Repository navigation
Expand file tree
/
Copy pathtasks.c
More file actions
1012 lines (842 loc) · 28.1 KB
/
Copy pathtasks.c
File metadata and controls
1012 lines (842 loc) · 28.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/**
* \file tasks.c
*
* \author Vito Capobianco, <vito.capobianco_at_oato.inaf.it>
*
* \internal
* Created: 29-01-2016
*
*/
#include "rtems_configuration.h"
uint8_t tc_data[1016] = { 0 };
rtems_task asw_task_rt(rtems_task_argument arg) {
rtems_status_code rtems_status = RTEMS_SUCCESSFUL;
icu_status_code icu_status = ICU_SUCCESSFUL;
uint32_t ret = 0;
uint8_t sl_index = 0;
uint8_t errors[3] = { 0, 0, 0 };
uint8_t cf = 0;
while (1) {
cf = (uint8_t) handler_1553.current_comm_frame;
/* Refresh watchdog */
icu_watchdog_refresh();
if (((icu_state_machine > ICU_STARTUP)
&& (((dpu1_status != CPU_OFF) || (dpu2_status != CPU_OFF))
== TRUE))== TRUE) {
sl_index = cf % MAX_NUMBER_OF_SENDLIST;
/* Transmit sendlist */
if (icu_mil_std_1553_bc_get_send_list_state(
sl_index) == SEND_LIST_READY) {
icu_status = asw_transmit_sendlist(sl_index);
if (icu_status != ICU_SUCCESSFUL) {
errors[0] = 1U << 3U;
errors[1] = 0;
errors[2] = 0;
icu_status = asw_PUS_5_TM_report(EVENT_SENDLIST_ERROR, 3,
errors);
}
}
}
/*Start TaskManager*/
switch (handler_1553.current_comm_frame) {
case 0:
/* OBT synch */
if (obt_synch_enable == TRUE) {
icu_obt_trigger_load_preloaded_obt();
}
/* If there is a wheel movement to start */
if ((wheel_flag & WP_TO_BE_STARTED) > 0) {
rtems_status = rtems_timer_fire_after(wheel_timer_id, 470,
&asw_wheels_start_movement, NULL );
}
/* Restart WD counter */
if (wd_activation == TRUE) {
icu_watchdog_start_count();
wd_activation = FALSE;
}
/* Check if GTAB could be commanded - only when on DPUs run ASW*/
if (((dpu1_status >= CPU_ASW_INIT) && (dpu1_status <= CPU_MANUAL) && (dpu1_tc_running == 0)) == TRUE) {
asw_command_GTAB_to_DPUs(1);
} else {
dpu1_tc_running = 0;
}
if (((dpu2_status >= CPU_ASW_INIT) && (dpu2_status <= CPU_MANUAL) && (dpu2_tc_running == 0)) == TRUE) {
asw_command_GTAB_to_DPUs(2);
} else {
dpu2_tc_running = 0;
}
/*
* Set ICU CPU usage inside the DB
*/
cpu_load = (uint16_t) (100 - (count_idle / 10));
count_idle = 0;
break;
case ATR_1_CF:
/*
* Create a new ATR only if there are messages inside queues or no TM protocol reset operation is scheduled
*/
if (((queues_with_data != 0) && (tm_reset_active == FALSE))== TRUE) {
rtems_status = rtems_task_restart(task_atr_id, 0);
if (rtems_status != RTEMS_SUCCESSFUL) {
errors[0] = (((uint16_t) 1U << 3) & 0xFF00U) >> 8U;
errors[1] = (1U << 3) & 0xFFU;
icu_status = asw_PUS_5_TM_report(EVENT_TASK_NOT_STARTED, 2,
errors);
}
}
break;
case DTD_CF:
/*Check for new DTD*/
ret = asw_check_new_DTD(tc_data);
if (ret == 0) {
rtems_status = rtems_task_restart(task_tc_id, 0);
if (rtems_status != RTEMS_SUCCESSFUL) {
errors[0] = (((uint16_t) 1U << 2) & 0xFF00U) >> 8U;
errors[1] = (1U << 2) & 0xFFU;
icu_status = asw_PUS_5_TM_report(EVENT_TASK_NOT_STARTED, 2,
errors);
}
}
break;
case ATC_1_CF:
/* Initialize protocol reset in case of ATC loss*/
if (handler_1553.ATC.all_bits != handler_1553.ATR.all_bits) {
asw_telemetry_reset();
}
break;
case ATR_2_CF:
