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Slight changes on the flight software
Slight changes on the flight software
paul@pc-solar1.lab-lpp.local - - Load All Authors

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r20:a872a934ec2d default
r20:a872a934ec2d default
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tc_handler.c
821 lines | 27.5 KiB | text/x-c | CLexer
/ src / tc_handler.c
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#include <tc_handler.h>
#include <fsw_params.h>
char *DumbMessages[5] = {"default",
"timecode_irq_handler",
"waveforms_isr",
"",
""
};
unsigned char currentTC_LEN_RCV[2]; // SHALL be equal to the current TC packet estimated packet length field
unsigned char currentTC_COMPUTED_CRC[2];
unsigned int currentTC_LEN_RCV_AsUnsignedInt;
unsigned int currentTM_length;
unsigned char currentTC_processedFlag;
unsigned int lookUpTableForCRC[256];
//**********************
// GENERAL USE FUNCTIONS
unsigned int Crc_opt( unsigned char D, unsigned int Chk)
{
return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
}
void initLookUpTableForCRC( void )
{
unsigned int i;
unsigned int tmp;
for (i=0; i<256; i++)
{
tmp = 0;
if((i & 1) != 0) {
tmp = tmp ^ 0x1021;
}
if((i & 2) != 0) {
tmp = tmp ^ 0x2042;
}
if((i & 4) != 0) {
tmp = tmp ^ 0x4084;
}
if((i & 8) != 0) {
tmp = tmp ^ 0x8108;
}
if((i & 16) != 0) {
tmp = tmp ^ 0x1231;
}
if((i & 32) != 0) {
tmp = tmp ^ 0x2462;
}
if((i & 64) != 0) {
tmp = tmp ^ 0x48c4;
}
if((i & 128) != 0) {
tmp = tmp ^ 0x9188;
}
lookUpTableForCRC[i] = tmp;
}
}
void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
{
unsigned int Chk;
int j;
Chk = 0xffff; // reset the syndrom to all ones
for (j=0; j<sizeOfData; j++) {
Chk = Crc_opt(data[j], Chk);
}
crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
}
//*********************
// ACCEPTANCE FUNCTIONS
int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
{
int ret = 0;
rtems_status_code status;
spw_ioctl_pkt_send spw_ioctl_send;
TMHeader_t TM_header;
unsigned int code = 0;
unsigned char computed_CRC[2];
char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
code = acceptTM( TC, tc_len_recv ) ;
if ( (code == ILLEGAL_APID) | (code == WRONG_LEN_PACKET) | (code == INCOR_CHECKSUM)
| (code == ILL_TYPE) | (code == ILL_SUBTYPE) | (code == WRONG_APP_DATA) )
{ // generate TM_LFR_TC_EXE_CORRUPTED
// BUILD HEADER
TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_EXE_CORR, 0, 0, &TM_header);
// BUILD DATA
TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
// PREPARE TM SENDING
spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
spw_ioctl_send.hdr = (char*) &TM_header;
spw_ioctl_send.dlen = 16;
spw_ioctl_send.data = data;
// SEND PACKET
write_spw(&spw_ioctl_send);
}
else { // send valid TC to the action launcher
status = rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
ret = -1;
}
return ret;
}
unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
{
unsigned char ret = 0;
unsigned char pid = 0;
unsigned char category = 0;
unsigned int length = 0;
unsigned char packetType = 0;
unsigned char packetSubtype = 0;
unsigned char * CCSDSContent = NULL;
// APID check *** APID on 2 bytes
pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx
category = (TMPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
length = (TMPacket->packetLength[0] * 256) + TMPacket->packetLength[1];
packetType = TMPacket->dataFieldHeader[1];
packetSubtype = TMPacket->dataFieldHeader[2];
if (pid!=CCSDS_PROCESS_ID) {
ret = ILLEGAL_APID;
}
else if (category!=CCSDS_PACKET_CATEGORY) {
ret = ILLEGAL_APID;
}
else if (length != TC_LEN_RCV ) { // packet length check
ret = WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
}
else if (length >= CCSDS_TC_PKT_MAX_SIZE) {
ret = WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
}
