Integration Candidate 20191030

src/os/posix/ostimer.c

@@ -135,7 +135,7 @@ void OS_TimeBaseUnlock_Impl(uint32 local_id)
  *  Purpose: Local helper routine, not part of OSAL API.
  *
  *-----------------------------------------------------------------*/
-static uint32 OS_TimeBase_SoftWaitImpl(uint32 timer_id)
+static uint32 OS_TimeBase_SigWaitImpl(uint32 timer_id)
 {
     int ret;
     OS_impl_timebase_internal_record_t *local;
@@ -144,57 +144,34 @@ static uint32 OS_TimeBase_SoftWaitImpl(uint32 timer_id)
 
     local = &OS_impl_timebase_table[timer_id];
 
-    if (local->reset_flag == 0)
-    {
-        interval_time = OS_timebase_table[timer_id].nominal_interval_time;
-    }
-    else
+    ret = sigwait(&local->sigset, &sig);
+
+    if (ret != 0)
     {
-        interval_time = OS_timebase_table[timer_id].nominal_start_time;
-        local->reset_flag = 0;
+        /*
+         * the sigwait call failed.
+         * returning 0 will cause the process to repeat.
+         */
+        interval_time = 0;
     }
-
-    if (local->assigned_signal == 0)
+    else if (local->reset_flag == 0)
     {
         /*
-         * If no signal is in use and this function got called,
-         * just implement it using a software delay.  This is the
-         * least accurate option, but it always works.
+         * Normal steady-state behavior.
+         * interval_time reflects the configured interval time.
          */
-        if (interval_time == 0)
-        {
-            /*
-             * Protect against a zero interval time causing a "spin loop"
-             * In this case sleep for 10ms.
-             */
-            interval_time = 10000;
-        }
-        local->softsleep.tv_nsec += 1000 * (interval_time % 1000000);
-        local->softsleep.tv_sec += interval_time / 1000000;
-        if (local->softsleep.tv_nsec > 1000000000)
-        {
-            local->softsleep.tv_nsec -= 1000000000;
-            ++local->softsleep.tv_sec;
-        }
+        interval_time = OS_timebase_table[timer_id].nominal_interval_time;
     }
-
-
-    do
+    else
     {
         /*
-         * Note that either of these calls can be interrupted by OTHER signals,
-         * so it needs to be repeated until it actually returns the proper code.
+         * Reset/First interval behavior.
+         * timer_set() was invoked since the previous interval occurred (if any).
+         * interval_time reflects the configured start time.
          */
-        if (local->assigned_signal == 0)
-        {
-            ret = clock_nanosleep(OS_PREFERRED_CLOCK, TIMER_ABSTIME, &local->softsleep, NULL);
-        }
-        else
-        {
-            ret = sigwait(&local->sigset, &sig);
-        }
+        interval_time = OS_timebase_table[timer_id].nominal_start_time;
+        local->reset_flag = 0;
     }
-    while (ret != 0);
 
     return interval_time;
 } /* end OS_TimeBase_SoftWaitImpl */
@@ -453,7 +430,7 @@ int32 OS_TimeBaseCreate_Impl(uint32 timer_id)
                 break;
             }
 
-            OS_timebase_table[timer_id].external_sync = OS_TimeBase_SoftWaitImpl;
+            OS_timebase_table[timer_id].external_sync = OS_TimeBase_SigWaitImpl;
         }
         while (0);
 

src/os/rtems/osfilesys.c

@@ -174,7 +174,7 @@ int32 OS_FileSysStartVolume_Impl (uint32 filesys_id)
         impl->mount_fstype = RTEMS_FILESYSTEM_TYPE_RFS;
 
         OS_DEBUG("OSAL: RAM disk initialized: volume=%s device=%s address=0x%08lX\n",
-                local->volume_name, impl->blockdev_name, local->address);
+                local->volume_name, impl->blockdev_name, (unsigned long)local->address);
 
         return_code = OS_SUCCESS;
         break;

src/os/rtems/ostimer.c

@@ -63,6 +63,8 @@ typedef struct
     uint8               simulate_flag;
     uint8               reset_flag;
     rtems_interval      interval_ticks;
+    uint32              configured_start_time;
+    uint32              configured_interval_time;
 } OS_impl_timebase_internal_record_t;
 
 /****************************************************************************************
@@ -150,10 +152,15 @@ static rtems_timer_service_routine OS_TimeBase_ISR(rtems_id rtems_timer_id, void
 static uint32 OS_TimeBase_WaitImpl(uint32 local_id)
 {
     OS_impl_timebase_internal_record_t *local;
-    uint32 interval_time;
+    uint32 tick_time;
 
     local = &OS_impl_timebase_table[local_id];
 
+    /*
+     * Pend for the tick arrival
+     */
+    rtems_semaphore_obtain(local->tick_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
+
     /*
      * Determine how long this tick was.
      * Note that there are plenty of ways this become wrong if the timer
@@ -163,21 +170,16 @@ static uint32 OS_TimeBase_WaitImpl(uint32 local_id)
      */
     if (local->reset_flag == 0)
     {
-        interval_time = OS_timebase_table[local_id].nominal_interval_time;
+        tick_time = local->configured_interval_time;
     }
     else
     {
-        interval_time = OS_timebase_table[local_id].nominal_start_time;
+        tick_time = local->configured_start_time;
         local->reset_flag = 0;
     }
 
