/******************************************************************************
** Function: CFE_PSP_InitLocalTime()
**
** Purpose: Initializes the vxWorks Aux and TimeStamp timers.
**
** Arguments: none
******************************************************************************/
void CFE_PSP_InitLocalTime(void)
{
/* Set the sys clock rate */
sysClkRateSet(200);
/*
** Disable the Aux timer interrupt
*/
sysAuxClkDisable();
/*
** Set the Aux timer rate
*/
if(sysAuxClkRateGet() != CFE_PSP_TIMER_AUX_TICK_PER_SEC)
{
if(sysAuxClkRateSet(CFE_PSP_TIMER_AUX_TICK_PER_SEC) == ERROR)
{
OS_printf("CFE_PSP: Unable to set Aux Clock Rate!\n");
}
if(CFE_PSP_TIMER_PRINT_DBG == TRUE)
{
OS_printf("CFE_PSP: Aux Clock Rate %d.\n", sysAuxClkRateGet());
}
}
}
void task_3(void)
{
uint32 status;
OS_bin_sem_prop_t bin_sem_prop;
int counter = 0;
OS_printf("Starting task 3\n");
OS_TaskRegister();
OS_printf("TASK 3: Waiting on the semaphore\n");
status = OS_BinSemTake(bin_sem_id);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 3: Error calling OS_BinSemTake\n");
}
else
{
status = OS_BinSemGetInfo (bin_sem_id, &bin_sem_prop);
OS_printf("TASK 3: out of BinSemTake: %d\n",(int)bin_sem_prop.value);
}
while(1)
{
OS_TaskDelay(1000);
OS_printf("TASK 3: Doing some work: %d\n", (int)counter++);
}
}
void TimerFunction(uint32 timer_id)
{
int32 status;
OS_bin_sem_prop_t bin_sem_prop;
timer_counter++;
status = OS_BinSemGive(bin_sem_id);
/*
** Note: The timer callback function in RTEMS runs as an ISR
** so calls that block cannot be made.
*/
#ifndef _RTEMS_OS_
status = OS_BinSemGetInfo (bin_sem_id, &bin_sem_prop);
if ( bin_sem_prop.value > 1 )
{
OS_printf("Error: Binary sem value > 1 ( in timer):%d !\n",(int)bin_sem_prop.value);
exit(-1);
}
else if ( bin_sem_prop.value < -1 )
{
OS_printf("Error: Binary sem value < -1 ( in timer):%d !\n",(int)bin_sem_prop.value);
exit(-1);
}
#endif
}
/*--------------------------------------------------------------------------------------
Name: OS_SymbolLookup
Purpose: Find the Address of a Symbol
Parameters:
Returns: OS_ERROR if the symbol could not be found
OS_SUCCESS if the symbol is found
OS_INVALID_POINTER if the pointer passed in is invalid
The address of the symbol will be stored in the pointer that is passed in.
