Merge pull request #104 from jphickey/fix-103-faster-wakeup

Fix #103, add option to configure base tick rate

Author: astrogeco

fsw/platform_inc/sch_lab_table.h

@@ -48,12 +48,13 @@
 typedef struct
 {
     CFE_SB_MsgId_t    MessageID;  /* Message ID for the table entry */
-    uint32            PacketRate; /* Rate: Send packet every N seconds */
+    uint32            PacketRate; /* Rate: Send packet every N ticks */
     CFE_MSG_FcnCode_t FcnCode;    /* Command/Function code to set */
 } SCH_LAB_ScheduleTableEntry_t;
 
 typedef struct
 {
+    uint32                       TickRate; /* Ticks per second to configure for timer (0=default) */
     SCH_LAB_ScheduleTableEntry_t Config[SCH_LAB_MAX_SCHEDULE_ENTRIES];
 } SCH_LAB_ScheduleTable_t;
 

fsw/src/sch_lab_app.c

@@ -59,6 +59,8 @@ typedef struct
 typedef struct
 {
     SCH_LAB_StateEntry_t State[SCH_LAB_MAX_SCHEDULE_ENTRIES];
+    osal_id_t            TimerId;
+    osal_id_t            TimingSem;
     CFE_TBL_Handle_t     TblHandle;
     CFE_SB_PipeId_t      CmdPipe;
 } SCH_LAB_GlobalData_t;
@@ -80,8 +82,9 @@ void SCH_Lab_AppMain(void)
 {
     int                   i;
     uint32                SCH_OneHzPktsRcvd = 0;
-    uint32                Status            = CFE_SUCCESS;
-    uint32                RunStatus         = CFE_ES_RunStatus_APP_RUN;
+    int32                 OsStatus;
+    CFE_Status_t          Status;
+    uint32                RunStatus = CFE_ES_RunStatus_APP_RUN;
     SCH_LAB_StateEntry_t *LocalStateEntry;
     CFE_SB_Buffer_t *     SBBufPtr;
 
@@ -99,16 +102,29 @@ void SCH_Lab_AppMain(void)
     {
         CFE_ES_PerfLogExit(SCH_MAIN_TASK_PERF_ID);
 
-        /* Pend on receipt of 1Hz packet */
-        Status = CFE_SB_ReceiveBuffer(&SBBufPtr, SCH_LAB_Global.CmdPipe, CFE_SB_PEND_FOREVER);
+        /* Pend on timing sem */
+        OsStatus = OS_CountSemTake(SCH_LAB_Global.TimingSem);
+        if (OsStatus == OS_SUCCESS)
+        {
+            /* check for arrival of the 1Hz - this should sync counts (TBD) */
+            Status = CFE_SB_ReceiveBuffer(&SBBufPtr, SCH_LAB_Global.CmdPipe, CFE_SB_POLL);
+        }
+        else
+        {
+            Status = CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+        }
 
         CFE_ES_PerfLogEntry(SCH_MAIN_TASK_PERF_ID);
 
         if (Status == CFE_SUCCESS)
         {
             SCH_OneHzPktsRcvd++;
+        }
+
+        if (OsStatus == OS_SUCCESS && SCH_OneHzPktsRcvd > 0)
+        {
             /*
-            ** Process table every second, sending packets that are ready
+            ** Process table every tick, sending packets that are ready
             */
             LocalStateEntry = SCH_LAB_Global.State;
             for (i = 0; i < SCH_LAB_MAX_SCHEDULE_ENTRIES; i++)
@@ -132,6 +148,11 @@ void SCH_Lab_AppMain(void)
 
