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Ignore doc files All redmine issues taken into account SpaceWire management rewritten Init task changed to work when SpaceWire is not available at boot time
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fsw_init.c
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/** This is the RTEMS initialization module.
*
* @file
* @author P. LEROY
*
* This module contains two very different information:
* - specific instructions to configure the compilation of the RTEMS executive
* - functions related to the fligth softwre initialization, especially the INIT RTEMS task
*
*/
//*************************
// GPL reminder to be added
//*************************
#include <rtems.h>
/* configuration information */
#define CONFIGURE_INIT
#include <bsp.h> /* for device driver prototypes */
/* configuration information */
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
#define CONFIGURE_MAXIMUM_TASKS 20
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
#define CONFIGURE_MAXIMUM_DRIVERS 16
#define CONFIGURE_MAXIMUM_PERIODS 5
#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
#ifdef PRINT_STACK_REPORT
#define CONFIGURE_STACK_CHECKER_ENABLED
#endif
#include <rtems/confdefs.h>
/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
#ifdef RTEMS_DRVMGR_STARTUP
#ifdef LEON3
/* Add Timer and UART Driver */
#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
#endif
#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
#endif
#endif
#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
#include <drvmgr/drvmgr_confdefs.h>
#endif
#include "fsw_init.h"
#include "fsw_config.c"
rtems_task Init( rtems_task_argument ignored )
{
/** This is the RTEMS INIT taks, it the first task launched by the system.
*
* @param unused is the starting argument of the RTEMS task
*
* The INIT task create and run all other RTEMS tasks.
*
*/
rtems_status_code status;
rtems_status_code status_spw;
rtems_isr_entry old_isr_handler;
BOOT_PRINTF("\n\n\n\n\n")
BOOT_PRINTF("***************************\n")
BOOT_PRINTF("** START Flight Software **\n")
BOOT_PRINTF("***************************\n")
BOOT_PRINTF("\n\n")
//send_console_outputs_on_apbuart_port();
set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
init_parameter_dump();
init_local_mode_parameters();
init_housekeeping_parameters();
create_names(); // create all names
status = create_message_queues(); // create message queues
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
}
status = create_all_tasks(); // create all tasks
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
}
// **************************
// <SPACEWIRE INITIALIZATION>
grspw_timecode_callback = &timecode_irq_handler;
status_spw = spacewire_open_link(); // (1) open the link
if ( status_spw != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
}
if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
{
status_spw = spacewire_configure_link( fdSPW );
if ( status_spw != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
}
}
if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
{
status_spw = spacewire_start_link( fdSPW );
if ( status_spw != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
}
}
// </SPACEWIRE INITIALIZATION>
// ***************************
status = start_all_tasks(); // start all tasks
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
}
status = start_recv_send_tasks();
if ( status != RTEMS_SUCCESSFUL )
{
PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
}
status = stop_current_mode(); // go in STANDBY mode
if (status != RTEMS_SUCCESSFUL)
{
PRINTF1("in INIT *** ERR in stop_current_mode, code %d", status)
}
#ifdef GSA
// mask IRQ lines
LEON_Mask_interrupt( IRQ_SM );
LEON_Mask_interrupt( IRQ_WF );
// Spectral Matrices simulator
configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
IRQ_SPARC_SM, spectral_matrices_isr );
// WaveForms
configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
IRQ_SPARC_WF, waveforms_simulator_isr );
#else
// mask IRQ lines
LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );
// reset configuration registers
reset_waveform_picker_regs();
reset_spectral_matrix_regs();
// configure IRQ handling for the waveform picker unit
status = rtems_interrupt_catch( waveforms_isr,
IRQ_SPARC_WAVEFORM_PICKER,
&old_isr_handler) ;
// configure IRQ handling for the spectral matrix unit
// status = rtems_interrupt_catch( spectral_matrices_isr,
// IRQ_SPARC_SPECTRAL_MATRIX,
// &old_isr_handler) ;
// Spectral Matrices simulator
configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
IRQ_SPARC_SM, spectral_matrices_isr_simu );
#endif
if ( status_spw != RTEMS_SUCCESSFUL )
{
status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
if ( status != RTEMS_SUCCESSFUL ) {
PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
}
}
BOOT_PRINTF("delete INIT\n")
status = rtems_task_delete(RTEMS_SELF);
}
void init_local_mode_parameters( void )
{
/** This function initialize the param_local global variable with default values.
*
*/
unsigned int i;
unsigned int j;
unsigned int k;
// LOCAL PARAMETERS
set_local_sbm1_nb_cwf_max();
set_local_sbm2_nb_cwf_max();
set_local_nb_interrupt_f0_MAX();
BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
reset_local_sbm1_nb_cwf_sent();
reset_local_sbm2_nb_cwf_sent();
// init sequence counters
for (i = 0; i<SEQ_CNT_NB_PID; i++)
{
for(j = 0; j<SEQ_CNT_NB_CAT; j++)
{
for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
{
sequenceCounters[i][j][k] = 0x00;
}
}
}
}
void create_names( void ) // create all names for tasks and queues
{
/** This function creates all RTEMS names used in the software for tasks and queues.