/*
* Create a new ATR only if there are messages inside queues or no TM protocol reset operation is scheduled
*/
if (((queues_with_data != 0) && (tm_reset_active == FALSE))== TRUE) {
rtems_status = rtems_task_restart(task_atr_id, 0);
if (rtems_status != RTEMS_SUCCESSFUL) {
errors[0] = (((uint16_t) 1U << 3) & 0xFF00U) >> 8U;
errors[1] = (1U << 3) & 0xFFU;
icu_status = asw_PUS_5_TM_report(EVENT_TASK_NOT_STARTED, 2,
errors);
}
}
break;
case ATC_2_CF:
/* Initialize protocol reset in case of ATC loss*/
if (handler_1553.ATC.all_bits != handler_1553.ATR.all_bits) {
asw_telemetry_reset();
}
break;
case OBT_CF:
/*Read OBT message received on SA29R*/
asw_read_last_OBT_received();
break;
case DPU_DUMP_CF:
/*Restart Task 6,5 for memory dump vs DPUs*/
if (((mem_dump_active.dpu1_asw == 1)
|| (mem_dump_active.dpu1_bsw == 1)
|| (mem_dump_active.dpu2_asw == 1)
|| (mem_dump_active.dpu2_bsw == 1)) == TRUE) {
rtems_status = rtems_task_resume(taskTC_6_5_Id);
if (rtems_status != RTEMS_SUCCESSFUL) {
errors[0] = (((uint16_t) 1U << 9) & 0xFF00U) >> 8U;
errors[1] = (1U << 9) & 0xFFU;
icu_status = asw_PUS_5_TM_report(EVENT_TASK_NOT_STARTED, 2,
errors);
}
}
break;
default:
break;
}
/*Read last messages received since last call*/
ret = asw_check_last_rcv_cmd_word(msg_buffer, number_of_msg);
/* Restart task BC */
if (((icu_state_machine > ICU_STARTUP)
&& (((dpu1_status != CPU_OFF) || (dpu2_status != CPU_OFF))
== TRUE))== TRUE) {
/* Prepare next sendlist to be trasmitted */
if (icu_mil_std_1553_bc_get_send_list_state(
(cf + 1) % MAX_NUMBER_OF_SENDLIST) == SEND_LIST_FREE) {
icu_status = asw_prepare_sendlist(
(cf + 1) % COMMUNICATION_FRAME_NUMBER);
if (icu_status != ICU_SUCCESSFUL) {
errors[0] = 1U;
errors[1] = 0;
errors[2] = 0;
icu_status = asw_PUS_5_TM_report(EVENT_SENDLIST_ERROR, 3,
errors);
}
}
/* Retrieve data from a exchanged sendlist */
/* In order to avoid values minor than zero to read the previous sendlist trasmitted (current_sl + 10 - 1) operation is used */
if (icu_mil_std_1553_bc_get_send_list_state(
(handler_1553.last_sendlist_executed + 9)
% MAX_NUMBER_OF_SENDLIST) == SEND_LIST_EXCHANGED) {
icu_status = asw_read_sendlist(
(handler_1553.last_sendlist_executed + 9)
% MAX_NUMBER_OF_SENDLIST);
if (icu_status != ICU_SUCCESSFUL) {
errors[0] = 1U << 1U;
errors[1] = 0;
errors[2] = 0;
icu_status = asw_PUS_5_TM_report(EVENT_SENDLIST_ERROR, 3,
errors);
}
}
}
rtems_status = rtems_task_suspend(RTEMS_SELF );
}
}
rtems_task asw_task_bc(rtems_task_argument arg) {
uint8_t errors[3] = { 0, 0, 0 };
rtems_status_code status = RTEMS_SUCCESSFUL;
icu_status_code icu_status = ICU_SUCCESSFUL;
uint8_t sl_index = 0;
uint16_t sl_ctr_wrd = 0;
uint32_t ret = 0;
/* When starts process the last sendlist read and then enter in the loop */
handler_1553.last_sendlist_processed = (handler_1553.last_sendlist_read + 9)
% MAX_NUMBER_OF_SENDLIST;
/* Process a sendlist already acquired */
while (1) {
sl_index = (handler_1553.last_sendlist_processed + 1)
% MAX_NUMBER_OF_SENDLIST;
/* Check sendlist index */
if (sl_index < MAX_NUMBER_OF_SENDLIST) {
/* Read Sendlist Control Word */
ret = icu_mil_std_1553_bc_get_sendlist_control_word(
(uint32_t) sl_index, &sl_ctr_wrd);
