Fix #171, use OSAL timebase for CFE timers

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.

fsw/inc/cfe_psp.h

@@ -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
 */

fsw/mcp750-vxworks/inc/cfe_psp_config.h

@@ -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
 **

fsw/mcp750-vxworks/psp_module_list.cmake

@@ -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

fsw/mcp750-vxworks/src/cfe_psp_start.c

@@ -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()
@@ -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();
-    }
-}

fsw/modules/soft_timebase/CMakeLists.txt

@@ -0,0 +1,3 @@
+
+# Create the module
+add_psp_module(soft_timebase cfe_psp_soft_timebase.c)

fsw/modules/soft_timebase/cfe_psp_soft_timebase.c

@@ -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);
+    }
+}

fsw/pc-linux/inc/cfe_psp_config.h

@@ -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
 */

fsw/pc-linux/psp_module_list.cmake

@@ -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

fsw/pc-linux/src/cfe_psp_start.c

@@ -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
@@ -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;
@@ -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.
@@ -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)
@@ -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
 **
@@ -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));
-        }
-    }
-}

fsw/pc-rtems/inc/cfe_psp_config.h

@@ -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
 */