---------------------------------------------------------------------------------------*/
int32 OS_SymbolLookup( uint32 *SymbolAddress, char *SymbolName )
{
int32 returnStatus=OS_SUCCESS;
boolean symbolFound=FALSE;
int i;
/* Check the arguments for validity */
if (SymbolAddress != NULL && SymbolName != NULL)
{
/* Search the table for the Symbol */
for (i=0; i<UTF_MAX_SYMBOLS; i++)
{
if (strcmp(SymbolName, symbolTbl[i].symbolName) == 0)
{
*SymbolAddress = symbolTbl[i].symbolAddr;
symbolFound = TRUE;
OS_printf("OSAL: Address passed back = %x\n",*SymbolAddress);
break;
}
}
if (symbolFound == FALSE)
{
OS_printf("OSAL: Error, cannot locate symbol '%s'\n",SymbolName);
returnStatus = OS_ERROR;
}
}
else
returnStatus = OS_INVALID_POINTER;
return(returnStatus);
}/* end OS_SymbolLookup */
void task_1(void)
{
uint32 status;
uint32 data_received;
uint32 data_size;
OS_printf("Starting task 1\n");
OS_TaskRegister();
OS_printf("Delay for 1 second before starting\n");
OS_TaskDelay(1000);
while(1)
{
status = OS_QueueGet(msgq_id, (void*)&data_received, MSGQ_SIZE, &data_size, 1000);
if ( status == OS_SUCCESS )
{
OS_printf("TASK 1: Recieved a message on the queue\n");
}
else if ( status == OS_QUEUE_TIMEOUT )
{
OS_printf("TASK 1: Timeout on Queue! Timer counter = %d\n", timer_counter);
}
else
{
OS_printf("TASK 1: Queue Get error!\n");
}
}
}
void task_3(void)
{
uint32 data_received;
uint32 data_size;
uint32 status;
OS_printf("Starting task 3\n");
OS_TaskRegister();
while(1)
{
status = OS_QueueGet(msgq_id, (void*)&data_received, MSGQ_SIZE, &data_size, OS_PEND);
if (status == OS_SUCCESS)
{
OS_printf("TASK 3: Received - %d\n", (int)data_received+1);
}
else
{
OS_printf("TASK 3: Error calling OS_QueueGet\n");
}
}
}
void EIM_ResetTlmConnection(void)
{
int status = 0;
struct sockaddr_in si_tmp;
char cBuf[] = {1,0,0,0,0,0,0,0,0,0,0,0,0,0};
int len=14;
OS_printf("EIM: Sending reset message.\n");
memset((char *) &si_tmp, 0, sizeof(si_tmp));
si_tmp.sin_family = AF_INET;
inet_aton(EIM_WIFI_IP, &si_tmp.sin_addr);
si_tmp.sin_port = htons(EIM_NAV_DATA_PORT);
status = sendto(EIM_AppData.NavSocketID, cBuf, len, 0,
(struct sockaddr *) &si_tmp, sizeof(si_tmp) );
if ( status < 0 )
{
CFE_EVS_SendEvent(EIM_TELEM_TASK_ERR_EID, CFE_EVS_ERROR, "EIM: Failed to send NAVDATA reset. errno: %d", errno);
CFE_ES_ExitChildTask();
}
else
{
OS_printf("EIM: Reset message sent.\n");
}
}
/******************************************************************************
** Function: LABTLM_Main
**
*/
void LABTLM_Main(void)
{
int32 Status = CFE_SEVERITY_ERROR;
uint32 RunStatus = CFE_ES_APP_ERROR;
Status = CFE_ES_RegisterApp();
CFE_EVS_Register(NULL,0,0);
/*
** Perform application specific initialization
*/
if (Status == CFE_SUCCESS)
{
OS_printf("TO-LAB: About to call init\n");
Status = InitApp();
}
/*
** At this point many flight apps use CFE_ES_WaitForStartupSync() to
** synchronize their startup timing with other apps. This is not
** needed.
*/
if (Status == CFE_SUCCESS) RunStatus = CFE_ES_APP_RUN;
/*
** Main process loop
*/
OS_printf("TO-LAB: About to enter loop\n");
while (CFE_ES_RunLoop(&RunStatus))
{
OS_TaskDelay(LABTLM_RUNLOOP_DELAY);
PKTMGR_OutputTelemetry();
ProcessCommands();
} /* End CFE_ES_RunLoop */
/* Write to system log in case events not working */
CFE_ES_WriteToSysLog("LABTLM App terminating, err = 0x%08X\n", Status);
CFE_EVS_SendEvent(LABTLM_EXIT_ERR_EID, CFE_EVS_CRITICAL, "LABTLM App: terminating, err = 0x%08X", Status);
CFE_ES_ExitApp(RunStatus); /* Let cFE kill the task (and any child tasks) */
} /* End of LABTLM_Main() */
void OS_Application_Startup(void)
{
uint32 status;
OS_API_Init();
OS_printf("OS Application Startup\n");
status = OS_QueueCreate( &msgq_id, "MsgQ", MSGQ_DEPTH, MSGQ_SIZE, 0);
if ( status != OS_SUCCESS )
{
OS_printf("Error creating Message Queue\n");
}
/*
** Create a timer
*/
status = OS_TimerCreate(&timer_id, "Timer 1", &timer_accuracy, &(TimerFunction));
if ( status != OS_SUCCESS )
{
OS_printf("Error creating OS Timer\n");
}
else
{
OS_printf("Timer ID = %d\n", (int)timer_id);
OS_printf("Timer Accuracy = %d microseconds \n",(int)timer_accuracy);