/* Check result and control word */
if (((ret == 0) && (sl_ctr_wrd == 0)) == TRUE) {
asw_sendlist_interpreter(sl_index);
} else {
/* In case function icu_mil_std_1553_bc_get_sendlist_control_word returns with an error */
if (ret != 0) {
errors[0] = 1U << 4U;
errors[1] = 0;
errors[2] = 0;
status = asw_PUS_5_TM_report(EVENT_SENDLIST_ERROR, 3,
errors);
} else {
/* Sendlist control word not zero */
errors[0] = 1U << 5U;
memcpy(&errors[1], &sl_ctr_wrd, sizeof(uint16_t));
status = asw_PUS_5_TM_report(EVENT_SENDLIST_ERROR, 3,
errors);
}
}
} else {
/* Sendlist Processing error */
errors[0] = 1U << 2U;
errors[1] = 0;
errors[2] = 0;
icu_status = asw_PUS_5_TM_report(EVENT_SENDLIST_ERROR, 3, errors);
}
/* Try to read next sendlist in any case */
handler_1553.last_sendlist_processed = sl_index;
/* In case all sendlists read are processed delay task execution */
if (handler_1553.last_sendlist_processed
== handler_1553.last_sendlist_read) {
status = rtems_task_wake_after(40);
}
}
}
rtems_task asw_task_tc_manager(rtems_task_argument arg) {
uint16_t tc_check = 0;
rtems_status_code rtems_status = RTEMS_SUCCESSFUL;
icu_status_code status = ICU_SUCCESSFUL;
telecommand = asw_create_tc(tc_data);
/*Check if the received TC is correct*/
tc_check = asw_validate_command(telecommand, tc_data, &ptrTC);
if (tc_check == CMD_OK) {
/*Send acceptance telemetry*/
if ((telecommand.data_field.ack & PUS_1_1_GEN_FLAG) > 0) {
status = asw_PUS_1_1_TM_TC_accept_ok(telecommand.pkt_id.all_bits,
telecommand.pkt_seq.all_bits,
telecommand.data_field.sourceId);
}
/*Restart task to execute TC*/
status = rtems_task_restart(task_exec_id, 0);
} else {
status = asw_PUS_1_2_TM_TC_accept_fail(telecommand.pkt_id.all_bits,
telecommand.pkt_seq.all_bits, telecommand.data_field.sourceId,
tc_check, 0, NULL );
}
/*suspend current task*/
rtems_status = rtems_task_suspend(task_tc_id);
}
rtems_task asw_task_tc_exec(rtems_task_argument arg) {
rtems_status_code rtems_status = RTEMS_SUCCESSFUL;
icu_status_code status = ICU_SUCCESSFUL;
telecommand_t tc = telecommand;
/* Start tc timer */
rtems_status = rtems_timer_fire_after(tc_timer_id, ptrTC.timeOut * 90,
asw_tc_timeout_isr, (void *) &tc);
/* Execute function related to TC received */
if (ptrTC.ptrf != NULL ) {
status = ptrTC.ptrf(tc);
}
/*Check if the function returns with an error*/
if (status != ICU_SUCCESSFUL) {
status = asw_PUS_1_8_TM_TC_exec_fail(tc.pkt_id.all_bits,
tc.pkt_seq.all_bits, tc.data_field.sourceId, (uint16_t) status,
0, NULL );
status = asw_PUS_5_TM_report(EVENT_CMD_NOT_EXECUTED, 0, NULL );
}
/* Stop tc timer */
rtems_status = rtems_timer_cancel(tc_timer_id);
rtems_status = rtems_task_suspend(RTEMS_SELF );
}
rtems_task asw_task_atr(rtems_task_argument arg) {
TransferDescriptorDataWord_t atr = { 0 };
uint8_t atr_counter = 0, sa = 0;
rtems_status_code status = RTEMS_SUCCESSFUL;
size_t n_byte = 0, block_size = 0;
uint32_t ret = 0, number_msgs = 0;
uint8_t ptr_data[MIL_1553_MAX_TM_PKT_LENGTH] = { 0 };
uint32_t max_ev_pkt = 4;
/* If counters of ATR and ATC are different no new telemetry will be created */
if (handler_1553.ATR.blockCount != handler_1553.ATC.blockCount) {
