s_text,s_id,t_text,t_id,label
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,1
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,1
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,1
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,1
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,1
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,1
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,1
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,1
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,1
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,1
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,1
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,1
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,1
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,1
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,1
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,1
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,1
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,1
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,1
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,1
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,1
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,1
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,1
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,1
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,1
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,1
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,1
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,1
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,1
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,1
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,1
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,1
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,1
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,1
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,1
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,1
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,1
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,1
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,1
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,1
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,1
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,1
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,1
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,1
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,1
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
Housekeeping The TMALI CSC collects housekeeping data that can be retrieved via a call to tmaliHkGet().   TMALI CSC housekeeping is returned via the TMALI_HK data structure.,DPUSDS5.13.1.7.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Command Handling The DPU accepts commands via two interfaces – from the Spacecraft via the MIL-STD-1553 interface, and from the ICU via the SSI interface.  Any of the DPU commands can be sent from the SCU or the ICU.  The source for a command from the DPU is one of the following:
* ICU – command is generated and sent by the ICU via the SSI.
* SCU – command is generated and sent by the SCU via the 1553.
* G-ICU – command is generated on the ground and sent to the DPU via the ICU/SSI.
* G-SCU – command is generated on the ground and sent to the DPU via the SCU/1553.",DPUSDS5.12.1.3.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This task initializes the TMALI CSC and then continues to read data from the DCI and store it in the TMALI buffer each time the DCI driver signals that data is available in the Ping-Pong buffer.  The availability of data in the DCI Ping-Pong buffer is signaled to the tmaliTask using a semaphore.  Unless a fatal error is detected during initialization this task will never terminate.The specified 3 parameters specify the size of the TMALI queue and the initial parameters for the DCI, if the specified values are outside the allowed range default values will be used.The specified QueueSize is the allocated buffersize (in 4 byte EVENTS), the ring buffer is full when ‘QueueSize-1’ EVENTS are stored in the buffer.",DPUSDS5.13.2.9,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting In order to insure that error counts are not lost due to rollover, ccmErrEnq(), checks to insure that the count for a given error has not gone above 250 in one high rate housekeeping reporting period.  If the error count exceeds 250 for a particular reporting period, ccmErrEnq() will enqueue S_ccm_ERR_REPEAT error with the current error count and will clear its error tracking mechanism.",DPUSDS5.12.1.5.4,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Error Collection and Reporting The ccmErrEnq() function tracks the last error reported and its frequency of occurrence.  Once an error code has been reported it becomes the previously reported error code maintained by ccmErrEnq().  A repetition count is then incremented for each subsequent, consecutively reported, identical instance of this previously reported error.  If this error code is reported more than once in one high-rate housekeeping reporting period, then a special error, S_ccm_ERR_REPEAT is enqueued with the repetition count for the error encoded in the least significant byte. This mechanism effectively reduces the potential for housekeeping telemetry to become flooded with a single repeated error.",DPUSDS5.12.1.5.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
