Skip to content

Commit

Permalink
Fix #171, use OSAL timebase for CFE timers
Browse files Browse the repository at this point in the history
Add a new PSP module that instantiates an OSAL abstract timebase
for use with cFE services.  This single module is then used
across all 3 implementations (mcp750, pc-linux, pc-rtems) and
does not need to be duplicated.
  • Loading branch information
jphickey committed Mar 30, 2021
1 parent 73366d4 commit bfbd1b2
Show file tree
Hide file tree
Showing 12 changed files with 134 additions and 221 deletions.
7 changes: 7 additions & 0 deletions fsw/inc/cfe_psp.h
Original file line number Diff line number Diff line change
Expand Up @@ -153,6 +153,13 @@
#define CFE_PSP_MISSION_REV (GLOBAL_PSP_CONFIGDATA.PSP_VersionInfo.MissionRev)
#define CFE_PSP_VERSION (GLOBAL_PSP_CONFIGDATA.PSP_VersionInfo.VersionString)

/**
* \brief The name of the software/RTOS timebase for general system timers.
*
* This name may be referred to by CFE TIME and/or SCH when setting up its own timers.
*/
#define CFE_PSP_SOFT_TIMEBASE_NAME "cFS-Master"

/*
** Type Definitions
*/
Expand Down
10 changes: 10 additions & 0 deletions fsw/mcp750-vxworks/inc/cfe_psp_config.h
Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,16 @@
*/
#define CFE_PSP_MAX_EXCEPTION_ENTRIES 4

/*
* The tick period that will be configured in the RTOS for the simulated
* time base, in microseconds. This in turn is used to drive the 1hz clock
* and other functions.
*
* On the MCP750 the sysClockRate runs at 60Hz so this is the same period
* that the cFE software timebase will be configured at.
*/
#define CFE_PSP_SOFT_TIMEBASE_PERIOD 16666

/*
** Typedef for the layout of the vxWorks boot record structure
**
Expand Down
3 changes: 2 additions & 1 deletion fsw/mcp750-vxworks/psp_module_list.cmake
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
# This is a list of modules that is included as a fixed/base set
# This is a list of modules that is included as a fixed/base set
# when this PSP is selected. They must exist under fsw/modules

soft_timebase
eeprom_direct
28 changes: 0 additions & 28 deletions fsw/mcp750-vxworks/src/cfe_psp_start.c
Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,6 @@ IMPORT void sysPciWrite32(UINT32, UINT32);

#define CFE_PSP_MAIN_FUNCTION (*GLOBAL_CONFIGDATA.CfeConfig->SystemMain)
#define CFE_PSP_NONVOL_STARTUP_FILE (GLOBAL_CONFIGDATA.CfeConfig->NonvolStartupFile)
#define CFE_PSP_1HZ_FUNCTION (*GLOBAL_CONFIGDATA.CfeConfig->System1HzISR)

/******************************************************************************
** Function: OS_Application_Startup()
Expand Down Expand Up @@ -232,30 +231,3 @@ void OS_Application_Startup(void)
*/
CFE_PSP_MAIN_FUNCTION(reset_type, reset_subtype, 1, CFE_PSP_NONVOL_STARTUP_FILE);
}

/******************************************************************************
** Function: OS_Application_Run()
**
** Purpose:
** Idle Loop entry point from OSAL BSP.
**
** Arguments:
** (none)
**
** Return:
** (none)
*/
void OS_Application_Run(void)
{
int TicksPerSecond;

/*
** Main loop for default task and simulated 1hz
*/
for (;;)
{
TicksPerSecond = sysClkRateGet();
(void)taskDelay(TicksPerSecond);
CFE_PSP_1HZ_FUNCTION();
}
}
3 changes: 3 additions & 0 deletions fsw/modules/soft_timebase/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@

# Create the module
add_psp_module(soft_timebase cfe_psp_soft_timebase.c)
82 changes: 82 additions & 0 deletions fsw/modules/soft_timebase/cfe_psp_soft_timebase.c
Original file line number Diff line number Diff line change
@@ -0,0 +1,82 @@
/*
** GSC-18128-1, "Core Flight Executive Version 6.7"
**
** Copyright (c) 2006-2019 United States Government as represented by
** the Administrator of the National Aeronautics and Space Administration.
** All Rights Reserved.
**
** Licensed under the Apache License, Version 2.0 (the "License");
** you may not use this file except in compliance with the License.
** You may obtain a copy of the License at
**
** http://www.apache.org/licenses/LICENSE-2.0
**
** Unless required by applicable law or agreed to in writing, software
** distributed under the License is distributed on an "AS IS" BASIS,
** WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
** See the License for the specific language governing permissions and
** limitations under the License.
*/

/**
* \file cfe_psp_soft_timebase.c
*
* A PSP module that instantiates an RTOS-backed OSAL timebase to provide
* various timing services. This in turn may be used to drive CFE TIME 1Hz
* signal, the CFS SCH major/minor frame sync and other periodic services
* in CFE.
*
* This module can be used on systems which do not have a hardware
* source for the 1Hz signal or timing info (i.e. simulation, test
* and debug platforms, etc).
*/

