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Fix #103, add option to configure base tick rate #104

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merged 1 commit into from
Jan 21, 2022
Merged

Fix #103, add option to configure base tick rate #104

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3 changes: 2 additions & 1 deletion fsw/platform_inc/sch_lab_table.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;

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80 changes: 75 additions & 5 deletions fsw/src/sch_lab_app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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;

Expand All @@ -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) */
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Should we remove this 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++)
Expand All @@ -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 */
Expand All @@ -141,12 +162,38 @@ 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;

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
*/
Expand Down Expand Up @@ -203,6 +250,22 @@ 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
*/
Expand All @@ -225,6 +288,13 @@ 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);
Expand Down
3 changes: 2 additions & 1 deletion fsw/tables/sch_lab_table.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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},
Expand Down