}
/*
** Create the "consumer" task.
*/
status = OS_TaskCreate( &task_1_id, "Task 1", task_1, task_1_stack, TASK_1_STACK_SIZE, TASK_1_PRIORITY, 0);
if ( status != OS_SUCCESS )
{
OS_printf("Error creating Task 1\n");
}
else
{
OS_printf("Created Task 1\n");
}
/*
** Start the timer
*/
status = OS_TimerSet(timer_id, timer_start, timer_interval);
if ( status != OS_SUCCESS )
{
OS_printf("Error calling OS_TimerSet: ID = %d\n", (int)timer_id);
}
else
{
OS_printf("Timer programmed\n");
}
}
/******************************************************************************
** Function: CFE_PSP_SysInit()
**
** Purpose:
** Initializes core PSP functionality. This is called by both the primary
** CFE_PSP_Main startup, as well as the alternative initialization in the
** Startup Manager (SM) component. The SM uses the PSP and OSAL but does
** not start cFE or initialize all components of the PSP.
**
** Arguments:
** psp_reset_type - output
** psp_reset_subtype - output
** last_bsp_reset_type - input - TBD - do we need to keep this?
**
** Return:
** (none)
**
*/
void CFE_PSP_SysInit(uint32* psp_reset_type, uint32* psp_reset_subtype, uint32 last_bsp_reset_type)
{
int TicksPerSecond = 0;
uint32 mcfg2 = 0;
/*
** Delay for one second.
*/
TicksPerSecond = sysClkRateGet();
(void) taskDelay( TicksPerSecond );
/* This register should be initialized by the Kernel or Bootloader. It's value
** is verified here to ensure correct operation of the system. This section may
** be tweaked as necessary for project requirements if not set directly in the
** bootloader.
** Rick - Need to verify this solves the memory access exceptions. SPARC is
** very touchy about this, more so than PPC or coldfire.
**
** Brute force... Make sure the read-modify-write bit is set in mcfg2 register
** The bit is 0x00000040 in mcfg2 reg, and should probably always be set. If there
** is a performance hit, that's still better than random crashes.
*/
mcfg2 = *(uint32*)0x80000004;
if(!(mcfg2 & 0x00000040))
{
/*
** Set the rmw bit now and print something saying you did so...
*/
mcfg2 = *(uint32*)0x80000004 = mcfg2 | 0x00000040;
OS_printf("\nNOTE: Set the rmw bit MCFG2 reg. Current value = %08X\n\n", mcfg2);
}
else
{
OS_printf("\nNOTE: The rmw bit in MCFG2 reg is already set. Current value = %08X\n\n", mcfg2);
}
/* Assign the reset cause */
/* for now always start up in a power on reset */
*psp_reset_type = CFE_ES_POWERON_RESET;
*psp_reset_subtype = CFE_ES_POWER_CYCLE;
ResetType = *psp_reset_type;
ResetSubtype = *psp_reset_subtype;
