local_mode_parameters();
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init_housekeeping_parameters();
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create_names(); // create all names
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create_message_queues();
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create_all_tasks(); // create all tasks
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start_all_tasks(); // start all tasks
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stop_current_mode(); // go in STANDBY mode
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grspw_timecode_callback = &timecode_irq_handler;
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spacewire_configure_link();
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#ifdef GSA
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// mask IRQ lines
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LEON_Mask_interrupt( IRQ_SM );
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LEON_Mask_interrupt( IRQ_WF );
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// Spectral Matrices simulator
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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
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IRQ_SPARC_SM, spectral_matrices_isr );
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// WaveForms
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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
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IRQ_SPARC_WF, waveforms_simulator_isr );
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#else
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// mask IRQ lines
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LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
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LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );
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// reset configuration registers
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reset_waveform_picker_regs();
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reset_spectral_matrix_regs();
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// configure IRQ handling for the waveform picker unit
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status = rtems_interrupt_catch( waveforms_isr,
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IRQ_SPARC_WAVEFORM_PICKER,
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&old_isr_handler) ;
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// configure IRQ handling for the spectral matrix unit
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// status = rtems_interrupt_catch( spectral_matrices_isr,
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// IRQ_SPARC_SPECTRAL_MATRIX,
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// &old_isr_handler) ;
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// Spectral Matrices simulator
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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
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IRQ_SPARC_SM, spectral_matrices_isr_simu );
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#endif
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BOOT_PRINTF("delete INIT\n")
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status = rtems_task_delete(RTEMS_SELF);
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}
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void init_parameter_dump( void )
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{
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parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
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parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
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parameter_dump_packet.reserved = CCSDS_RESERVED;
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parameter_dump_packet.userApplication = CCSDS_USER_APP;
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parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
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parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
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parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
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parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
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parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
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parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
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// DATA FIELD HEADER
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parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
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parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
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parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
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parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
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parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
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parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
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parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
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parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
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parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
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parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
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parameter_dump_packet.sid = SID_PARAMETER_DUMP;
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//******************
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// COMMON PARAMETERS
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parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
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parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
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//******************
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// NORMAL PARAMETERS
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parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8);
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parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L );
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parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8);
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parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P );
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parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8);
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parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P );
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parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0;
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parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1;
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//*****************
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// BURST PARAMETERS
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parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
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parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
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//****************
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// SBM1 PARAMETERS
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parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
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parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
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//****************
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// SBM2 PARAMETERS
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parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
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parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
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}
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void init_local_mode_parameters( void )
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{
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// LOCAL PARAMETERS
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set_local_sbm1_nb_cwf_max();
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set_local_sbm2_nb_cwf_max();
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set_local_nb_interrupt_f0_MAX();
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BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
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BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
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BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
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reset_local_sbm1_nb_cwf_sent();
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reset_local_sbm2_nb_cwf_sent();
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}
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void init_housekeeping_parameters( void )
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{
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unsigned int i = 0;
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unsigned int j = 0;
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unsigned int k = 0;
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char *parameters;
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parameters = (char*) &housekeeping_packet.lfr_status_word;
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for(i = 0; i< SIZE_HK_PARAMETERS; i++)
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{
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parameters[i] = 0x00;
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}
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// init status word
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housekeeping_packet.lfr_status_word[0] = 0x00;
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housekeeping_packet.lfr_status_word[1] = 0x00;
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// init software version
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housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
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housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
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housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
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housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
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// init sequence counters
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for (i = 0; i<SEQ_CNT_NB_PID; i++)
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{
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for(j = 0; j<SEQ_CNT_NB_CAT; j++)
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{
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for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
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{
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sequenceCounters[i][j][k] = 0x00;
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}
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}
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}
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updateLFRCurrentMode();
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}
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int create_names( void )
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{
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// task names
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Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
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Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
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Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
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Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
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Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
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Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
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Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
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Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
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Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
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Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
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Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
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Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
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Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
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Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
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Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
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// rate monotonic period name
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HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
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misc_name[QUEUE_QUEU] = rtems_build_name( 'Q', 'U', 'E', 'U' );
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misc_name[QUEUE_PKTS] = rtems_build_name( 'P', 'K', 'T', 'S' );
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return 0;
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}
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int create_all_tasks( void )
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{
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rtems_status_code status;
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// RECV
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status = rtems_task_create(
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Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
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);
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// ACTN
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status = rtems_task_create(
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Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
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);
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// SPIQ
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status = rtems_task_create(
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Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
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);
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// SMIQ
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status = rtems_task_create(
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Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
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);
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// STAT
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status = rtems_task_create(
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Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
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);
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// AVF0
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status = rtems_task_create(
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Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
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);
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// BPF0
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status = rtems_task_create(
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Task_name[TASKID_BPF0], TASK_PRIORITY_BPF0, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
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);
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// WFRM
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status = rtems_task_create(
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Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
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);
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// DUMB
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status = rtems_task_create(
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Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
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);
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// HOUS
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status = rtems_task_create(
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Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
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);
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// MATR
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status = rtems_task_create(
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Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR]
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);
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// CWF3
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status = rtems_task_create(
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Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF3]
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);
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// CWF2
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status = rtems_task_create(
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Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
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RTEMS_DEFAULT_MODES,
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RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF2]
|
|
|
);
|
|
|
// CWF1
|
|
|
status = rtems_task_create(
|
|
|
Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
|
|
|
RTEMS_DEFAULT_MODES,
|
|
|
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF1]
|
|
|
);
|
|
|
// SEND
|
|
|
status = rtems_task_create(
|
|
|
Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
|
|
|
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
|
|
|
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
|
|
|
);
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int start_all_tasks( void )
|
|
|
{
|
|
|
rtems_status_code status;
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_BPPR\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_BPF0\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_MATR\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
|
|
|
}
|
|
|
|
|
|
status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
|
|
|
if (status!=RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
|
|
|
}
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
rtems_status_code create_message_queues( void )
|
|
|
{
|
|
|
rtems_status_code status;
|
|
|
rtems_status_code ret;
|
|
|
rtems_id queue_id;
|
|
|
|
|
|
ret = rtems_message_queue_create( misc_name[QUEUE_PKTS], ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_SIZE,
|
|
|
RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
|
|
|
if (ret != RTEMS_SUCCESSFUL) {
|
|
|
BOOT_PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", ret)
|
|
|
}
|
|
|
|
|
|
status = rtems_message_queue_create( misc_name[QUEUE_QUEU], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
|
|
|
RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
|
|
|
if (status != RTEMS_SUCCESSFUL) {
|
|
|
ret = status;
|
|
|
BOOT_PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", ret)
|
|
|
}
|
|
|
|
|
|
return ret;
|
|
|
}
|
|
|
|
