void logInit(void)
{
int i;
if(isInit)
return;
logs = &_log_start;
logsLen = &_log_stop - &_log_start;
logsCrc = crcSlow(logs, logsLen);
// Big lock that protects the log datastructures
logLock = xSemaphoreCreateMutex();
for (i=0; i<logsLen; i++)
{
if(!(logs[i].type & LOG_GROUP))
logsCount++;
}
//Manually free all log blocks
for(i=0; i<LOG_MAX_BLOCKS; i++)
logBlocks[i].id = BLOCK_ID_FREE;
//Init data structures and set the log subsystem in a known state
logReset();
//Start the log task
xTaskCreate(logTask, (const signed char * const)"log",
configMINIMAL_STACK_SIZE, NULL, /*priority*/1, NULL);
isInit = true;
}
void logInit(void)
{
int i;
rt_thread_t log_thread;
if(isInit)
return;
logs = &_log_start;
logsLen = &_log_stop - &_log_start;
logsCrc = crcSlow(logs, logsLen);
// Big lock that protects the log datastructures
logLock = rt_mutex_create("log_lock",RT_IPC_FLAG_FIFO);
for (i=0; i<logsLen; i++)
{
if(!(logs[i].type & LOG_GROUP))
logsCount++;
}
//Manually free all log blocks
for(i=0; i<LOG_MAX_BLOCKS; i++)
logBlocks[i].id = BLOCK_ID_FREE;
//Init data structures and set the log subsystem in a known state
logReset();
//Start the log task
//xTaskCreate(logTask, (const signed char * const)"log",
// configMINIMAL_STACK_SIZE, NULL, /*priority*/1, NULL);
log_thread = rt_thread_create("log", logTask, RT_NULL, 512, 10, 5);
isInit = RT_TRUE;
}
void logControlProcess()
{
int ret = ENOEXEC;
switch (p.data[0])
{
case CONTROL_CREATE_BLOCK:
ret = logCreateBlock(p.data[1], (struct ops_setting*) &p.data[2],
(p.size - 2) / sizeof(struct ops_setting));
break;
case CONTROL_APPEND_BLOCK:
ret = logAppendBlock(p.data[1], (struct ops_setting*) &p.data[2],
(p.size - 2) / sizeof(struct ops_setting));
break;
case CONTROL_DELETE_BLOCK:
ret = logDeleteBlock(p.data[1]);
break;
case CONTROL_START_BLOCK:
ret = logStartBlock(p.data[1], p.data[2] * 10);
break;
case CONTROL_STOP_BLOCK:
ret = logStopBlock(p.data[1]);
break;
case CONTROL_RESET:
logReset();
ret = 0;
break;
}
//Commands answer
p.data[2] = ret;
p.size = 3;
crtpSendPacket(&p);
}
/* This function is usually called by the worker subsystem */
void logRunBlock(void * arg)
{
struct log_block *blk = arg;
struct log_ops *ops = blk->ops;
static CRTPPacket pk;
unsigned int timestamp;
xSemaphoreTake(logLock, portMAX_DELAY);
timestamp = ((long long)xTaskGetTickCount())/portTICK_RATE_MS;
pk.crtp_header = CRTP_HEADER(CRTP_PORT_LOG, LOG_CH);
pk.size = 4;
pk.crtp_data[0] = blk->id;
pk.crtp_data[1] = timestamp&0x0ff;
pk.crtp_data[2] = (timestamp>>8)&0x0ff;
pk.crtp_data[3] = (timestamp>>16)&0x0ff;
while (ops)
{
int valuei = 0;
float valuef = 0;
switch(ops->storageType)
{
case LOG_UINT8:
valuei = *(uint8_t *)ops->variable;
break;
case LOG_INT8:
valuei = *(int8_t *)ops->variable;
break;
case LOG_UINT16:
valuei = *(uint16_t *)ops->variable;
break;
case LOG_INT16:
valuei = *(int16_t *)ops->variable;
break;
case LOG_UINT32:
valuei = *(uint32_t *)ops->variable;
break;
case LOG_INT32:
valuei = *(int32_t *)ops->variable;
break;
case LOG_FLOAT:
valuei = *(float *)ops->variable;
break;
}
if (ops->logType == LOG_FLOAT || ops->logType == LOG_FP16)
{
if (ops->storageType == LOG_FLOAT)
valuef = *(float *)ops->variable;
else
valuef = valuei;
if (ops->logType == LOG_FLOAT)
{
memcpy(&pk.crtp_data[pk.size], &valuef, 4);
pk.size += 4;
}
else
{
valuei = single2half(valuef);
memcpy(&pk.crtp_data[pk.size], &valuei, 2);
pk.size += 2;
}
}
else //logType is an integer
{
memcpy(&pk.crtp_data[pk.size], &valuei, typeLength[ops->logType]);
pk.size += typeLength[ops->logType];
}
ops = ops->next;
}
xSemaphoreGive(logLock);
// Check if the connection is still up, oherwise disable
// all the logging and flush all the CRTP queues.