Global Data  the global data items which are accessed by this CSC,DPUSDS5.12.3.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Memory Upload and Download Handling  When larger amounts of memory must be uploaded to the DPU, such as in the case of a software patch or full software upload, the regular memory upload is used.  Memory uploads are accomplished by sending a series of individual D_MEM_DAT_UPLD commands, resulting in a single “virtual” upload. CCSDS-like sequence (grouping) flags are employed to allow the DPU FSW to accept up to a maximum of 65535 bytes in a single “virtual” upload.  The data contained in each D_MEM_DAT_UPLD command is stored in a temporary DRAM buffer until all of the sequence numbers in the entire upload have been successfully received.  When the DPU FSW receives the last command in the series, the FSW will verify that all sequence numbers have been received, verify the end-end upload checksum, and then write the entire temporary buffer to the target location specified in the first upload command.",DPUSDS5.12.1.4.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-CCM shall implement a mechanism whereby large memory loads and dumps can be accomplished incrementally.,SRS5.12.2.1,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Command Handling When a command arrives from the SCU (via the 1553 interface) or the ICU (via the SSI interface), the respective ISR will enqueue the command packet into a Command Queue, and then give the semaphore to awaken the ccmCmdTask().  Since it is possible for the DPU to send a command to itself, commands may arrive at interrupt context or task context.  Therefore the CCM maintains two queues – one for interrupt context which is not semaphore protected, and one for task context which is semaphore protected.",DPUSDS5.12.1.3.2,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR and the SSI Interface ISR any time a command arrives from the SCU or the ICU, to enqueue the command and to wakeup the CCM Command Dispatch Task so that the command can be executed.",DPUSDS5.12.2.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Data Transfer to Queue Once the events in the Ping-Pong buffer have been completely transferred to the TMALI_EVENT_QUEUE, the tamliTask() function must re-arm the hardware to swap the Ping-Pong buffer when ready.  In the event that TMALI does not finish transferring the data from the ping buffer before the pong buffer is full, the DCI Driver will issue an error interrupt, invoking the tmaliDciErrorReportedISR().  In response, the tmaliDciErrorReportedISR() will set an error flag so that the tmaliTask() can recover.  The tmaliDciErrorReportedISR() also gives the semDciWait semaphore to awaken the tmaliTask() even though it is likely already awake, since it is possible that the tmaliTask() has just completed transfer of the data at the time the error occurs.  The error will also be counted in TMALI_HK.  The DCI hardware will discard events until the tmaliTask() function completes the prior transfer, recognizes the error flag, and in response manually forces a Ping-Pong swap and re-enables data acquisition.  This guarantees that only complete frames end up in the Ping-Pong buffer and will be considered for processing.  In normal operation this error should not occur as the TMALI task should be fast enough to retrieve data from the DCI Ping-Pong buffer.  When events can’t be handled fast enough the problem should result in an TMALI queue full condition which is reported as an S_TMALI_QUEUE_FULL error using the ccmErrEnq() mechanism.",DPUSDS5.13.1.3.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
"Control and Monitoring the CCM Control Task also handles memory dump commands.  In the event of a data dump command, the CCM Control Task will break the dump into manageable pieces and dump a small portion at a time, each time the task is awakened.  The purpose of this “deferred” activity is to prevent a large dump from consuming available CPU time by keeping the high-priority CCM Command Dispatch Task busy for an extended period.",DPUSDS5.12.1.2.4,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
Control and Monitoring The DPU produces eight types of housekeeping packets.,DPUSDS5.12.1.2.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Event Retrieval From Queue Events are retrieved from the TMALI_EVENT_QUEUE by the DPA CSC via an API consisting of two functions: tmaliWait() and tmaliNextEvent().  For efficiency, the following API usage points are relevant:
* The DPA CSC will “inline” the tmaliNextEvent() function in order to avoid a function call for each event,
* The DPA CSC will place each event received into a register, and complete the processing for a given event while resident in a register before retrieving the next event, and
* The tmaliNextEvent() function performs no error checking in order to maximize the efficiency of the function.  Therefore, the DPA CSC must keep track of the number of events retrieved versus the number provided in return from tmaliWait().",DPUSDS5.13.1.4.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Public Functions This routine gets housekeeping data stored for the TMALI CSC including some DCI parameters and resets the tmali internal counters to zero.  When the caller supplied pointer to a TMALI_HK structure is NIL no data is returned but the tmali internal counters are still reset to zero.Two of the four error counters are updated within an ISR context, this requires a task switch safe implementation of these counters.  Within VxWorks this could be solved using a counting semaphore.  In the TMALI CSC design a faster method was used by using a free running error counter and a careful update of the reported number of errors, using an extra temporary variable.  As the increment and assignment of the 32 bit unsigned integers themselves are ‘atomic’ operations the resulting counters are task safe and no error events are lost.  This means that the sum of the errors reported by the tmaliHkGet() function is equal to the total numbers of errors that occurred, no error reports are lost due to the update of the internal structures.",DPUSDS5.13.2.7,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Public Functions This routine provides a means to set DCI windowing parameters used by the DCI data acquisition.  Before commanding the DCI driver to change the DCI hardware windowing parameters the window specification is verified. If the setting is incorrect the function returns an error and the hardware windowing function is not activated.The function both sets the requested hardware window specification and activates the hardware windowing function.,DPUSDS5.13.2.6,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