else if (packetType == TC_TYPE_GEN){ // service type, subtype and packet length check
switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
case TC_SUBTYPE_RESET:
if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_LOAD_COMM:
if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_LOAD_NORM:
if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_LOAD_BURST:
if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_LOAD_SBM1:
if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_LOAD_SBM2:
if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_DUMP:
if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_ENTER:
if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_UPDT_INFO:
if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_EN_CAL:
if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
case TC_SUBTYPE_DIS_CAL:
if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
break;
default:
ret = ILL_SUBTYPE;
break;
}
}
else if (packetType == TC_TYPE_TIME){
if (packetSubtype!=TC_SUBTYPE_UPDT_TIME) {
ret = ILL_SUBTYPE;
}
else if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
ret = WRONG_LEN_PACKET;
}
else {
ret = CCSDS_TM_VALID;
}
}
else {
ret = ILL_TYPE;
}
// source ID check // Source ID not documented in the ICD
// packet error control, CRC check
if ( ret == CCSDS_TM_VALID ) {
CCSDSContent = (unsigned char*) TMPacket->packetID;
GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
ret = INCOR_CHECKSUM;
}
else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
ret = INCOR_CHECKSUM;
}
else {
ret = CCSDS_TM_VALID;
}
}
return ret;
}
unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
{
TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
TMHeader->protocolIdentifier = 0x02;
TMHeader->reserved = 0x00;
TMHeader->userApplication = 0x00;
TMHeader->packetID[0] = 0x0c;
TMHeader->packetSequenceControl[0] = 0xc0;
TMHeader->packetSequenceControl[1] = 0x00;
TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
TMHeader->packetLength[1] = (unsigned char) packetLength;
TMHeader->dataFieldHeader[0] = 0x10;
TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
switch (tm_type){
case(TM_LFR_TC_EXE_OK):
TMHeader->packetID[1] = 0xc1;
TMHeader->dataFieldHeader[1] = 1; // type
TMHeader->dataFieldHeader[2] = 7; // subtype
break;
case(TM_LFR_TC_EXE_ERR):
TMHeader->packetID[1] = 0xc1;
TMHeader->dataFieldHeader[1] = 1; // type
TMHeader->dataFieldHeader[2] = 8; // subtype
break;
case(TM_LFR_HK):
TMHeader->packetID[1] = 0xc4;
TMHeader->dataFieldHeader[1] = 3; // type
TMHeader->dataFieldHeader[2] = 25; // subtype
break;
case(TM_LFR_SCI):
TMHeader->packetID[1] = 0xcc;
TMHeader->dataFieldHeader[1] = 21; // type
TMHeader->dataFieldHeader[2] = 3; // subtype
break;
case(TM_LFR_SCI_SBM):
TMHeader->packetID[1] = 0xfc;
TMHeader->dataFieldHeader[1] = 21; // type
TMHeader->dataFieldHeader[2] = 3; // subtype
break;
case(TM_LFR_PAR_DUMP):
TMHeader->packetID[1] = 0xc9;
TMHeader->dataFieldHeader[1] = 181; // type
TMHeader->dataFieldHeader[2] = 31; // subtype
break;
default:
return 0;
}
TMHeader->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
TMHeader->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
TMHeader->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
TMHeader->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
TMHeader->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
TMHeader->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
return 1;
}
unsigned char TM_build_header_bis( enum TM_TYPE tm_type, unsigned int packetLength,
unsigned int coarseTime, unsigned int fineTime, Packet_TM_LFR_TC_EXE_t *packet)
{
packet->targetLogicalAddress = CCSDS_DESTINATION_ID;
packet->protocolIdentifier = 0x02;
packet->reserved = 0x00;
packet->userApplication = 0x00;
packet->packetID[0] = 0x0c;
packet->packetSequenceControl[0] = 0xc0;