if (!crtpIsConnected())
{
logReset();
crtpReset();
}
else
{
crtpSendPacket(&pk);
}
}
/*
* RTEMS Startup task
*/
rtems_task
Init (rtems_task_argument ignored)
{
int i;
char *argv[3] = { NULL, NULL, NULL };
char *cp;
rtems_task_priority newpri;
rtems_status_code sc;
rtems_time_of_day now;
/*
* Explain why we're here
*/
logReset();
/*
* Architecture-specific hooks
*/
if (epicsRtemsInitPreSetBootConfigFromNVRAM(&rtems_bsdnet_config) != 0)
delayedPanic("epicsRtemsInitPreSetBootConfigFromNVRAM");
if (rtems_bsdnet_config.bootp == NULL) {
extern void setBootConfigFromNVRAM(void);
setBootConfigFromNVRAM();
}
if (epicsRtemsInitPostSetBootConfigFromNVRAM(&rtems_bsdnet_config) != 0)
delayedPanic("epicsRtemsInitPostSetBootConfigFromNVRAM");
/*
* Override RTEMS configuration
*/
rtems_task_set_priority (
RTEMS_SELF,
epicsThreadGetOssPriorityValue(epicsThreadPriorityIocsh),
&newpri);
/*
* Create a reasonable environment
*/
initConsole ();
putenv ("TERM=xterm");
putenv ("IOCSH_HISTSIZE=20");
/*
* Display some OS information
*/
printf("\n***** RTEMS Version: %s *****\n",
rtems_get_version_string());
/*
* Start network
*/
if ((cp = getenv("EPICS_TS_NTP_INET")) != NULL)
rtems_bsdnet_config.ntp_server[0] = cp;
if (rtems_bsdnet_config.network_task_priority == 0)
{
unsigned int p;
if (epicsThreadHighestPriorityLevelBelow(epicsThreadPriorityScanLow, &p)
== epicsThreadBooleanStatusSuccess)
{
rtems_bsdnet_config.network_task_priority = epicsThreadGetOssPriorityValue(p);
}
}
printf("\n***** Initializing network *****\n");
rtems_bsdnet_initialize_network();
initialize_remote_filesystem(argv, initialize_local_filesystem(argv));
/*
* More environment: iocsh prompt and hostname
*/
{
char hostname[1024];
gethostname(hostname, 1023);
char *cp = mustMalloc(strlen(hostname)+3, "iocsh prompt");
sprintf(cp, "%s> ", hostname);
epicsEnvSet ("IOCSH_PS1", cp);
epicsEnvSet("IOC_NAME", hostname);
}
/*
* Use BSP-supplied time of day if available otherwise supply default time.
* It is very likely that other time synchronization facilities in EPICS
* will soon override this value.