Telescope Module Access Library and Interface CSC  The Telescope Module Access Library and Interface (TMALI) CSC manages the detector event queue and provides an API for the retrieval of detector events from that queue to the data processing algorithms.,DPUSDS5.13.0.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,"The DPU-CCM shall, in rejecting a command, report an error in DPU_HK indicating  the byte-code of the command being rejected in the LSB of the errno as described in 03691-DPUSDP-01.",SRS5.12.3.6,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Ring buffer data structure This definition results in the following:
* administration is simple but one location is wasted in the buffer full situation, the pIn pointer is one less that the pOut pointer,
* buffer empty when the pIn pointer and the pOut pointer are equal.",DPUSDS5.13.1.5.3,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Memory Upload and Download Handling  The command D_MEM_BLK_DNLD is used to download data from a file contained in the EEPROM filesystem.  As in the upload command, only the block number need be provided, and the entire contents of the filename formed from the block number will be downloaded.  To download data from any location other than the EEPROM filesystem, the command D_MEM_DAT_DNLD is used.  As described previously, downloads handled in a deferred fashion to avoid consuming excessive CPU time.  A single “virtual” download will appear on the ground as a series of download packets, the contents of which must be extracted and concatenated in order to recreated the original data sequence.",DPUSDS5.12.1.4.5,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine is called by each DPU FSW task to report that the task has executed, so that the ccmCtrlTask() can assess the health of the DPU FSW execution.",DPUSDS5.12.2.3,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Control and Monitoring Every time the CCM Control executes, it calls ccmPerProcess() to handle periodic processing responsibilities.  Such responsibilities include analog to digital conversion updates, DPU task monitoring, ICU heartbeat message production, and watchdog strobe. The ccmHealthChk() function, called by ccmPerProcess() verifies the execution of other tasks by monitoring the amount of time that has elapsed since each task last reported.  Other tasks report their execution to the CCM Control Task by calling the function, ccmTaskReport(), providing their task index.  Each task has an expected execution frequency, and if a task does not execute as expected, an error is reported in DPU housekeeping.  If the Command Dispatch Task fails to report for an extended period, the DPU will execute a reboot, since it is impossible to command the DPU if this task is not executing, otherwise it will strobe the watchdog",DPUSDS5.12.1.2.3,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
"Data Transfer to Queue During initialization, the TMALI CSC installs an ISR hook routine, tmaliTransferToQueueISR(),  into the DCI Driver which is invoked when:
* the DCI interface reaches the programmed frame limit in the Ping-Pong buffer, or
* the DCI interface detects a data receipt timeout.",DPUSDS5.13.1.3.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Public Functions When no data is available in the TMALI queue this routine blocks on a semaphore awaiting availability of events on the TMALI queue as indicated by the ISR.  When data is already available on the TMALI queue, or the semaphore is taken, the number of events on the TMALI queue is determined and returned to the caller.  The parameter ‘TickstoWait’ specifies the maximum time which the function can wait until data becomes available in kernel-ticks.  The parameter may be set to a symbolic value ‘FOREVER’ which causes the function only to return when data is available.  When the function is called with a timeout value and no data becomes avialable within that period the function will return zero (events available).If the tmali task has not been initialized the function returns an error.",DPUSDS5.13.2.10,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Normal Data Exchange Sequence  The DPA CSC calls tmaliWait() to determine how many EVENTs are waiting to be read.  When tmaliWait() returns with a number greater than zero, the DPA calls tmaliNextEvent() for each EVENT to be collected.",DPUSDS5.13.1.1.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-CCM shall process real-time non-deferred commands within B ms of receipt from the ICU or the SCU.,SRS5.12.2.2,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Telescope Module Access Library and Interface CSC  The TMALI CSC includes the following components:
* A queue, TMALI_EVENT_QUEUE, implemented using a ring buffer, which contains the detector events which have been received over the data capture interface from the DCI Driver, but which have not yet been retrieved by the DPA CSC;
* An API which facilitates the retrieval of detector events from the queue by the DPA CSC.  The API consists of the tmaliNextEvent() and tmaliWait() functions.
* An set of API functions used by the DPA CSC to configure the DCI interface, including tmaliBitArrangementSet(), tmaliDciFrameDepthGet(), tmaliDciFrameDepthSet(), tmaliDciWindowSet(), tmaliDataTimeoutSet(), and tmaliDataTimeoutGet().