#include "cfe_psp.h"
#include "cfe_psp_module.h"
#include "cfe_psp_config.h"

CFE_PSP_MODULE_DECLARE_SIMPLE(soft_timebase);

/*
* Global state data for this module (not exposed publicly)
*/
static struct
{
osal_id_t sys_timebase_id;
} PSP_SoftTimebase_Global;

void soft_timebase_Init(uint32 PspModuleId)
{
int32 status;

memset(&PSP_SoftTimebase_Global, 0, sizeof(PSP_SoftTimebase_Global));

/* Set up the OSAL timebase using the well-known name */
status = OS_TimeBaseCreate(&PSP_SoftTimebase_Global.sys_timebase_id, CFE_PSP_SOFT_TIMEBASE_NAME, NULL);
if (status == OS_SUCCESS)
{
/* Set the timebase to trigger with desired resolution */
status = OS_TimeBaseSet(PSP_SoftTimebase_Global.sys_timebase_id, CFE_PSP_SOFT_TIMEBASE_PERIOD,
CFE_PSP_SOFT_TIMEBASE_PERIOD);
}

/*
* The only way this can fail is through a misconfiguration or API incompatibility -
* if it fails, it means all timing related functions are likely to be broken,
* CFE TIME may not work correctly, and background jobs will not run.
*
* Might even be worth a CFE_PSP_Panic(), but it still may be possible
* to boot CFE and (maybe) save the system by uploading a file with the bug fixed.
*/
if (status != OS_SUCCESS)
{
printf("CFE_PSP: *** Failed to configure software timebase \'%s\', status = %d! ***\n",
CFE_PSP_SOFT_TIMEBASE_NAME, (int)status);
}
else
{
/* Inform the user that this module is in use */
printf("CFE_PSP: Instantiated software timebase \'%s\' running at %lu usec\n", CFE_PSP_SOFT_TIMEBASE_NAME,
(unsigned long)CFE_PSP_SOFT_TIMEBASE_PERIOD);
}
}
13 changes: 13 additions & 0 deletions fsw/pc-linux/inc/cfe_psp_config.h
Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,19 @@
/* use the "USR1" signal to wake the idle thread when an exception occurs */
#define CFE_PSP_EXCEPTION_EVENT_SIGNAL SIGUSR1

/*
* The tick period that will be configured in the RTOS for the simulated
* time base, in microseconds. This in turn is used to drive the 1hz clock
* and other functions.
*
* To minimize jitter in the resulting callbacks, it should be an even
* divisor of 1000000 usec.
*
* Note - 10ms/100Hz is chosen to also allow this same timebase to be
* used to drive the CFS SCH minor frame callbacks in its default config.
*/
#define CFE_PSP_SOFT_TIMEBASE_PERIOD 10000

/*
** Global variables
*/
Expand Down
3 changes: 2 additions & 1 deletion fsw/pc-linux/psp_module_list.cmake
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
# This is a list of modules that is included as a fixed/base set
# This is a list of modules that is included as a fixed/base set
# when this PSP is selected. They must exist under fsw/modules

soft_timebase
eeprom_mmap_file
142 changes: 0 additions & 142 deletions fsw/pc-linux/src/cfe_psp_start.c
Original file line number Diff line number Diff line change
Expand Up @@ -113,10 +113,8 @@ typedef struct
/*
** Prototypes for this module
*/
void CFE_PSP_TimerHandler(int signum);
void CFE_PSP_DisplayUsage(char *Name);
void CFE_PSP_ProcessArgumentDefaults(CFE_PSP_CommandData_t *CommandDataDefault);
void CFE_PSP_SetupLocal1Hz(void);

/*
** Global variables
Expand Down Expand Up @@ -212,8 +210,6 @@ void OS_Application_Startup(void)
{
uint32 reset_type;
uint32 reset_subtype;
int32 time_status;
osal_id_t sys_timebase_id;
osal_id_t fs_id;
int opt = 0;
int longIndex = 0;
Expand Down Expand Up @@ -342,41 +338,6 @@ void OS_Application_Startup(void)
memset(&CFE_PSP_IdleTaskState, 0, sizeof(CFE_PSP_IdleTaskState));
CFE_PSP_IdleTaskState.ThreadID = pthread_self();