status = rtems_task_suspend(RTEMS_SELF );
}
/* Suspend if there is no TM */
if (queues_with_data == 0) {
status = rtems_task_suspend(RTEMS_SELF );
}
/*Check TM queues in order of priority
* Event and PUS Service 1 queues are checked only for CF 8
* these queues transmit data on SA 12Tx
*/
if ((queues_with_data >= QUEUE_PUS_1_DATA_IN)
&& (handler_1553.current_comm_frame == 8)) {
/* In this case trasmission subaddress is 12*/
sa = SA_EV_AND_PUS_1;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
/* check events and PUS Service 1 queues in the following order
* event 5,4 queue
* event 5,3 queue
* event 5,2 queue
* event 5,1 queue
* PUS service 1 queue
* Max 4 event packet ina TM Block in order of severity
*/
/* 5,4 event */
if ((queues_with_data & QUEUE_5_4_DATA_IN) != 0) {
status = rtems_message_queue_get_number_pending(ev_5_4_queue_id,
&number_msgs);
while ((max_ev_pkt > 0) && (number_msgs > 0) > 0) {
status = rtems_message_queue_receive(ev_5_4_queue_id, ptr_data,
&block_size, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
/* Copy TM packet */
memcpy((void*) (ptr_evt_pus_1) + n_byte, ptr_data, block_size);
n_byte += block_size;
number_msgs--;
max_ev_pkt--;
}
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_5_4_DATA_IN;
}
}
/* Event 5,3 */
if (((queues_with_data & QUEUE_5_3_DATA_IN) != 0)
&& (max_ev_pkt > 0) > 0) {
status = rtems_message_queue_get_number_pending(ev_5_3_queue_id,
&number_msgs);
while ((max_ev_pkt > 0) && (number_msgs > 0) > 0) {
status = rtems_message_queue_receive(ev_5_3_queue_id, ptr_data,
&block_size, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
/* Copy TM packet */
memcpy((void*) (ptr_evt_pus_1) + n_byte, ptr_data, block_size);
n_byte += block_size;
number_msgs--;
max_ev_pkt--;
}
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_5_3_DATA_IN;
}
}
/* Event 5,2 */
if (((queues_with_data & QUEUE_5_2_DATA_IN) != 0)
&& (max_ev_pkt > 0) > 0) {
status = rtems_message_queue_get_number_pending(ev_5_2_queue_id,
&number_msgs);
while ((max_ev_pkt > 0) && (number_msgs > 0) > 0) {
status = rtems_message_queue_receive(ev_5_2_queue_id, ptr_data,
&block_size, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
/* Copy TM packet */
memcpy((void*) (ptr_evt_pus_1) + n_byte, ptr_data, block_size);
n_byte += block_size;
number_msgs--;
max_ev_pkt--;
}
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_5_2_DATA_IN;
}
}
/* Event 5,1 */
if (((queues_with_data & QUEUE_5_1_DATA_IN) != 0)
&& (max_ev_pkt > 0) > 0) {
status = rtems_message_queue_get_number_pending(ev_5_1_queue_id,
&number_msgs);
while ((max_ev_pkt > 0) && (number_msgs > 0) > 0) {
status = rtems_message_queue_receive(ev_5_1_queue_id, ptr_data,
&block_size, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
/* Copy TM packet */
memcpy((void*) (ptr_evt_pus_1) + n_byte, ptr_data, block_size);
n_byte += block_size;
number_msgs--;
max_ev_pkt--;
}
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_5_1_DATA_IN;
}
}
/* check if there are TM data in PUS Service 1 queue */
if ((queues_with_data & QUEUE_PUS_1_DATA_IN) != 0) {
status = rtems_message_queue_get_number_pending(pus_1_queue_id,
&number_msgs);
/* Acquire all possible PUS Service 1 packet