* An API housekeeping function, tmaliHkGet(), which gathers  CSC housekeeping data at the request of the Command and Control Task.
* The task tmaliTask() and an ISR tmaliTransferToQueueISR() work together via a semaphore to synchronize the transfer of data from the DCI to the  queue
An error handling ISR, tmaliDciErrorReportedISR(), is installed as a hook routine to the DCI Driver, and is used to keep track of the number of errors reported by the DCI driver.",DPUSDS5.13.0.2,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Setting Frame Depth in DCI The optimum frame depth will be determined with benchmark testing.  The default frame depth is 10 frames.  Given the above data, it will take approximately 24 msec to read 10 maximum-sized frames at the maximum data transfer rate.",DPUSDS5.13.1.6.3,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Error Collection and Reporting At boot time, no error queue exists because it has yet to be created.  Errors that occur in this early stage of error reporting are assigned directly to the global task variable errno.  The reader may refer to the VxWorks® Programmer’s Guide, section 2.3.7 for more information on errno.  If errno is set after the error queues are created, it is queued to the Error Queue by calling ccmErrEnq().",DPUSDS5.12.1.5.6,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Error Collection and Reporting The ccmErrEnq() may also be called from Interrupt context.  In interrupt context, the mutual exclusion mechanism implemented on the Error Queue cannot be used since it is illegal to take a semaphore in an interrupt context.  To circumvent this limitation, the global variable ccmISRerror is set with the appropriate error code.  The error will be queued the next time ccmTask() runs.  Due to the manner in which errors are handled in interrupt context, it is possible to loose errors if more than one error occurs in interrupt context before ccmTask() executes; the previous error will be overwritten by the new error.",DPUSDS5.12.1.5.5,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Ring buffer data structure The pIn and pOut pointers are defined  as follows:
* pIn - last location filled with data
* pOut  - last empty location",DPUSDS5.13.1.5.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,The DPU-TMALI shall place the starting address of the event ring buffer in TMALI_HK.,SRS5.13.3.3,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Memory Upload and Download Handling  If more than 65535 bytes need to be uploaded, the upload file must be broken up into multiple smaller files, each less than or equal to 65535 bytes, and then each of the virtual uploads should be sent in series.  Because of the sequence numbers, the DPU FSW can receive individual upload commands out of sequence.  There is no time limit for the accomplishment of a single virtual upload, and so a long upload can continue across ground contacts.  If an upload is in progress, the last sequence number can be sent to the DPU FSW and it will report the list of missing sequence numbers via event number S_ccm_MISSING_SEQNO.  If an upload is in progress and needs to be cancelled, it can be discarded by issuing the D_MEM_DAT_CNCL command.",DPUSDS5.12.1.4.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
Setting Hardware Windowing   The hardware windowing function of the DCI can be activated and controlled  via tmaliDciWindowSet().  This function activates the hardware windowing function and transfers the specified window parameters to the DCI driver.,DPUSDS5.13.1.6.2,The DPU-TMALI shall configure the DCI interface data timeout at startup as specified by TMALI_TIMEOUT provided during initialization.  The default value shall be N milliseconds and shall be capable of being modified dynamically.,SRS5.13.2.3,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,"The DPU-CCM shall check the length of a received DPU_CMD against an expected value from a lookup table indexed by FUNCTION code.  If the received value does not match the expected, then the command will be discarded, and an error will be enqueued.",SRS5.12.3.5,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Control and Monitoring the CCM Control Task initializes the DPU FSW. It is the responsibility of the CCM Control Task to establish a successful boot.  It does so by blocking on temporary semaphores, each with a 5 second timeout, after spawning the SCU Interface Task and the CCM Command Task.  If both of these tasks report a successful initialization by giving the semaphore, the CCM Control Task toggles the BC_INDEX parameter in EEPROM to indicate a successful boot.  