*
* @return RTEMS directive status codes:
* - RTEMS_SUCCESSFUL - successful completion
*
*/
// task names
Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
// rate monotonic period names
name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
}
int create_all_tasks( void ) // create all tasks which run in the software
{
/** This function creates all RTEMS tasks used in the software.
*
* @return RTEMS directive status codes:
* - RTEMS_SUCCESSFUL - task created successfully
* - RTEMS_INVALID_ADDRESS - id is NULL
* - RTEMS_INVALID_NAME - invalid task name
* - RTEMS_INVALID_PRIORITY - invalid task priority
* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
* - RTEMS_TOO_MANY - too many tasks created
* - RTEMS_UNSATISFIED - not enough memory for stack/FP context
* - RTEMS_TOO_MANY - too many global objects
*
*/
rtems_status_code status;
// RECV
status = rtems_task_create(
Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
);
if (status == RTEMS_SUCCESSFUL) // ACTN
{
status = rtems_task_create(
Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
);
}
if (status == RTEMS_SUCCESSFUL) // SPIQ
{
status = rtems_task_create(
Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
);
}
if (status == RTEMS_SUCCESSFUL) // SMIQ
{
status = rtems_task_create(
Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
);
}
if (status == RTEMS_SUCCESSFUL) // STAT
{
status = rtems_task_create(
Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
);
}
if (status == RTEMS_SUCCESSFUL) // AVF0
{
status = rtems_task_create(
Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
);
}
if (status == RTEMS_SUCCESSFUL) // BPF0
{
status = rtems_task_create(
Task_name[TASKID_BPF0], TASK_PRIORITY_BPF0, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
);
}
if (status == RTEMS_SUCCESSFUL) // WFRM
{
status = rtems_task_create(
Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
);
}
if (status == RTEMS_SUCCESSFUL) // DUMB
{
status = rtems_task_create(
Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
);
}
if (status == RTEMS_SUCCESSFUL) // HOUS
{
status = rtems_task_create(
Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
);
}
if (status == RTEMS_SUCCESSFUL) // MATR
{
status = rtems_task_create(
Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR]
);
}
if (status == RTEMS_SUCCESSFUL) // CWF3
{
status = rtems_task_create(
Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF3]
);
}
if (status == RTEMS_SUCCESSFUL) // CWF2
{
status = rtems_task_create(
Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF2]
);
}
if (status == RTEMS_SUCCESSFUL) // 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]
);
}
if (status == RTEMS_SUCCESSFUL) // 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]
);
}
if (status == RTEMS_SUCCESSFUL) // WTDG
{
status = rtems_task_create(
Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
RTEMS_DEFAULT_MODES,
RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
);
}
return status;
}
int start_recv_send_tasks( void )
{
rtems_status_code status;
status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
}
if (status == RTEMS_SUCCESSFUL) // SEND
{
status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
}
}
return status;
}
int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
{
/** This function starts all RTEMS tasks used in the software.
*
* @return RTEMS directive status codes:
* - RTEMS_SUCCESSFUL - ask started successfully
* - RTEMS_INVALID_ADDRESS - invalid task entry point
* - RTEMS_INVALID_ID - invalid task id
* - RTEMS_INCORRECT_STATE - task not in the dormant state
* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
*
*/
// starts all the tasks fot eh flight software
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")
}
if (status == RTEMS_SUCCESSFUL) // WTDG
{
status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
}
}
if (status == RTEMS_SUCCESSFUL) // SMIQ
{
status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_BPPR\n")
}
}
if (status == RTEMS_SUCCESSFUL) // ACTN
{
status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
}
}
if (status == RTEMS_SUCCESSFUL) // STAT
{
status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
}
}
if (status == RTEMS_SUCCESSFUL) // AVF0
{
status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
}
}
if (status == RTEMS_SUCCESSFUL) // BPF0
{
status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_BPF0\n")
}
}
if (status == RTEMS_SUCCESSFUL) // WFRM
{
status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
}
}
if (status == RTEMS_SUCCESSFUL) // DUMB
{
status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
}
}
if (status == RTEMS_SUCCESSFUL) // HOUS
{
status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
}
}
if (status == RTEMS_SUCCESSFUL) // MATR
{
status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_MATR\n")
}
}
if (status == RTEMS_SUCCESSFUL) // CWF3
{
status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
}
}
if (status == RTEMS_SUCCESSFUL) // CWF2
{
status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
if (status!=RTEMS_SUCCESSFUL) {
BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
}
}
if (status == RTEMS_SUCCESSFUL) // CWF1
{
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 status;
}
rtems_status_code create_message_queues( void ) // create the two message queues used in the software
{
rtems_status_code status_recv;
rtems_status_code status_send;
rtems_status_code ret;
rtems_id queue_id;
// create the queue for handling valid TCs
status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
if ( status_recv != RTEMS_SUCCESSFUL ) {
PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
}
// create the queue for handling TM packet sending
status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE,
RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
if ( status_send != RTEMS_SUCCESSFUL ) {
PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
}
if ( status_recv != RTEMS_SUCCESSFUL )
{
ret = status_recv;
}
else
{
ret = status_send;
}
return ret;
}