* block_size <= 996 is used to avoid to have an overflow of data to be written in the SubAddress
*/
while (((number_msgs > 0) && (n_byte <= 992)) > 0) {
status = rtems_message_queue_receive(pus_1_queue_id, ptr_data,
&block_size, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
/* Copy TM packet */
memcpy((void*) (ptr_evt_pus_1) + n_byte, ptr_data, block_size);
n_byte += block_size;
number_msgs--;
}
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_PUS_1_DATA_IN;
}
}
} else {
/* check all other queues in the following order
* Memory dump queue
* PUS Service 3 queue
* Diagnostic 1 queue
* Diagnostic 0 queue
* HK 4 queue
* HK 3 queue
* HK 2 queue
* HK 1 queue
*/
if ((queues_with_data & QUEUE_M_DUMP_DATA_IN) != 0) {
status = rtems_message_queue_receive(mem_dump_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_DUMP;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_dump != NULL ) {
memcpy(ptr_dump, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(mem_dump_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_M_DUMP_DATA_IN;
}
}
else if ((queues_with_data & QUEUE_PUS_3_DATA_IN) != 0) {
status = rtems_message_queue_receive(pus_3_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_TM_PUS_3;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_pus_3 != NULL ) {
memcpy(ptr_pus_3, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(pus_3_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_PUS_3_DATA_IN;
}
}
else if ((queues_with_data & QUEUE_DIAG_0_DATA_IN) != 0) {
status = rtems_message_queue_receive(diag_0_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_DIAG_0;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_diag_0 != NULL ) {
memcpy(ptr_diag_0, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(diag_0_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_DIAG_0_DATA_IN;
}
}
else if ((queues_with_data & QUEUE_DIAG_1_DATA_IN) != 0) {
status = rtems_message_queue_receive(diag_1_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_DIAG_1;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_diag_1 != NULL ) {
memcpy(ptr_diag_1, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(diag_1_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_DIAG_1_DATA_IN;
}
}
else if ((queues_with_data & QUEUE_HK_4_DATA_IN) != 0) {
status = rtems_message_queue_receive(hk_4_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_HK_4;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_hk_4 != NULL ) {
memcpy(ptr_hk_4, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(hk_4_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_HK_4_DATA_IN;
}
}
else if ((queues_with_data & QUEUE_HK_3_DATA_IN) != 0) {
status = rtems_message_queue_receive(hk_3_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_HK_3;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_hk_3 != NULL ) {
memcpy(ptr_hk_3, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(hk_3_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_HK_3_DATA_IN;
}
}
else if ((queues_with_data & QUEUE_HK_2_DATA_IN) != 0) {
status = rtems_message_queue_receive(hk_2_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_HK_2;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_hk_2 != NULL ) {