}
/******************************************************************************
** Function: CFE_PSP_Init1HzTimer()
**
** Purpose: Initializes the 1Hz Timer and connects it to the cFE TIME 1Hz routine
**
**
** NOTE: This function has to be called after CFE_ES_Main() in CFE_PSP_Start()
** because the 1Hz ISR has a semaphore that is created in CFE_ES_Main().
**
** Arguments: none
******************************************************************************/
void CFE_PSP_Init1HzTimer(void)
{
/*
** Attach a handler to the timer interrupt
*/
/* Either the Aux clock */
if(sysAuxClkConnect((FUNCPTR)CFE_PSP_AuxClkHandler,
CFE_PSP_TIMER_AUX_TICK_PER_SEC) == ERROR)
{
printf("CFE_PSP: Unable to connect handler to Aux Clock!\n");
}
/*
** Enable the Aux timer interrupt
** Enable the Timestamp timer, which also sets it to zero
*/
sysAuxClkEnable();
if(sysTimestampEnable() == ERROR)
{
OS_printf("CFE_PSP: Unable to enable the Timestamp timer!\n");
}
g_bTimerInitialized = TRUE;
}/* end CFE_PSP_Init1HzTimer */
void CFE_PSP_SigintHandler (int arg)
{
OS_printf("\nCFE_PSP: Control-C Captured - Exiting cFE\n");
CFE_PSP_DeleteProcessorReservedMemory();
CFE_PSP_DeleteOSResources();
exit(0);
}
void OS_BSPMain( void )
{
int TicksPerSecond;
/*
** Initialize the OS API
*/
OS_API_Init();
/*
** Delay for one second.
*/
TicksPerSecond = sysClkRateGet();
(void) taskDelay( TicksPerSecond );
OS_printf("Starting Up OSAPI App.\n");
/*
** Call OSAL entry point.
*/
OS_Application_Startup();
/*
** Exit the main thread.
** in VxWorks we can delete all of the OS tasks if we want.
*/
}
/*
** TO delete callback function.
** This function will be called in the event that the TO app is killed.
** It will close the network socket for TO
*/
void TO_delete_callback(void)
{
OS_printf("TO delete callback -- Closing TO Network socket.\n");
if ( downlink_on == TRUE )
{
close(TLMsockid);
}
}
void task_2(void)
{
uint32 status;
OS_printf("Starting task 2\n");
OS_TaskRegister();
while(1)
{
status = OS_MutSemTake(mutex_id);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 2:Error calling OS_MutSemTake\n");
}
shared_resource_x = task_2_id;
status = OS_QueuePut(msgq_id, (void*)&shared_resource_x, sizeof(uint32), 0);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 2:Error calling OS_QueuePut (1)\n");
}
OS_TaskDelay(150);
shared_resource_x = task_2_id;
status = OS_QueuePut(msgq_id, (void*)&shared_resource_x, sizeof(uint32), 0);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 2:Error calling OS_QueuePut (2)\n");
}
status = OS_MutSemGive(mutex_id);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 2:Error calling OS_MutSemGive\n");
}
OS_TaskDelay(500);