/*
** Set up the timebase, if OSAL supports it
** Done here so that the modules can also use it, if desired
**
** This is a clock named "cFS-Master" that will serve to drive
** all time-related CFE functions including the 1Hz signal.
**
** Note the timebase is only prepared here; the application is
** not ready to receive a callback yet, as it hasn't been started.
** CFE TIME registers its own callback when it is ready to do so.
*/
time_status = OS_TimeBaseCreate(&sys_timebase_id, "cFS-Master", NULL);
if (time_status == OS_SUCCESS)
{
/*
* Set the clock to trigger with 50ms resolution - slow enough that
* it will not hog CPU resources but fast enough to have sufficient resolution
* for most general timing purposes.
* (It may be better to move this to the mission config file)
*/
time_status = OS_TimeBaseSet(sys_timebase_id, 50000, 50000);
}
else
{
/*
* Cannot create a timebase in OSAL.
*
* Note: Most likely this is due to building with
* the old/classic POSIX OSAL which does not support this.
*
* See below for workaround.
*/
sys_timebase_id = OS_OBJECT_ID_UNDEFINED;
}

/*
** Set up the virtual FS mapping for the "/cf" directory
** On this platform it is just a local/relative dir of the same name.
Expand Down Expand Up @@ -453,15 +414,6 @@ void OS_Application_Startup(void)
** Call cFE entry point.
*/
CFE_PSP_MAIN_FUNCTION(reset_type, reset_subtype, 1, CFE_PSP_NONVOL_STARTUP_FILE);

/*
* Backward compatibility for old OSAL.
*/
if (!OS_ObjectIdDefined(sys_timebase_id) || time_status != OS_SUCCESS)
{
OS_printf("CFE_PSP: WARNING - Compatibility mode - using local 1Hz Interrupt\n");
CFE_PSP_SetupLocal1Hz();
}
}

void OS_Application_Run(void)
Expand Down Expand Up @@ -522,31 +474,6 @@ void OS_Application_Run(void)
OS_DeleteAllObjects();
}

/******************************************************************************
** Function: CFE_PSP_TimerHandler()
**
** Purpose:
** 1hz "isr" routine for linux/OSX
** This timer handler will execute 4 times a second.
**
** Arguments:
** (none)
**
** Return:
** (none)
*/
void CFE_PSP_TimerHandler(int signum)
{
/*
** call the CFE_TIME 1hz ISR
*/
if ((TimerCounter % 4) == 0)
CFE_PSP_1HZ_FUNCTION();

/* update timer counter */
TimerCounter++;
}

/******************************************************************************
** Function: CFE_PSP_DisplayUsage
**
Expand Down Expand Up @@ -639,72 +566,3 @@ void CFE_PSP_ProcessArgumentDefaults(CFE_PSP_CommandData_t *CommandDataDefault)
CommandDataDefault->GotCpuName = 1;
}
}

/******************************************************************************
** Function: CFE_PSP_SetupLocal1Hz
**
** Purpose:
** This is a backward-compatible timer setup that is invoked when
** there is a failure to set up the timebase in OSAL. It is basically
** the old way of doing things.
**
** IMPORTANT: Note this is technically incorrect as it gives the
** callback directly in the context of the signal handler. It is
** against spec to use most OSAL functions within a signal.
**
** This is included merely to mimic the previous system behavior. It
** should be removed in a future version of the PSP.
**
**
** Arguments:
** (none)
**
** Return:
** (none)
**
*/

void CFE_PSP_SetupLocal1Hz(void)
{
struct sigaction sa;
struct itimerval timer;
int ret;

/*
** Init timer counter
*/
TimerCounter = 0;

/*
** Install timer_handler as the signal handler for SIGALRM.
*/
memset(&sa, 0, sizeof(sa));
sa.sa_handler = &CFE_PSP_TimerHandler;

/*
** Configure the timer to expire after 250ms
**
** (this is historical; the actual callback is invoked
** only on every 4th timer tick. previous versions of the
** PSP did it this way, so this is preserved here).
*/
timer.it_value.tv_sec = 0;
timer.it_value.tv_usec = 250000;
timer.it_interval.tv_sec = 0;
timer.it_interval.tv_usec = 250000;

ret = sigaction(SIGALRM, &sa, NULL);

if (ret < 0)
{
OS_printf("CFE_PSP: sigaction() error %d: %s \n", ret, strerror(errno));
}
else
{
ret = setitimer(ITIMER_REAL, &timer, NULL);
if (ret < 0)
{
OS_printf("CFE_PSP: setitimer() error %d: %s \n", ret, strerror(errno));
}
}
}
13 changes: 13 additions & 0 deletions fsw/pc-rtems/inc/cfe_psp_config.h
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,19 @@
*/
#define CFE_PSP_MAX_EXCEPTION_ENTRIES 1

/*
* The tick period that will be configured in the RTOS for the simulated
* time base, in microseconds. This in turn is used to drive the 1hz clock
* and other functions.
*
* To minimize jitter in the resulting callbacks, it should be an even
* divisor of 1000000 usec.
*
* Note - 10ms/100Hz is chosen to also allow this same timebase to be
* used to drive the CFS SCH minor frame callbacks in its default config.
*/
#define CFE_PSP_SOFT_TIMEBASE_PERIOD 10000

/*
** Typedef for the layout of the header in the reserved memory block
*/
Expand Down
Loading

0 comments on commit bfbd1b2

Please sign in to comment.