If either task does not report a successful initialization, the CCM Control Task disables the watchdog strobe to effect a reboot of the DPU.  The rationale for selecting the successful initialization of these two tasks as the definition of a successful boot is that the DPU FSW requires these tasks, as a minimum, to establish ground contact and provide commandability.Once this initialization is complete, the task blocks on a binary semaphore which is given by the SCUI Command ISR upon arrival of the 1 Hz Clock Message.  In the event a Clock Message does not arrive, the semaphore will time out after 1.5 seconds.  The CCM Control Task remains alive to create and transmit DPU housekeeping at the appropriate intervals, perform various periodic processing tasks, and to process memory dump commands. The final call to ccmErrEnq() is performed in order that if an error occurs in an interrupt service routine, a global variable is set to the value of the errno which is then enqueued into the Error/Event Queue as part of this task’s normal processing.",DPUSDS5.12.1.2.1,The DPU-TMALI shall use DPU-DCI to communicate with the DCI Interface.,SRS5.13.4.1,0
"Ring buffer data structure A separate pointer indicates the end of the buffer: pEnd. This pointer points to the last available location in the buffer. Before advancing either  pointer it should be verified whether the pointer points to the last location, in that case the pointer is reset to the start of the buffer,  pointed to by pBuf, otherwise it can just be incremented.",DPUSDS5.13.1.5.4,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-CCM shall record an error to the LAST_BOOT_IVEC location in EEPROM and discontinue strobing the Watchdog Timer should an unrecoverable software error occur.  An unrecoverable software error is defined as an error that causes a loss of commandability or ground communication.,SRS5.12.3.1,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Public Functions This routine provides a means to set the bit arrangement used by the DCI.  When bSpecialArrangement is TRUE, the DCI is set to special bit arrangement mode, otherwise the default mode of no rearrangement is set.",DPUSDS5.13.2.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
Setting DCI Bit Arrangement  The bit arrangement of the DCI control/status register can be set via tmaliBitArrangementSet().,DPUSDS5.13.1.6.1,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall allocate a ring buffer of size specified by TMALI_BUFFER_SIZE provided during initialization for storing incoming frames of data.  The default buffer size shall be 15 MB.,SRS5.13.2.1,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,"The DPU-CCM shall be able to count a consecutively reported error.  When the the count for a particular error ID, exceeds 250 for a particular reporting period, the error code will be replaced with a error code sequence which shall include the original error code and the number of times the error was reported.",SRS5.12.3.4,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Public Functions This function sets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the frame depth can be commanded is 64 frames, an attempt to command the frame depth to a value larger than this maximum will result in setting the timeout to the default value of V frames.The actual setting of the frame depth could be delayed by a small amount of time if there is activity on the DCI bus, and is typically changed when the DCI has just reported a frame level reached or timeout condition.  This minimizes the chance of changing the setting while the hardware is close to detecting a frame event.  Changing the frame depth while the DCI CSC is processing data could cause unpredictable results.  When a new ‘tmaliDciFrameDepthSet’ command is send before the previous setting has been activated the new request will overwrite the previous request and the DCI will be commanded to the new value at the first available opportunity.",DPUSDS5.13.2.3,"The DPU-CCM shall collect a TASK_HBEAT from  DPU-SCUI, DPU-CCM, DPU-DCX, DPU-TMALI, and DPU-DPA .  Non-responsive tasks will be reported in DPU_HK.",SRS5.12.3.3,0
"Public Functions This routine provides a means to get the current data timeout value used by the DCI.  The returned value is the current timeout in milliseconds.The timeout is discussed in document 036911400, section 4.3.2.4.1.3.",DPUSDS5.13.2.4,"The DPU-TMALI shall utilize SCM_DCI_SR, along with ERRNO provided by DPU-DCI to decode errors and place them on an error queue for DPU-CCM.",SRS5.13.3.1,0
"Memory Upload and Download Handling  Data can be upload to several types of locations, including
* DRAM
* EEPROM
* hardware registers, and
* EEPROM filesystem.