}
}
/******************************************************************************
** Function: CFE_PSP_InitUserReservedArea
**
** Purpose:
** This function is used by the ES startup code to initialize the
** ES user reserved area.
**
** Arguments:
** (none)
**
** Return:
** (none)
*/
int32 CFE_PSP_InitUserReservedArea(uint32 RestartType )
{
int32 return_code;
key_t key;
/*
** Make the Shared memory key
*/
if ((key = ftok(CFE_PSP_RESERVED_KEY_FILE, 'R')) == -1)
{
OS_printf("CFE_PSP: Cannot Create User Reserved Area Shared memory key!\n");
exit(-1);
}
/*
** connect to (and possibly create) the segment:
*/
if ((UserShmId = shmget(key, CFE_PSP_USER_RESERVED_SIZE, 0644 | IPC_CREAT)) == -1)
{
OS_printf("CFE_PSP: Cannot shmget User Reserved Area Shared memory Segment!\n");
exit(-1);
}
/*
** attach to the segment to get a pointer to it:
*/
CFE_PSP_UserReservedAreaPtr = shmat(UserShmId, (void *)0, 0);
if (CFE_PSP_UserReservedAreaPtr == (uint8 *)(-1))
{
OS_printf("CFE_PSP: Cannot shmat to User Reserved Area Shared memory Segment!\n");
exit(-1);
}
if ( RestartType == CFE_ES_POWERON_RESET )
{
OS_printf("CFE_PSP: Clearing out CFE User Reserved Shared memory segment.\n");
memset(CFE_PSP_UserReservedAreaPtr, 0, CFE_PSP_USER_RESERVED_SIZE);
}
return_code = CFE_PSP_SUCCESS;
return(return_code);
}
void CFE_PSP_AttachExceptions(void)
{
/*
** Always attach exception hook
*/
excHookAdd((FUNCPTR)CFE_PSP_ExceptionHook);
OS_printf("BSP: Attached cFE Exception Handler. Context Size = %d bytes.\n",
CFE_PSP_CPU_CONTEXT_SIZE);
}
/******************************************************************************
** Function: OS_TimerSet
**
** Purpose:
**
** Arguments:
** (none)
**
** Return:
** (none)
*/
int32 OS_TimerSet(uint32 timer_id, uint32 start_time, uint32 interval_time)
{
rtems_interval timeout;
rtems_status_code status;
/*
** Check to see if the timer_id given is valid
*/
if (timer_id >= OS_MAX_TIMERS || OS_timer_table[timer_id].free == TRUE)
{
return OS_ERR_INVALID_ID;
}
/*
** Round up the accuracy of the start time and interval times.
** Still want to preserve zero, since that has a special meaning.
*/
if (( start_time > 0 ) && (start_time < os_clock_accuracy))
{
start_time = os_clock_accuracy;
}
if ((interval_time > 0) && (interval_time < os_clock_accuracy ))
{
interval_time = os_clock_accuracy;
}
/*
** Save the start and interval times
*/
OS_timer_table[timer_id].start_time = start_time;
OS_timer_table[timer_id].interval_time = interval_time;
/*
** The defined behavior is to not arm the timer if the start time is zero
** If the interval time is zero, then the timer will not be re-armed.
*/
if ( start_time > 0 )
{
/*
** Convert from Microseconds to the timeout
*/
OS_UsecsToTicks(start_time, &timeout);
status = rtems_timer_fire_after(OS_timer_table[timer_id].host_timerid,
timeout,
OS_TimerSignalHandler, (void *)timer_id );
if ( status != RTEMS_SUCCESSFUL )
{
OS_printf("BSP: Error: Cannot setup interval timer to fire.\n");
return ( OS_TIMER_ERR_INTERNAL);
}
}
return OS_SUCCESS;
}
/******************************************************************************
** Function: CFE_PSP_WatchdogEnable()
**
** Purpose:
** Enable the watchdog timer
**
** Arguments:
**
** Return:
*/