*/
if (rtems_clock_get(RTEMS_CLOCK_GET_TOD,&now) != RTEMS_SUCCESSFUL) {
now.year = 2001;
now.month = 1;
now.day = 1;
now.hour = 0;
now.minute = 0;
now.second = 0;
now.ticks = 0;
if ((sc = rtems_clock_set (&now)) != RTEMS_SUCCESSFUL)
printf ("***** Can't set time: %s\n", rtems_status_text (sc));
}
if (getenv("TZ") == NULL) {
const char *tzp = envGetConfigParamPtr(&EPICS_TIMEZONE);
if (tzp == NULL) {
printf("Warning -- no timezone information available -- times will be displayed as GMT.\n");
}
else {
char tz[10];
int minWest, toDst = 0, fromDst = 0;
if(sscanf(tzp, "%9[^:]::%d:%d:%d", tz, &minWest, &toDst, &fromDst) < 2) {
printf("Warning: EPICS_TIMEZONE (%s) unrecognizable -- times will be displayed as GMT.\n", tzp);
}
else {
char posixTzBuf[40];
char *p = posixTzBuf;
p += sprintf(p, "%cST%d:%.2d", tz[0], minWest/60, minWest%60);
if (toDst != fromDst)
p += sprintf(p, "%cDT", tz[0]);
epicsEnvSet("TZ", posixTzBuf);
}
}
}
tzset();
osdTimeRegister();
/*
* Run the EPICS startup script
*/
printf ("***** Starting EPICS application *****\n");
iocshRegisterRTEMS ();
set_directory (argv[1]);
epicsEnvSet ("IOC_STARTUP_SCRIPT", argv[1]);
atexit(exitHandler);
i = main ((sizeof argv / sizeof argv[0]) - 1, argv);
printf ("***** IOC application terminating *****\n");
epicsThreadSleep(1.0);
epicsExit(0);
}
/* This function is usually called by the worker subsystem */
void logRunBlock(void * arg)
{
struct log_block *blk = arg;
struct log_ops *ops = blk->ops;
static CRTPPacket pk;
unsigned int timestamp;
xSemaphoreTake(logLock, portMAX_DELAY);
timestamp = ((long long)xTaskGetTickCount())/portTICK_RATE_MS;
pk.header = CRTP_HEADER(CRTP_PORT_LOG, LOG_CH);
pk.size = 4;
pk.data[0] = blk->id;
pk.data[1] = timestamp&0x0ff;
pk.data[2] = (timestamp>>8)&0x0ff;
pk.data[3] = (timestamp>>16)&0x0ff;
while (ops)
{
float variable;
int valuei = 0;
float valuef = 0;
// FPU instructions must run on aligned data. Make sure it is.
variable = *(float *)ops->variable;
switch(ops->storageType)
{
case LOG_UINT8:
valuei = *(uint8_t *)&variable;
break;
case LOG_INT8:
valuei = *(int8_t *)&variable;
break;
case LOG_UINT16:
valuei = *(uint16_t *)&variable;
break;
case LOG_INT16:
valuei = *(int16_t *)&variable;
break;
case LOG_UINT32:
valuei = *(uint32_t *)&variable;
break;
case LOG_INT32:
valuei = *(int32_t *)&variable;
break;
case LOG_FLOAT:
valuei = *(float *)&variable;
break;
}
if (ops->logType == LOG_FLOAT || ops->logType == LOG_FP16)
{
if (ops->storageType == LOG_FLOAT)
valuef = *(float *)&variable;
else
valuef = valuei;
// Try to append the next item to the packet. If we run out of space,
// drop this and subsequent items.
if (ops->logType == LOG_FLOAT)
{
if (!appendToPacket(&pk, &valuef, 4)) break;
}
else
{
valuei = single2half(valuef);
if (!appendToPacket(&pk, &valuei, 2)) break;
}
}
else //logType is an integer
{
if (!appendToPacket(&pk, &valuei, typeLength[ops->logType])) break;
}
ops = ops->next;
}
xSemaphoreGive(logLock);
// Check if the connection is still up, oherwise disable
// all the logging and flush all the CRTP queues.
if (!crtpIsConnected())
{
logReset();
crtpReset();
}
else
{
crtpSendPacket(&pk);
}
}