memcpy(ptr_hk_2, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(hk_2_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_HK_2_DATA_IN;
}
}
else {
status = rtems_message_queue_receive(hk_1_queue_id, ptr_data,
&n_byte, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT);
sa = SA_HK_1;
/*Clear sub address to be written*/
ret = icu_mil_std_1553_rt_drv_clear_linear_buffer(sa, 1);
if (ptr_hk_1 != NULL ) {
memcpy(ptr_hk_1, ptr_data, n_byte);
}
status = rtems_message_queue_get_number_pending(hk_1_queue_id,
&number_msgs);
if (number_msgs == 0) {
queues_with_data = queues_with_data & ~QUEUE_HK_1_DATA_IN;
}
}
}
if (n_byte != 0) {
/* create new ATR */
atr_counter = asw_create_ATR_counter();
/* Set transfer descriptor message */
atr = asw_set_transfer_descriptor(n_byte, 0, 0, 1, sa, atr_counter);
/* Update atr counter inside ASW 1553 Handler */
handler_1553.ATR.all_bits = atr.all_bits;
/* Copy new ATR message into related subaddress */
memcpy(ptr_atr, &atr, sizeof(uint32_t));
}
status = rtems_task_suspend(RTEMS_SELF );
}
rtems_task asw_task_tm(rtems_task_argument arg) {
rtems_status_code rtems_status = RTEMS_SUCCESSFUL;
icu_status_code status = ICU_SUCCESSFUL;
uint32_t rep_mask = 0;
uint16_t i = 0, j = 0;
uint8_t pos_found = 0, k = 0;
while (1) {
i = 0;
j = 0;
k = 0;
pos_found = 0;
/*ICU_ASW_APID = minimun APID APID_NUMBER = currently maximum APID +
* 1 --> see tm.h */
/*
* CHECK ON INPUT PARAMETERS:
* APID shall be allowed
* SID_number shall be < TM_MAX_REPORT_NUMBER
* SID_number shall be existing
* SID_number shall be enabled
*/
for (j = 0; j < (APID_NUMBER - ICU_ASW_APID); j++) {
/*
* HK telemetry
*/
rep_mask = TM_report_flag[j];
for (i = 0; i < TM_MAX_REPORT_NUMBER; i++) {
if ((rep_mask % 2) == 1) {
SID[j][i].generation_cnt--;
if (SID[j][i].generation_cnt == 0) {
status = asw_PUS_3_25_TM_HK_report(j + ICU_ASW_APID,
i + 1);
SID[j][i].generation_cnt =
SID[j][i].collection_interval;
}
}
rep_mask >>= 1;
}
/*
* Diagnostic telemetry
*/
rep_mask = TM_DIAG_report_flag[j];
for (i = 0; i < TM_DIAG_MAX_REPORT_NUMBER; i++) {
if ((rep_mask % 2) == 1) {
diag_SID[j][i].generation_cnt--;
if (diag_SID[j][i].generation_cnt == 0) {
/* Select sampling space */
while ((k < TM_DIAG_MAX_SIMULT_REPORT_NUMB)
&& (pos_found == 0)) {
if ((((uint16_t) diag_sampling_space[k][0] << 8U)
| (uint16_t) diag_sampling_space[k][1])
== diag_SID[j][i].SID_number) {
pos_found = k;
}
k++;
}
/*
* check if the data collection is finished
*/
if ((diag_sampling_space[pos_found][2] & 1U) == 0) {
status = asw_PUS_3_26_TM_DIAG_report(
j + ICU_ASW_APID,
diag_SID[j][i].SID_number);
diag_SID[j][i].generation_cnt =
diag_SID[j][i].collection_interval;
/*
* state that data has been used; start again the collection
*/
diag_sampling_space[pos_found][2] =
diag_sampling_space[pos_found][2]
| (1U << 1);
} else {
/*
* since it should be time to generate the packet, but the collection has not
* ended, force the generation counter to +1, so next cycle the task check again
* if the collection is finished
*/
diag_SID[j][i].generation_cnt++;
}
}
}
rep_mask >>= 1;
}
}
