//************************* // 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 10 #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 #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 int fdSPW; int fdUART; char *link_status(int status); char *lstates[6] = {"Error-reset", "Error-wait", "Ready", "Started", "Connecting", "Run" }; rtems_id Task_id[10]; /* array of task ids */ rtems_name Task_name[10]; /* array of task names */ rtems_task Init( rtems_task_argument ignored ) { rtems_status_code status; //send_console_outputs_on_serial_port(); InitLookUpTableForCRC(); // in tc_handler.h create_message_queue(); create_all_tasks(); start_all_tasks(); configure_spw_link(); // configure timer for spectral matrices simulation configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR, IRQ_SPARC_SM, spectral_matrices_isr ); // configure timer for waveforms simulation configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR, IRQ_SPARC_WF, waveforms_isr ); LEON_Unmask_interrupt( IRQ_SM ); LEON_Unmask_interrupt( IRQ_WF ); status = rtems_task_delete(RTEMS_SELF); } rtems_task spw_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[1])!=RTEMS_SUCCESSFUL) // suspend RECV task PRINTF("In SPIQ *** Error suspending RECV Task\n") configure_spw_link(); if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task PRINTF("In SPIQ *** Error resume RECV Task\n") } } int create_message_queue() { misc_names[0] = rtems_build_name( 'D', 'O', 'I', 'T' ); return 0; } int create_all_tasks() { rtems_status_code status; Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' ); Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' ); Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' ); Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' ); Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' ); Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' ); Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' ); // RECV status = rtems_task_create( Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1] ); // SPIQ status = rtems_task_create( Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3] ); // SMIQ status = rtems_task_create( Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4] ); // STAT status = rtems_task_create( Task_name[5], 200, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5] ); // AVF0 status = rtems_task_create( Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT, RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6] ); // BPF0 status = rtems_task_create( Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7] ); // WFRM status = rtems_task_create( Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2, RTEMS_DEFAULT_MODES, RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8] ); return 0; } int start_all_tasks() { rtems_status_code status; status = rtems_task_start( Task_id[3], spw_spiq_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n") status = rtems_task_start( Task_id[1], spw_recv_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n") //status = rtems_task_start( Task_id[4], spw_bppr_task_rate_monotonic, 1 ); status = rtems_task_start( Task_id[4], spw_smiq_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n") status = rtems_task_start( Task_id[5], spw_stat_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n") status = rtems_task_start( Task_id[6], spw_avf0_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n") status = rtems_task_start( Task_id[7], spw_bpf0_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n") status = rtems_task_start( Task_id[8], spw_wfrm_task, 1 ); if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\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") // 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[3]); // 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_LINK_ERR_IRQ\n") // //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID); // sets the destination key //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n") // PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n") return RTEMS_SUCCESSFUL; } 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; }