packet->packetSequenceControl[1] = 0x00;
packet->packetLength[0] = (unsigned char) (packetLength>>8);
packet->packetLength[1] = (unsigned char) packetLength;
packet->dataFieldHeader[0] = 0x10;
packet->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
switch (tm_type){
case(TM_LFR_TC_EXE_OK):
packet->packetID[1] = 0xc1;
packet->dataFieldHeader[1] = 1; // type
packet->dataFieldHeader[2] = 7; // subtype
break;
case(TM_LFR_TC_EXE_ERR):
packet->packetID[1] = 0xc1;
packet->dataFieldHeader[1] = 1; // type
packet->dataFieldHeader[2] = 8; // subtype
break;
case(TM_LFR_HK):
packet->packetID[1] = 0xc4;
packet->dataFieldHeader[1] = 3; // type
packet->dataFieldHeader[2] = 25; // subtype
break;
case(TM_LFR_SCI):
packet->packetID[1] = 0xcc;
packet->dataFieldHeader[1] = 21; // type
packet->dataFieldHeader[2] = 3; // subtype
break;
case(TM_LFR_SCI_SBM):
packet->packetID[1] = 0xfc;
packet->dataFieldHeader[1] = 21; // type
packet->dataFieldHeader[2] = 3; // subtype
break;
case(TM_LFR_PAR_DUMP):
packet->packetID[1] = 0xc9;
packet->dataFieldHeader[1] = 181; // type
packet->dataFieldHeader[2] = 31; // subtype
break;
default:
return 0;
}
packet->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
packet->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
packet->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
packet->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
packet->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
packet->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
return 1;
}
unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
{
unsigned int packetLength;
packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];
switch (SID){
case (SID_NOT_EXE):
break;
case (SID_NOT_IMP):
data[0] = 0x9c;
data[1] = 0x42;
data[2] = TC->packetID[0];
data[3] = TC->packetID[1];
data[4] = TC->packetSequenceControl[0];
data[5] = TC->packetSequenceControl[1];
data[6] = TC->dataFieldHeader[1]; // type
data[7] = TC->dataFieldHeader[2]; // subtype
break;
case (SID_EXE_ERR):
break;
case (SID_EXE_CORR):
data[0] = 0x9c;
data[1] = 0x45;
data[2] = TC->packetID[0];
data[3] = TC->packetID[1];
data[4] = TC->packetSequenceControl[0];
data[5] = TC->packetSequenceControl[1];
data[6] = TC->dataFieldHeader[1]; // type
data[7] = TC->dataFieldHeader[2]; // subtype
data[8] = currentTC_LEN_RCV[0];
data[9] = currentTC_LEN_RCV[1];
data[10] = TC->packetLength[0];
data[11] = TC->packetLength[1];
data[12] = TC->dataAndCRC[packetLength];
data[13] = TC->dataAndCRC[packetLength+1];
data[14] = computed_CRC[0];
data[15] = computed_CRC[1];
break;
default:
return 0;
}
return 1;
}
int create_message_queue( void )
{
rtems_status_code status;
misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
if (status!=RTEMS_SUCCESSFUL) {
PRINTF("in create_message_queue *** error creating message queue\n")
}
return 0;
}
//***********
// RTEMS TASK
rtems_task recv_task( rtems_task_argument unused )
{
int len = 0;
unsigned int i = 0;
unsigned int data_length = 0;
ccsdsTelecommandPacket_t currentTC;
char data[100];
for(i=0; i<100; i++) data[i] = 0;
PRINTF("in RECV *** \n")
while(1)
{
len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
if (len == -1){ // error during the read call
PRINTF("In RECV *** last read call returned -1\n")
if (rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) {
PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
}
if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) {
PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
}
}
else {
PRINTF1("Got pck of length %d\n", len+1)
if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
PRINTF("In RECV *** packet lenght too short\n")
}
else {
currentTC_LEN_RCV[0] = 0x00;
currentTC_LEN_RCV[1] = (unsigned char) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // build the corresponding packet size field
currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
// CHECK THE TC AND BUILD THE APPROPRIATE TM
data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
if (data_length!=-1)
{
}
}
}
}
}
rtems_task actn_task( rtems_task_argument unused )
{
int result = 0;
rtems_status_code status; // RTEMS status code
ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
size_t size; // size of the incoming TC packet
unsigned char subtype = 0; // subtype of the current TC packet
PRINTF("in ACTN *** \n")
while(1)
{
status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
RTEMS_WAIT, RTEMS_NO_TIMEOUT);
if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status)
else
{
subtype = TC.dataFieldHeader[2];
switch(subtype)
{
case TC_SUBTYPE_RESET:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_LOAD_COMM:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_LOAD_NORM:
result = action_load_norm( &TC );
send_tm_lfr_tc_exe_success( &TC );
break;
//
case TC_SUBTYPE_LOAD_BURST:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_LOAD_SBM1:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_LOAD_SBM2:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_DUMP:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_ENTER:
result = action_enter( &TC );
send_tm_lfr_tc_exe_success( &TC );
break;
//
case TC_SUBTYPE_UPDT_INFO:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_EN_CAL:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_DIS_CAL:
result = action_default( &TC );
break;
//
case TC_SUBTYPE_UPDT_TIME:
result = action_updt_time( &TC );
send_tm_lfr_tc_exe_success( &TC );
break;
//
default:
break;
}
}
}
}
rtems_task dumb_task( rtems_task_argument unused )
{
unsigned int coarse_time = 0;
unsigned int fine_time = 0;
unsigned int indice = 0;
unsigned int shiftedIndice = 0;
rtems_event_set event_out;
PRINTF("in DUMB *** \n")
while(1){
rtems_event_receive(RTEMS_EVENT_1, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
indice = 0;
shiftedIndice = (unsigned int) event_out;
while(!(shiftedIndice & 0x0001))
{
shiftedIndice = shiftedIndice >> 1;
indice++;
}
coarse_time = time_management_regs->coarse_time;
fine_time = time_management_regs->fine_time;
printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[indice]);
}
}
//***********
// TC ACTIONS
int action_default(ccsdsTelecommandPacket_t *TC)
{
Packet_TM_LFR_TC_EXE_t packet;
TM_build_header_bis( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP,
time_management_regs->coarse_time, time_management_regs->fine_time, &packet);
packet.data[0] = 0x9c;
packet.data[1] = 0x42;
packet.data[2] = TC->packetID[0];
packet.data[3] = TC->packetID[1];
packet.data[4] = TC->packetSequenceControl[0];
packet.data[5] = TC->packetSequenceControl[1];
packet.data[6] = TC->dataFieldHeader[1]; // type
packet.data[7] = TC->dataFieldHeader[2]; // subtype
// SEND DATA
if (write ( fdSPW, &packet, LEN_TM_LFR_TC_EXE_NOT_IMP)==-1) {
PRINTF("ERR *** in action_default *** send TM packet\n");
}
return 0;
}
int action_enter(ccsdsTelecommandPacket_t *TC)
{
unsigned char lfr_mode = TC->dataAndCRC[1];
printf("enter mode %d\n", lfr_mode);
switch(lfr_mode)
{
//********
// STANDBY
case(LFR_MODE_STANDBY):
stop_current_mode();
break;
//******
// NORMAL
case(LFR_MODE_NORMAL):
stop_current_mode();
enter_normal_mode();
break;
//******
// BURST
case(LFR_MODE_BURST):
stop_current_mode();
break;
//*****
// SBM1
case(LFR_MODE_SBM1):
stop_current_mode();
enter_sbm1_mode();
break;
//*****
// SBM2
case(LFR_MODE_SBM2):
stop_current_mode();
break;
//********
// DEFAULT
default:
stop_current_mode();
break;
}
return 0;
}
int stop_current_mode()
{
// mask all IRQ lines related to signal processing
LEON_Mask_interrupt( IRQ_WF ); // mask waveform interrupt (coming from the timer VHDL IP)
LEON_Mask_interrupt( IRQ_SM ); // mask spectral matrices interrupt (coming from the timer VHDL IP)
LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt
// clear all pending interruptions related to signal processing
LEON_Clear_interrupt( IRQ_WF ); // clear waveform interrupt (coming from the timer VHDL IP)
LEON_Clear_interrupt( IRQ_SM ); // clear spectral matrices interrupt (coming from the timer VHDL IP)
LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt
// suspend several tasks
suspend_if_needed( Task_id[TASKID_AVF0] );
suspend_if_needed( Task_id[TASKID_BPF0] );
suspend_if_needed( Task_id[TASKID_WFRM] );
// initialize the registers
waveform_picker_regs->burst_enable = 0x00; // initialize
return 0;
}
int enter_normal_mode()
{
restart_if_needed( Task_id[TASKID_AVF0] );
restart_if_needed( Task_id[TASKID_BPF0] );
restart_if_needed( Task_id[TASKID_WFRM] );
#ifdef GSA
LEON_Unmask_interrupt( IRQ_WF );
#else
LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
waveform_picker_regs->burst_enable = 0x07;
waveform_picker_regs->status = 0x00;
#endif
LEON_Unmask_interrupt( IRQ_SM );
return 0;
}
int enter_sbm1_mode()
{
restart_if_needed( Task_id[TASKID_AVF0] );
restart_if_needed( Task_id[TASKID_BPF0] );
restart_if_needed( Task_id[TASKID_WFRM] );
#ifdef GSA
#else
LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
waveform_picker_regs->burst_enable = 0x20; // [0010 0000] burst f2, f1, f0 enable f3 f2 f1 f0
waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x02;
waveform_picker_regs->status = 0x00;
#endif
//LEON_Unmask_interrupt( IRQ_SM );
return 0;
}
int action_load_norm(ccsdsTelecommandPacket_t *TC)
{
param_norm.sy_lfr_n_swf_l = (TC->dataAndCRC[0] * 256) + TC->dataAndCRC[1];
param_norm.sy_lfr_n_swf_p = (TC->dataAndCRC[2] * 256) + TC->dataAndCRC[3];
param_norm.sy_lfr_n_asm_p = (TC->dataAndCRC[4] * 256) + TC->dataAndCRC[5];
param_norm.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
param_norm.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
/*printf("sy_lfr_n_ => swf_l %d, swf_p %d, asm_p %d, bsp_p0 %d, bsp_p1 %d\n",
param_norm.sy_lfr_n_swf_l, param_norm.sy_lfr_n_swf_p,
param_norm.sy_lfr_n_asm_p, param_norm.sy_lfr_n_bp_p0, param_norm.sy_lfr_n_bp_p1);*/
return 0;
}
int action_updt_time(ccsdsTelecommandPacket_t *TC)
{
time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
+ (TC->dataAndCRC[1] << 16)
+ (TC->dataAndCRC[2] << 8)
+ TC->dataAndCRC[3];
//time_management_regs->ctrl = time_management_regs->ctrl | 1;
return 0;
}
int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
{
TMHeader_t TM_header;
char data[4];
spw_ioctl_pkt_send spw_ioctl_send;
TM_build_header( TM_LFR_TC_EXE_OK, TM_LEN_EXE,
time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header);
data[0] = TC->packetID[0];
data[1] = TC->packetID[1];
data[2] = TC->packetSequenceControl[0];
data[3] = TC->packetSequenceControl[1];
// filling the structure for the spacewire transmission
spw_ioctl_send.hlen = TM_HEADER_LEN + 3; // + 4 is for the protocole extra header
spw_ioctl_send.hdr = (char*) &TM_header;
spw_ioctl_send.dlen = 3;
spw_ioctl_send.data = data;
// SEND DATA
write_spw(&spw_ioctl_send);
return 0;
}
rtems_status_code restart_if_needed(rtems_id id)
{
rtems_status_code status;
status = rtems_task_is_suspended( id );
if (status==RTEMS_SUCCESSFUL) {
status = rtems_task_restart( id, 0 );
if (status!=RTEMS_SUCCESSFUL) {
PRINTF1("in restart_if_needed *** Error restarting with id %d\n", (int) id)
}
}
return status;
}
rtems_status_code suspend_if_needed(rtems_id id)
{
rtems_status_code status;
status = rtems_task_is_suspended( id );
if (status!=RTEMS_SUCCESSFUL) {
status = rtems_task_suspend( id );
if (status!=RTEMS_SUCCESSFUL) {
PRINTF1("in suspend_if_needed *** Error suspending task with id %d\n", (int) id)
}
}
return status;
}
//***************************
// 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");
}
}