rtems_status = rtems_task_wake_after(1000);
}
}
rtems_task asw_task_idle(rtems_task_argument arg) {
uint32_t *start_address = (uint32_t *) 0x40000000;
uint32_t value = 0;
while (1) {
if (start_address == (uint32_t *) 0x40700000) {
start_address = (uint32_t *) 0x40000000;
}
value = *start_address;
start_address = (uint32_t *) (start_address + 1);
}
}
rtems_task asw_task_fdir(rtems_task_argument arg) {
icu_status_code icu_status = ICU_SUCCESSFUL;
rtems_status_code rtems_status = RTEMS_SUCCESSFUL;
uint32_t evt_id = 0;
uint32_t size_in_byte = 0;
uint32_t param = 0;
uint8_t errors[8] = { 0 };
uint8_t i = 0;
uint8_t num_note = 0;
uint16_t fdir_on_off = 0;
uint16_t fdir_mode_par_ID = 0;
uint16_t idx = 0;
uint32_t err_funct = 0;
/* Set HK parameter FDIR Mode */
fdir_mode_par_ID = ((uint16_t) SW_ASW << PARAM_SW_OFFSET)
| ((uint16_t) PARAM_NOT_MONITORED << PARAM_MONIT_FLAG_OFFSET)
| ((uint16_t) SYS_ICU << PARAM_SYSTEM_OFFSET)
| ((uint16_t) SUBSYS_ICU << PARAM_SUB_SYSTEM_OFFSET) | 20U;
idx = asw_PUS_3_ID_to_not_mon_DB_idx(fdir_mode_par_ID);
while (1) {
/* Generate PUS event packet */
rtems_status = rtems_task_get_note(RTEMS_SELF, RTEMS_NOTEPAD_0,
&evt_id);
rtems_status = rtems_task_get_note(RTEMS_SELF, RTEMS_NOTEPAD_1,
&size_in_byte);
/* RTEMS_NOTEPAD to be read */
if ((size_in_byte % 4) == 0) {
num_note = (uint8_t) (size_in_byte / 4);
} else {
num_note = (uint8_t) ((size_in_byte / 4) + 1);
}
/* error function error */
if (size_in_byte != 0) {
rtems_status = rtems_task_get_note(RTEMS_SELF, RTEMS_NOTEPAD_2,
&err_funct);
errors[0] = (uint8_t) err_funct;
}
/* Copy error params in a container */
for (i = 0; i < num_note; i++) {
rtems_status = rtems_task_get_note(RTEMS_SELF, RTEMS_NOTEPAD_3 + i,
¶m);
memcpy(&errors[(i * 4) + 1], ¶m, sizeof(uint32_t));
}
/* Size +1 --> function that generate the error */
icu_status = asw_PUS_5_TM_report((uint16_t) evt_id,
(uint8_t) (size_in_byte + 1), errors);
/* Check if FDIR is activated and if there is an FDIR procedure to be executed */
icu_sem_lock(not_mon_db_sem_Id, 5);
fdir_on_off = db_param[idx].current_value;
icu_sem_unlock(not_mon_db_sem_Id);
if (fdir_on_off == 1) {
if (fdir_collection[evt_id].en_dis == TRUE) {
fdir_collection[evt_id].ptrf();
}
}
rtems_status = rtems_task_suspend(RTEMS_SELF );
}
}
rtems_task asw_task_tm_acq(rtems_task_argument arg) {
uint32_t ret = 0;
icu_tm_acq_manager_status_t acq_status;
rtems_status_code status = RTEMS_SUCCESSFUL;
icu_status_code icu_status = ICU_SUCCESSFUL;
uint16_t values[DAS_PARAM_NM] = { 0 };
uint8_t cycle_nr = 0;
uint16_t task_par_id = 0;
uint16_t idx = 0, idx_long = 0;
uint8_t i = 0;
uint8_t errors[5] = { 0 };
/* Get DB index of first task status parameter */
task_par_id = ((uint16_t) SW_ASW << PARAM_SW_OFFSET)
| ((uint16_t) PARAM_NOT_MONITORED << PARAM_MONIT_FLAG_OFFSET)
| ((uint16_t) SYS_ICU << PARAM_SYSTEM_OFFSET)
| ((uint16_t) SUBSYS_ICU << PARAM_SUB_SYSTEM_OFFSET) | 5U;
idx = asw_PUS_3_ID_to_not_mon_DB_idx(task_par_id);
ret = icu_tm_acq_mng_start_tm_acq();
if (ret != 0) {
errors[0] = 0x8; //start_tm_acq funct
memcpy(&errors[1], &ret, sizeof(uint32_t));
icu_status = asw_PUS_5_TM_report(EVENT_TM_ACQ_ERROR, 5, errors);
status = rtems_task_suspend(RTEMS_SELF );