ial D_MEM_DAT_UPLD command specify the target location.  If the destination is the EEPROM filesystem, a “block number” is provided in lieu of a memory address , which is used by the DPU FSW to formulate a filename of the form eefs1:DPU_blk.##, where ## is the block number.  In this case, once the entirety of the uploaded data is received by the DPU FSW, the uploaded data is then written to that file in the EEPROM filesystem.  If a file already exists with that name, it is overwritten.  The EEPROM filesystem can be reinitialized using the command D_MEM_DISK_INIT.",DPUSDS5.12.1.4.4,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Public Functions This function gets the frame depth of the Ping-Pong buffers used by the DCI CSC.  The frame depth determines how many frames are read into the selected Ping-Pong buffer before interrupting.  The initial value for the frame depth setting is determined by the parameter provided when stating the tmaliTask.  The returned value is the current active value, this may differ from the last commanded value as the commanded value only takes effect when data is transferred from the hardware Ping-Pong buffer to the TMALI queue (in response to a frame or timeout interrupt, see section 5.13.2.3).",DPUSDS5.13.2.2,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Public Functions This function returns the next EVENT in the queue to the caller.  The caller should store the value returned by this function in a variable defined locally within the scope of the function from which it is called.  If the return value is stored as described above, the EVENT value is stored in a RAD6000 register rather than memory.  Processing is therefore much faster since register accesses on the RAD6000 are much faster than memory accesses.A compilation option ‘TMALI_NOCHECKS’ is provided for the disabling of buffer empty checks. This results in slightly faster code but should only be used when the application using this function is known to make proper calls to the function.  If the TMALI module is compiled with the ‘TMALI_NOCHECKS’ option an improper call to the tmaliNextEvent function (calling it when no data is available in the TMALI buffer) will compromise the TMALI buffer data structure.The queue structure and the related pointers are described in the local ‘tmaliP.h’ header file. As only the write pointer (pOut) is manipulated here and the operations on the 32 bit pointers themselves are 'atomic' no mutual exclusion problem can occur.",DPUSDS5.13.2.8,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall configure the ping-pong frame limit at startup as specified by TMALI_PP_LIMIT provided during initialization.  The default value shall be M frames and shall be capable of being modified dynamically.,SRS5.13.2.2,0
"Data Transfer to Queue When the tmaliTransferToQueueISR() ISR is invoked, it gives a semaphore to awaken tmaliTask() that will transfer data to the  queue over the VME bus.  The tmaliTask() uses the read() function in the DCI Driver, which implements a data transfer using a high speed assembly language routine.  Because the TMALI ring buffer is implemented as an array, the tmaliTask() function must first examine the TMALI_EVENT_QUEUE to determine whether the data resident in the DCI buffer can be retrieved using a single read() call, or whether two calls are required in order to correctly handle the wrap-around case at the end of the ring buffer.  In addition, the tmaliTask() function must perform an error check to verify that there is sufficient space to receive the data available in the Ping-Pong buffer.  If there is insufficient space for the complete set of frames, the entire contents of the readable Ping-Pong buffer are discarded and the error S_TMALI_QUEUE_FULL is reported using ‘ccmErrEnq’ mechanism.  Such discarded data constitutes an integral number of CCD frames, since the DCI hardware design ensures that Ping-Pong transitions occur at CCD frame boundaries.  This policy of discarding the newer data supports the scientific viewpoint that events collected right after a burst have more scientific value than events collected later.",DPUSDS5.13.1.3.2,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Command and Control CSC  The Command and Control (CCM) CSC is a Level 2 reuse component from the INSTRUMENT Y project.  The Command and Control CSC includes the following components:
* A Control Task, ccmCtrlTask(), which initializes the DPU FSW and spawns other tasks at bootup, schedules the production of DPU housekeeping data packets, monitors the execution of other tasks, and schedules the execution of other periodic tasks such as the heartbeat message and the watchdog strobe; and
* A Command Dispatch Task, ccmCmdTask(), which receives and dispatches real-time commands received from the SCU or the ICU.
Major data structures include:
* A Static Data table that keeps track of the operational state.  Data included in this table includes housekeeping production rates, CCM specific flags, and the number of commands executed.
* A Command Queue into which commands are placed when they arrive, via interrupt, from the ICU or the SCU.
