//************************* // GPL reminder to be added //************************* #include /* configuration information */ #define CONFIGURE_INIT #include /* for device driver prototypes */ /* configuration information */ #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER #define CONFIGURE_MAXIMUM_TASKS 15 #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 100 #define CONFIGURE_MAXIMUM_DRIVERS 16 #define CONFIGURE_MAXIMUM_PERIODS 1 #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1 #include /* 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 #endif #include #include char *link_status(int status); char *lstates[6] = {"Error-reset", "Error-wait", "Ready", "Started", "Connecting", "Run" }; rtems_task Init( rtems_task_argument ignored ) { rtems_status_code status; rtems_isr_entry old_isr_handler; //send_console_outputs_on_serial_port(); initLookUpTableForCRC(); // in tc_handler.h init_default_mode_parameters(); create_message_queue(); create_all_tasks(); start_all_tasks(); grspw_timecode_callback = &timecode_irq_handler; configure_spw_link(); configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, IRQ_SPARC_SM, spectral_matrices_isr ); configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR, IRQ_SPARC_WF, waveforms_isr ); // irq handling of the time management unit status = rtems_interrupt_catch( commutation_isr1, IRQ_SPARC_TIME1, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels if (status==RTEMS_SUCCESSFUL) PRINTF("commutation_isr1 *** rtems_interrupt_catch successfullly configured\n") status = rtems_interrupt_catch( commutation_isr2, IRQ_SPARC_TIME2, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels if (status==RTEMS_SUCCESSFUL) PRINTF("commutation_isr2 *** rtems_interrupt_catch successfullly configured\n") LEON_Unmask_interrupt( IRQ_TIME1 ); LEON_Unmask_interrupt( IRQ_TIME2 ); status = rtems_task_delete(RTEMS_SELF); } rtems_task spiq_task(rtems_task_argument unused) { rtems_event_set event_out; struct grspw_regs_str *grspw_regs; grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW; while(1){ PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n") rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) // suspend RECV task PRINTF("In SPIQ *** Error suspending RECV Task\n") if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) // suspend HOUS task PRINTF("In SPIQ *** Error suspending HOUS Task\n") configure_spw_link(); if (rtems_task_restart(Task_id[TASKID_RECV], 1)!=RTEMS_SUCCESSFUL) // restart RECV task PRINTF("In SPIQ *** Error resume RECV Task\n") if (rtems_task_restart(Task_id[TASKID_HOUS], 1)!=RTEMS_SUCCESSFUL) // restart HOUS task PRINTF("In SPIQ *** Error resume HOUS Task\n") } } void init_default_mode_parameters() { // COMMON PARAMETERS param_common[0] = 0x00; param_common[1] = 0x10; // default value 0 0 0 1 0 0 0 0 // NORMAL MODE param_norm.sy_lfr_n_swf_l = 2048; // nb sample param_norm.sy_lfr_n_swf_p = 300; // sec param_norm.sy_lfr_n_asm_p = 3600; // sec param_norm.sy_lfr_n_bp_p0 = 4; // sec param_norm.sy_lfr_n_bp_p1 = 20; // sec // BURST MODE param_burst.sy_lfr_b_bp_p0 = 1; // sec param_burst.sy_lfr_b_bp_p1 = 5; // sec // SBM1 MODE param_sbm1.sy_lfr_s1_bp_p0 = 1; // sec param_sbm1.sy_lfr_s1_bp_p1 = 1; // sec // SBM2 MODE param_sbm2.sy_lfr_s2_bp_p0 = 1; // sec param_sbm2.sy_lfr_s2_bp_p0 = 5; // sec } int create_all_tasks() { rtems_status_code status; 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' ); // RECV status = rtems_task_create( Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV] ); // ACTN status = rtems_task_create( Task_name[TASKID_ACTN], 50, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN] ); // SPIQ status = rtems_task_create( Task_name[TASKID_SPIQ], 50, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ] ); // SMIQ status = rtems_task_create( Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ] ); // STAT status = rtems_task_create( Task_name[TASKID_STAT], 150, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT] ); // AVF0 status = rtems_task_create( Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0] ); // BPF0 status = rtems_task_create( Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0] ); // WFRM status = rtems_task_create( Task_name[TASKID_WFRM], 100, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM] ); // DUMB status = rtems_task_create( Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB] ); // HOUS status = rtems_task_create( Task_name[TASKID_HOUS], 200, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS] ); return 0; } int start_all_tasks() { rtems_status_code status; status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n") status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n") status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_ACTN\n") status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n") status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n") status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n") status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n") status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n") status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_DUMB\n") status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_HOUS\n") return 0; } int configure_spw_link() { rtems_status_code status; close(fdSPW); // close the device if it is already open fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){ PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n") close(fdSPW); // close the device fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n") rtems_task_wake_after(100); } PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n") // sets a few parameters of the link //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1); // sets the RMAP enable bit //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n") configure_spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force configure_spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to break the no port force configuration status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n") // status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs // status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1); // automatic link-disabling due to link-error interrupts if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n") // status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") // status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // sets the link-error interrupt bit if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n") // status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key PRINTF1("destination address set to: %d\n", CCSDS_DESTINATION_ID) if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DESTKEY\n") // status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_NODEADDR, CCSDS_NODE_ADDRESS); // sets the node address PRINTF1("node address set to: %d\n", CCSDS_NODE_ADDRESS) if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_NODEADDR\n") // status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n") PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") return RTEMS_SUCCESSFUL; } void configure_spacewire_set_NP(unsigned char val, unsigned int regAddr) // No Port force { unsigned int *spwptr; spwptr = (unsigned int*) regAddr; if (val == 1) { *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit } if (val== 0) { *spwptr = *spwptr & 0xffdfffff; } } void configure_spacewire_set_RE(unsigned char val, unsigned int regAddr) // RMAP Enable { unsigned int *spwptr; spwptr = (unsigned int*) regAddr; if (val == 1) { *spwptr = *spwptr | 0x00010000; // [NP] set the No port force bit } if (val== 0) { *spwptr = *spwptr & 0xfffdffff; } } char *link_status(int status){ return lstates[status]; } rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send) { rtems_status_code status; status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send ); if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n"); return status; } void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc) { if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) printf("In timecode_irq_handler *** Error sending event to DUMB\n"); }