void CFE_PSP_WatchdogEnable(void)
{
unsigned long reg = *(unsigned long *)TIMER4_CONTROL;
OS_printf("WatchdogEna Tmr: %08X\n", CFE_PSP_WatchdogGet());
OS_printf("WatchdogEna Lod: %08X\n", *(unsigned long *)(0x80000344));
OS_printf("WatchdogEna ctl: %08X\n", *(unsigned long *)(0x80000348));
/*
** Enable the timer is logic zero
*/
reg &= ~TIMER4_CONTROL_IP; /* clear an interrupt pending */
reg |= TIMER4_CONTROL_IE; /* Enable interrupt */
reg |= TIMER4_CONTROL_EN; /* Enable timer */
*(unsigned long *)TIMER4_CONTROL = reg;
OS_printf("WatchdogEna Tmr: %08X\n", CFE_PSP_WatchdogGet());
OS_printf("WatchdogEna Lod: %08X\n", *(unsigned long *)(0x80000344));
OS_printf("WatchdogEna ctl: %08X\n", *(unsigned long *)(0x80000348));
return;
}
void CFE_PSP_InitLocalTime(void)
{
/* Set the sys clock rate */
sysClkRateSet(200);
/*
** Disable the Aux timer interrupt, and disable the Timestamp timer
*/
sysAuxClkDisable();
if(sysTimestampDisable() == ERROR)
{
OS_printf("CFE_PSP: Unable to disable the Timestamp timer!\n");
}
/*
** Set the Aux timer
*/
if(sysAuxClkRateGet() != CFE_PSP_TIMER_AUX_TICK_PER_SEC)
{
if(sysAuxClkRateSet(CFE_PSP_TIMER_AUX_TICK_PER_SEC) == ERROR)
{
OS_printf("CFE_PSP: Unable to set Aux Clock Rate!\n");
}
if(CFE_PSP_TIMER_PRINT_DBG == TRUE)
{
OS_printf("CFE_PSP: Aux Clock Rate %d.\n", sysAuxClkRateGet());
OS_printf("CFE_PSP: Timestamp Frequency %u.\n", sysTimestampFreq());
OS_printf("CFE_PSP: Timestamp Period %u.\n", sysTimestampPeriod());
}
}
}/* end CFE_PSP_InitLocalTime */
void TO_ForwardTelemetry(uint32 PrioMask)
{
int32 cfeStatus;
uint32 msgSize;
uint32 Surplus = 0;
uint32 i=0;
for(i=0; i < TO_MAX_TLM_CLASS_QUEUES; i++)
{
TO_TlmClassQueue_t *clsQueue = &TO_AppData.Config->ClassQueue[i];
uint32 budget = clsQueue->Quantum + clsQueue->Deficit + Surplus;
while(1)
{
if(TO_AppData.Config->ClassQueue[i].PktPtr == 0)
{
cfeStatus = CFE_SB_RcvMsg(&TO_AppData.Config->ClassQueue[i].PktPtr, clsQueue->PipeId, CFE_SB_POLL);
if((cfeStatus != CFE_SUCCESS))
{
clsQueue->Deficit = 0;
Surplus = budget;
break;
}
}
if(i == 3)
{
OS_printf("Video telemetry out.");
}
msgSize = CFE_SB_GetTotalMsgLength(TO_AppData.Config->ClassQueue[i].PktPtr);
if(msgSize <= budget)
{
TO_SendToChannel(TO_AppData.Config->ClassQueue[i].ChannelIdx,
TO_AppData.Config->ClassQueue[i].PktPtr,
msgSize);
TO_AppData.Config->ClassQueue[i].PktPtr = 0;
budget -= msgSize;
}
else
{
clsQueue->DeferredCount++;
clsQueue->Deficit = budget - Surplus;
Surplus = budget;
break;
}
}
}
}
void task_3(void)
{
uint32 status;
OS_printf("Starting task 3\n");
OS_TaskRegister();
while(1)
{
OS_TaskDelay(1000);
OS_printf("TASK 3: Waiting on the semaphore\n");
status = OS_CountSemTake(count_sem_id);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 3: Error calling OS_CountSemTake\n");
}
else
{
OS_printf("TASK 3: grabbed Counting Sem\n");
}
}
}
void CFE_PSP_Panic(int32 ErrorCode)
{
OS_printf("\nWarning: CFE PSP Panic with error code %d! A restart will occur!\n\n", ErrorCode);
/*
** Delay for second or two, allow the print statement to send
*/
taskDelay(100);
/*
** Debug Switch is not set, do a processor Reset
*/
CFE_PSP_Restart(CFE_ES_PROCESSOR_RESET);