* An Error/Event Queue which accumulates error and event codes which are reported by the DPU FSW.  These error and event codes are removed from the queue and placed into a telemetry packet at a given interval and included in DPU housekeeping data.",DPUSDS5.12.0.1,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Ring buffer data structure The  CSC maintains a FIFO implemented as a ring buffer to temporarily store the data received from the DCI before it is processed. The ring buffer uses two pointers called pIn and pOut to keep track of the data in the buffer. The pointers were defined such that reading from the buffer is the simplest operation and only a single compare is needed to verify if the buffer is empty. The buffer only stores Events so the pointers point to these four byte entities. As the DCI specifies all data in bytes, sizes have to be converted before reading data.",DPUSDS5.13.1.5.1,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Command Handling Commands are dequeued from the Command Queue and executed by the Command Dispatch Task, ccmCmdTask().  This task blocks on a semaphore which is given by ccmCmdEnq(). The ccmCmdTask() wakes on the semaphore and calls ccmCmdProcess() to process waiting commands.  The ccmCmdProcess() function subsequently retrieves waiting commands from the Command Queue and invokes ccmCmdDispatch() to verify the expected length of the command and execute it.  If command echo is enabled, ccmCmdDispatch() will call ccmHkMkCmdEcho() to blindly echo the command back to the ground.  Counts for both rejected and executed commands are maintained. If the command sent to ccmCmdEnq() is either a 1 Hz Clock Time message or an Attitude message from the spacecraft, the command will not be forwarded to the Command Queue, but instead will be executed directly while still in interrupt context.  Attitude messages are forwarded to dpaCommandSend(), while the 1 Hz Clock Time message’s parameters are passed to tisTimeSync() in order to synchronize the current time.  Any other non DPU or spacecraft observatory messages are quietly discarded without reporting an error.In order to guarantee that ccmCmdTask() task reports in with the CCM Control Task periodically in absence of a ground command, the semaphore has a timeout value of 20 seconds.  If the semaphore times out, the task will verify no commands are on the Command Queue, and then report in to the CCM Control Task by calling ccmTaskReport().",DPUSDS5.12.1.3.3,The DPU-CCM shall provide a mechanism for other CSCs to report errors for inclusion in the DPU_HK.,SRS5.12.3.2,0
"Public Functions This routine provides a means to set the data timeout used by the DCI, the value requested indicates the timeout in milliseconds.  The initial value for the frame depth setting is determined by the parameter provided when starting the tmaliTask.  The maximum value to which the timeout can be commanded is X seconds, an attempt to set the timeout to a number larger than this maximum will result in setting the timeout to the default value of X milliseconds",DPUSDS5.13.2.5,The DPU-CCM shall maintain counts of both the number of commands successfully received and rejected and report the parameters in DPU_HK.,SRS5.12.3.7,0
"Error Collection and Reporting The DPU-CCM CSC provides a centralized error reporting interface, ccmErrEnq(), that other FSW tasks use to report errors.  Each time it wakes, ccmTask() checks to see if it is time to form an error/event packet for transmission to the ground.  If so, ccmTask() calls ccmHkMkError() to actually create the packet and forward it to DPU-SCUI for transmission to the ground.",DPUSDS5.12.1.5.1,"The DPU-TMALI shall install callbacks for handling all DPU-DCI interrupts including Error interrupt, Ping-Pong Timeout interrupt, and Ping-Pong Complete Flag interrupt.",SRS5.13.1.1,0
"Flight Software Initialization The Command and Control CSC is initialized by spawning the CCM Control Task, ccmCtrlTask(), from the operating system startup task, usrRoot().  After the task is spawned it calls a function, ccmInit(), which creates the error/event queue, instantiates needed semaphores and installs various ISRs.  Finally, it spawns the remaining tasks which comprise the DPU FSW. When the CCM Control Task starts up, it reads DPU configuration startup defaults from the SYSTEM_CONFIG_AREA in EEPROM.  If the SYSTEM_CONFIG_AREA checksum is bad, hard-coded defaults are used.  The CCM Control Task initializes the remaining CSCs by calling the applicable initialization function, or if the CSC has an associated task, by spawning the task using the VxWorks® function, taskSpawn().  When the CCM Control Task initializes a CSC, it passes the startup defaults read from EEPROM as parameters to the task initialization function. In addition to its task initialization activities, ccmInit(), also initializes the command length verification table by calling ccmCmdLengthInit().  The command processor uses the created table to verify expected command lengths for newly received commands.",DPUSDS5.12.1.1.1,The DPU-CCM shall use DPU-ICUI to communicate with the ICU.,SRS5.12.4.2,0