 } /* end SCH_Lab_AppMain */
 
+void SCH_LAB_LocalTimerCallback(osal_id_t object_id, void *arg)
+{
+    OS_CountSemGive(SCH_LAB_Global.TimingSem);
+}
+
 /* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 /*                                                                 */
 /* SCH_LAB_AppInit() -- initialization                             */
@@ -141,13 +162,39 @@ int32 SCH_LAB_AppInit(void)
 {
     int                           i;
     int32                         Status;
+    int32                         OsStatus;
+    uint32                        TimerPeriod;
+    osal_id_t                     TimeBaseId;
     SCH_LAB_ScheduleTable_t *     ConfigTable;
     SCH_LAB_ScheduleTableEntry_t *ConfigEntry;
     SCH_LAB_StateEntry_t *        LocalStateEntry;
     void *                        TableAddr;
 
     memset(&SCH_LAB_Global, 0, sizeof(SCH_LAB_Global));
 
+    OsStatus = OS_CountSemCreate(&SCH_LAB_Global.TimingSem, "SCH_LAB", 0, 0);
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_CountSemCreate failed:RC=%ld\n", __func__, (long)OsStatus);
+        return CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+    }
+
+    /* The underlying timebase object should have been created by the PSP */
+    OsStatus = OS_TimeBaseGetIdByName(&TimeBaseId, "cFS-Master");
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_TimeBaseGetIdByName failed:RC=%ld\n", __func__, (long)OsStatus);
+        return CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+    }
+
+    /* Create the timer callback (but not set yet, as that requires the config table) */
+    OsStatus = OS_TimerAdd(&SCH_LAB_Global.TimerId, "SCH_LAB", TimeBaseId, SCH_LAB_LocalTimerCallback, NULL);
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_TimerAdd failed:RC=%ld\n", __func__, (long)OsStatus);
+        return CFE_STATUS_EXTERNAL_RESOURCE_FAIL;
+    }
+
     /*
     ** Register tables with cFE and load default data
     */
@@ -206,6 +253,22 @@ int32 SCH_LAB_AppInit(void)
         ++LocalStateEntry;
     }
 
+    if (ConfigTable->TickRate == 0)
+    {
+        /* use default of 1 second */
+        CFE_ES_WriteToSysLog("%s: Using default tick rate of 1 second\n", __func__);
+        TimerPeriod = 1000000;
+    }
+    else
+    {
+        TimerPeriod = 1000000 / ConfigTable->TickRate;
+        if ((TimerPeriod * ConfigTable->TickRate) != 1000000)
+        {
+            CFE_ES_WriteToSysLog("%s: WARNING: tick rate of %lu is not an integer number of microseconds\n", __func__,
+                                 (unsigned long)ConfigTable->TickRate);
+        }
+    }
+
     /*
     ** Release the table
     */
@@ -228,6 +291,13 @@ int32 SCH_LAB_AppInit(void)
         OS_printf("SCH Error subscribing to 1hz!\n");
     }
 
+    /* Set timer period */
+    OsStatus = OS_TimerSet(SCH_LAB_Global.TimerId, 1000000, TimerPeriod);
+    if (OsStatus != OS_SUCCESS)
+    {
+        CFE_ES_WriteToSysLog("%s: OS_TimerSet failed:RC=%ld\n", __func__, (long)OsStatus);
+    }
+
     OS_printf("SCH Lab Initialized.%s\n", SCH_LAB_VERSION_STRING);
 
     return (CFE_SUCCESS);

fsw/tables/sch_lab_table.c

@@ -49,7 +49,8 @@
 **  3. If the table grows too big, increase SCH_LAB_MAX_SCHEDULE_ENTRIES
 */
 
-SCH_LAB_ScheduleTable_t SCH_TBL_Structure = {.Config = {
+SCH_LAB_ScheduleTable_t SCH_TBL_Structure = {.TickRate = 1,
+                                             .Config   = {
                                                  {CFE_SB_MSGID_WRAP_VALUE(CFE_ES_SEND_HK_MID), 4, 0},
                                                  {CFE_SB_MSGID_WRAP_VALUE(CFE_EVS_SEND_HK_MID), 4, 0},
                                                  {CFE_SB_MSGID_WRAP_VALUE(CFE_TIME_SEND_HK_MID), 4, 0},