}
/******************************************************************************
** Function: CFE_PSP_InitProcessorReservedMemory
**
** Purpose:
** This function performs the top level reserved memory initialization.
**
** Arguments:
** (none)
**
** Return:
** (none)
*/
int32 CFE_PSP_InitProcessorReservedMemory( uint32 RestartType )
{
int32 return_code;
if ( RestartType != CFE_ES_PROCESSOR_RESET )
{
OS_printf("CFE_PSP: Clearing Processor Reserved Memory.\n");
memset((void *)CFE_PSP_ReservedMemoryPtr, 0, sizeof(CFE_PSP_ReservedMemory_t));
/*
** Set the default reset type in case a watchdog reset occurs
*/
CFE_PSP_ReservedMemoryPtr->bsp_reset_type = CFE_ES_PROCESSOR_RESET;
}
return_code = CFE_PSP_SUCCESS;
return(return_code);
}
void CFE_PSP_Restart(uint32 reset_type)
{
if ( reset_type == CFE_ES_POWERON_RESET )
{
CFE_PSP_ReservedMemoryPtr->bsp_reset_type = CFE_ES_POWERON_RESET;
CFE_PSP_FlushCaches(1, (uint32 )CFE_PSP_ReservedMemoryPtr, sizeof(CFE_PSP_ReservedMemory_t));
/* reboot(BOOT_CLEAR); Need RTEMS equiv. */
}
else
{
CFE_PSP_ReservedMemoryPtr->bsp_reset_type = CFE_ES_PROCESSOR_RESET;
CFE_PSP_FlushCaches(1, (uint32 )CFE_PSP_ReservedMemoryPtr, sizeof(CFE_PSP_ReservedMemory_t));
/* reboot(BOOT_NORMAL); Need RTEMS Equiv */
}
OS_printf("CFE_PSP_Restart is not implemented on this platform ( yet ! )\n");
exit(-1);
}
void task_1(void)
{
uint32 status;
OS_bin_sem_prop_t bin_sem_prop;
int printf_counter = 0;
OS_printf("Starting task 1\n");
OS_TaskRegister();
OS_printf("Delay for 1 second before starting\n");
OS_TaskDelay(1000);
while(1)
{
status = OS_BinSemTake(bin_sem_id);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 1:Error calling OS_BinSemTake\n");
exit(-1);
}
else
{
printf_counter++;
counter++;
if ( printf_counter > 100 )
{
OS_printf("TASK 1: counter:%d timer_counter:%d\n", (int)counter,(int)timer_counter);
printf_counter = 0;
}
status = OS_BinSemGetInfo (bin_sem_id, &bin_sem_prop);
if ( bin_sem_prop.value > 1 )
{
OS_printf("Error: Binary sem value > 1 ( in task):%d !\n",(int)bin_sem_prop.value);
exit(-1);
}
else if ( bin_sem_prop.value < -1 )
{
OS_printf("Error: Binary sem value < -1 ( in task):%d !\n",(int)bin_sem_prop.value);
exit(-1);
}
}
}
}
void CI_TaskMain( void )
{
int32 status;
uint32 RunStatus = CFE_ES_APP_RUN;
CFE_ES_PerfLogEntry(CI_MAIN_TASK_PERF_ID);
CI_TaskInit();
#ifdef _CI_DELAY_TEST
OS_printf("CI going to delay for 40 seconds before calling runloop\n");
OS_TaskDelay(40000);
#endif
/*
** CI Runloop
*/
while (CFE_ES_RunLoop(&RunStatus) == TRUE)
{
CFE_ES_PerfLogExit(CI_MAIN_TASK_PERF_ID);
/* Pend on receipt of command packet -- timeout set to 500 millisecs */
status = CFE_SB_RcvMsg(&CIMsgPtr, CI_CommandPipe, 500);
CFE_ES_PerfLogEntry(CI_MAIN_TASK_PERF_ID);
if (status == CFE_SUCCESS)
{
CI_ProcessCommandPacket();
}
/* Regardless of packet vs timeout, always process uplink queue */
if (CI_SocketConnected)
{
CI_ReadUpLink();
}
}
CFE_ES_ExitApp(RunStatus);
} /* End of CI_TaskMain() */
void OS_Application_Startup(void)
{
uint32 status;
OS_printf("********If You see this, we got into OS_Application_Startup****\n");
status = OS_QueueCreate( &msgq_id, "MsgQ", MSGQ_DEPTH, MSGQ_SIZE, 0);