"Public Functions This routine is called by the MIL-STD-1553 Command ISR at 1 Hz (arrival of the Clock Message) to wakeup the CCM Control Task, which blocks on a semaphore after completing its processing.",DPUSDS5.12.2.4,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
Normal Data Exchange Sequence  The TMALI CSC serves as an intermediate manager of EVENT data supplied by the DCI Driver CSC and eventually delivered to the DPA CSC.  The TMALI CSC waits for notification from the DCI CSC that a frame limit (or data timeout) has been reached in the Ping-Pong buffer indicating the EVENT data is ready to be served to TMALI.   TMALI reads all EVENT data from the DCI and notifies the DCI that it can swap Ping-Pong buffers when ready.   TMALI gives a semaphore to unblock the tmaliWait() call from the DPA.,DPUSDS5.13.1.1.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Error Collection and Reporting The S_ccm_ERR_REPEAT error encodes the count of the last repeated error in its low order byte.  If a new error is reported as discussed above, ccmErrEnq() will enqueue a S_ccm_ERR_REPEAT  for any previously repeated error, along with the newly reported error.   In order to keep the original error codes and their repeated counts together in the same error packet, ccmMkHkErr(), enqueues a special error code, S_ccm_ERRQ_FLUSH, as a special signal to ccmErrEnq() that it needs to clear its error tracking mechanism and enqueue any  repeated error counts associated with a particular error.",DPUSDS5.12.1.5.3,The DPU-TMALI shall install a callback routine to respond to the DCI Error Interrupt.,SRS5.13.3.2,0
"Initialization The TMALI CSC is initialized by spawning the tmaliTask() with the startup default parameters.  This task will allocate memory for the TMALI_EVENT_QUEUE, install DCI ISRs, initialize static variables and data structures, and then enter an end-less loop in which it transfers the data from the DCI to the TMALI queue, throttled by the semaphore semDciWait.",DPUSDS5.13.1.2.1,The DPU-TMALI shall be capable of making data available from the DCI to DPU-DPA.  DPU-TMALI will populate a ring buffer with frames of data for application task retrieval.,SRS5.13.1.2,0
"Public Functions This routine is called by any CSC in order to report an error or event that should be included in DPU housekeeping.  If this routine is called from interrupt context a static global variable, ccmISRError, is set so that the error can be enqueued later (see ccmCtrlTask()).  This is done since the error/event queue is semaphore-protected and a semaphore cannot be taken in an ISR.  The error queue semaphore has priority inversion set to reduce conflicts between multiple callers should a priority inversion situation arise. This routine also replaces frequently occuring errors with a special repeat error code.  The repeat error code is a special error code that follows a normally reported error code to indicate that the normally reported error code previously reported has occurred more than once in the last high rate reporting period",DPUSDS5.12.2.2,The DPU-TMALI shall provide a function which sets the current event bit ordering mode in the DCI driver.,SRS5.13.1.3,0
"Memory Upload and Download Handling  There are two ways to upload data to the DPU:
* Memory Poke (D_MEM_DAT_POKE command), or
* Memory Upload (D_MEM_DAT_UPLD command).
The memory poke command is used when a small (<=Z bytes) of data need to be poked into a DPU memory location.  The Z byte limitation is derived from the Company X command length constraint.",DPUSDS5.12.1.4.1,The DPU-CCM shall use DPU-EEPRM to access the EEPROM.,SRS5.12.4.1,0
"Setting Data Timeout in DCI  During nominal operation, frames arrive approximately every 11 msecs.  The DCI hardware will generate an interrupt if event data has been received in one of the Ping-Pong buffers, and a configurable amount of time has passed during which no additional events have been received.  A data timeout interrupt is not an error, but rather typically indicates that the current exposure has been completed.  The data timeout interrupt allows the TMALI CSC to retrieve the “trailing” events from the DCI Ping-Pong buffer.  The function tmaliDciTimeoutSet() provides an API to the DCI Driver to allow the timeout setting to be altered.",DPUSDS5.13.1.6.4,The DPU-TMALI  shall provide TMALI_HK to the DPU-CCM on request.,SRS5.13.1.4,0