}
/*
* Task will acquire data
* to change TM driver configuration must stop drivers execution and reconfigure it
*/
while (1) {
ret = icu_tm_acq_mng_get_status(&acq_status);
if (acq_status.tm_buffer_data_available == 1) {
ret = icu_tm_acq_mng_get_tms(DAS_PARAM_NM, values);
asw_copy_data_in_das_db((uint8_t *) arg, values, DAS_PARAM_NM,
cycle_nr);
cycle_nr = (cycle_nr + 1) % 3;
}
/* Copy task status on DB */
for (i = 0; i < (CONFIGURE_MAXIMUM_TASKS - 1); i++) {
icu_sem_lock(not_mon_db_sem_Id, 5);
idx_long = db_param[idx + (uint16_t) i].current_value;
db_long_curr_value[idx_long][0] = 0;
db_long_curr_value[idx_long][1] =
(uint32_t) (thread_ctrl[i]->current_state);
icu_sem_unlock(not_mon_db_sem_Id);
}
status = rtems_task_wake_after(500);
}
}
rtems_task asw_task_monitor(rtems_task_argument arg) {
rtems_status_code rtems_status = RTEMS_SUCCESSFUL;
uint32_t ret = 0;
uint32_t edac_status = 0;
uint32_t edac_fail_addr = 0;
icu_status_code icu_status = ICU_SUCCESSFUL;
uint8_t last_dpu1_stat = CPU_OFF, last_dpu2_stat = CPU_OFF;
while (1) {
/* Check EDAC single error */
ret = icu_edac_mng_scrub_single_fail(&edac_status, &edac_fail_addr);
if ((ret != 0) && (edac_status != 0)) {
icu_status = asw_PUS_5_TM_report(EVENT_EDAC_ERROR, 0, NULL );
}
/* Check CU status and voltage if is on */
//asw_monitor_leds();
/* DPU errors*/
//asw_monitor_dpu_errors();
/* CMD_DAS_ALARMS_READ_REQ ( 60 is ok) */
//asw_monitor_das_alarms();
/*ICU_CDPU_TMP*/
//asw_monitor_cdpu_tmp();
/*ICU_LVPS_TMP */
//asw_monitor_lvps_tmp();
/* FWA_MOT_PHA_I, FWA_MOT_PHB_I, GWA_MOT_PHA_I, GWA_MOT_PHB_I if is on */
//asw_monitor_wheels();
/* Check interrupt not used */
//asw_monitor_masked_irq();
/* Change profile in case of DPU BSW<->ASW transitions */
if (((dpu1_status != last_dpu1_stat) || (dpu2_status != last_dpu2_stat))
== TRUE) {
/* DPU 1 */
if (((last_dpu1_stat == CPU_UNDEFINED)
|| (last_dpu1_stat == CPU_OFF)
|| (last_dpu1_stat == CPU_BOOT)) == TRUE) {
asw_prepare_bus_profile();
} else {
/* In case last value read is an ASW status */
if (((dpu1_status >= CPU_ASW_INIT)
&& (dpu1_status <= CPU_MANUAL)) == TRUE) {
/* Nothing to do */
} else {
asw_prepare_bus_profile();
}
}
/* Change DPU_1 last value*/
last_dpu1_stat = dpu1_status;
/* DPU 2 */
if (((last_dpu2_stat == CPU_UNDEFINED)
|| (last_dpu2_stat == CPU_OFF)
|| (last_dpu2_stat == CPU_BOOT)) == TRUE) {
asw_prepare_bus_profile();
} else {
/* In case last value read is an ASW status */
if (((dpu2_status >= CPU_ASW_INIT)
&& (dpu2_status <= CPU_MANUAL)) == TRUE) {
/* Nothing to do */
} else {
asw_prepare_bus_profile();
}
}
/* Change DPU_2 last value*/
last_dpu2_stat = dpu2_status;
/* Switch active profile */
/* Select structure msg_counter to be updated */
if (bus_profile_msg_counter == bus_profile_msg_counter_0) {
bus_profile_msg_counter = bus_profile_msg_counter_1;
init_bus_profile_msg_counter = init_bus_profile_msg_counter_1;
} else {
bus_profile_msg_counter = bus_profile_msg_counter_0;
init_bus_profile_msg_counter = init_bus_profile_msg_counter_0;
}
/* Check if HK7 (DPU-BSW) must be enable/disable */
if (((last_dpu2_stat == CPU_BOOT) || (last_dpu1_stat == CPU_BOOT))
== TRUE) {