if ( status != OS_SUCCESS )
{
OS_printf("Error creating Message Queue\n");
}
status = OS_MutSemCreate( &mutex_id, "Mutex", 0);
if ( status != OS_SUCCESS )
{
OS_printf("Error creating mutex\n");
}
else
{
OS_printf("MutexSem ID = %d\n",mutex_id);
}
status = OS_TaskCreate( &task_1_id, "Task 1", task_1, task_1_stack, TASK_1_STACK_SIZE, TASK_1_PRIORITY, 0);
if ( status != OS_SUCCESS )
{
OS_printf("Error creating Task 1\n");
}
status = OS_TaskCreate( &task_2_id, "Task 2", task_2, task_2_stack, TASK_2_STACK_SIZE, TASK_2_PRIORITY, 0);
if ( status != OS_SUCCESS )
{
OS_printf("Error creating Task 2\n");
}
status = OS_TaskCreate( &task_3_id, "Task 3", task_3, task_3_stack, TASK_3_STACK_SIZE, TASK_3_PRIORITY, 0);
if ( status != OS_SUCCESS )
{
OS_printf("Error creating Task 3\n");
}
}
void task_1(void)
{
uint32 status;
OS_printf("Starting task 1\n");
OS_TaskRegister();
while(1)
{
OS_TaskDelay(2000);
OS_printf("TASK 1: Giving the counting semaphore 1\n");
status = OS_CountSemGive(count_sem_id);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 1: Error calling OS_CountSemGive 1\n");
}
else
{
OS_printf("TASK 1: Counting Sem Give 1 complete\n");
}
OS_TaskDelay(500);
OS_printf("TASK 1: Giving the counting semaphore 2\n");
status = OS_CountSemGive(count_sem_id);
if ( status != OS_SUCCESS )
{
OS_printf("TASK 1: Error calling OS_CountSemGive 2\n");
}
else
{
OS_printf("TASK 1: Counting Sem Give 2 complete\n");
}
}
}
/******************************************************************************
** Function: CFE_PSP_Restart()
**
** Purpose:
** Provides a common interface to reset the processor. This implementation
** may need to be customized for missions with custom reset requirements.
**
** Arguments:
** reset_type : Type of reset.
**
** Return:
** (none)
*/
void CFE_PSP_Restart(uint32 reset_type)
{
OS_printf("\nWarning: CFE PSP Restart with reset type %u!\n\n", reset_type);
/*
** Delay for second or two, allow the print statement to send
*/
taskDelay(100);
#ifndef _WRS_VX_SMP /* Changed for SMP API compatability. */
taskLock();
intLock();
#else
/* Note: This only locks the current CPU core. Other cores
* are still active and may continue to access system resources
* or service the watchdog on an SMP system.
*/
taskCpuLock();
intCpuLock();
#endif
if ( reset_type == CFE_ES_POWERON_RESET )
{
CFE_PSP_ReservedMemoryPtr->bsp_reset_type = CFE_ES_POWERON_RESET;
/*
** The sysToMonitor function flushes caches for us
*
* reboot(BOOT_CLEAR);
*/
/*
** Use the watchdog timer to assert a reset
*/
CFE_PSP_WatchdogEnable();
for(;;)
{
/*
** Set the current count value to something small
*/
CFE_PSP_WatchdogSet(CFE_PSP_WATCHDOG_MIN);
/*
** Wait for the watchdog to expire...
*/
taskDelay(100);
}
}
else
{
CFE_PSP_ReservedMemoryPtr->bsp_reset_type = CFE_ES_PROCESSOR_RESET;
/*
** The sysToMonitor function flushes caches for us
*
* reboot(0);
*/
/*
** Use the watchdog timer to assert a reset
*/
CFE_PSP_WatchdogEnable();
for(;;)
{
/*
** Set the current count value to something small
*/
CFE_PSP_WatchdogSet(CFE_PSP_WATCHDOG_MIN);
/*
** Wait for the watchdog to expire...
*/
taskDelay(100);
}
}
}