-    /*
-     * Pend for the tick arrival
-     */
-    rtems_semaphore_obtain(local->tick_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
-
 
-    return interval_time;
+    return tick_time;
 } /* end OS_TimeBase_WaitImpl */
 
 
@@ -469,13 +471,34 @@ int32 OS_TimeBaseSet_Impl(uint32 timer_id, int32 start_time, int32 interval_time
            }
            else
            {
-               if (local->interval_ticks > 0)
+               local->configured_start_time = (10000 * start_ticks) / OS_SharedGlobalVars.TicksPerSecond;
+               local->configured_interval_time = (10000 * local->interval_ticks) / OS_SharedGlobalVars.TicksPerSecond;
+               local->configured_start_time *= 100;
+               local->configured_interval_time *= 100;
+
+               if (local->configured_start_time != start_time)
                {
-                   start_ticks = local->interval_ticks;
+                   OS_DEBUG("WARNING: timer %lu start_time requested=%luus, configured=%luus\n",
+                           (unsigned long)timer_id,
+                           (unsigned long)start_time,
+                           (unsigned long)local->configured_start_time);
+               }
+               if (local->configured_interval_time != interval_time)
+               {
+                   OS_DEBUG("WARNING: timer %lu interval_time requested=%luus, configured=%luus\n",
+                           (unsigned long)timer_id,
+                           (unsigned long)interval_time,
+                           (unsigned long)local->configured_interval_time);
                }
 
-               OS_timebase_table[timer_id].accuracy_usec = (start_ticks * 100000) / OS_SharedGlobalVars.TicksPerSecond;
-               OS_timebase_table[timer_id].accuracy_usec *= 10;
+               if (local->interval_ticks > 0)
+               {
+                   OS_timebase_table[timer_id].accuracy_usec = local->configured_interval_time;
+               }
+               else
+               {
+                   OS_timebase_table[timer_id].accuracy_usec = local->configured_start_time;
+               }
            }
         }
     }

src/os/shared/osapi-timebase.c

@@ -494,7 +494,7 @@ void OS_TimeBase_CallbackThread(uint32 timebase_id)
                 timecb = &OS_timecb_table[curr_cb_local_id];
                 saved_wait_time = timecb->wait_time;
                 timecb->wait_time -= tick_time;
-                if (timecb->wait_time <= 0)
+                while (timecb->wait_time <= 0)
                 {
                     timecb->wait_time += timecb->interval_time;
 
@@ -519,6 +519,14 @@ void OS_TimeBase_CallbackThread(uint32 timebase_id)
                     {
                         (*timecb->callback_ptr)(curr_cb_public_id, timecb->callback_arg);
                     }
+
+                    /*
+                     * Do not repeat the loop unless interval_time is configured.
+                     */
+                    if (timecb->interval_time <= 0)
+                    {
+                        break;
+                    }
                 }
                 curr_cb_local_id = timecb->next_ref;
             }

src/os/vxworks/osapi.c

@@ -1759,7 +1759,7 @@ int32 OS_ConsoleCreate_Impl(uint32 local_id)
                     (FUNCPTR)OS_ConsoleTask_Entry,
                     local_id,0,0,0,0,0,0,0,0,0);
 
-            if (local->taskid == (TASK_ID)0)
+            if (local->taskid == (TASK_ID)ERROR)
             {
                 OS_DEBUG("taskSpawn() - vxWorks errno %d\n",errno);
                 return_code = OS_ERROR;

src/os/vxworks/ostimer.c

@@ -76,6 +76,9 @@ typedef struct
     TASK_ID             handler_task;
     timer_t             host_timerid;
     enum OS_TimerState  timer_state;
+    uint32              configured_start_time;
+    uint32              configured_interval_time;
+    bool                reset_flag;
 } OS_impl_timebase_internal_record_t;
 
 /****************************************************************************************
@@ -153,14 +156,14 @@ static uint32 OS_VxWorks_SigWait(uint32 local_id)
     OS_impl_timebase_internal_record_t *local;
     OS_common_record_t *global;
     uint32 active_id;
-    uint32 interval_time;
+    uint32 tick_time;
     int signo;
     int ret;
 
     local = &OS_impl_timebase_table[local_id];
     global = &OS_global_timebase_table[local_id];
     active_id = global->active_id;
-    interval_time = 0;
+    tick_time = 0;
 
     if (active_id != 0 && local->assigned_signal > 0)
     {
@@ -190,11 +193,20 @@ static uint32 OS_VxWorks_SigWait(uint32 local_id)
         if (ret == OK && signo == local->assigned_signal &&
                 global->active_id == active_id)
         {
-            interval_time = OS_timebase_table[local_id].nominal_interval_time;
+            if (local->reset_flag)
+            {
+                /* first interval after reset, use start time */
+                tick_time = local->configured_start_time;
+                local->reset_flag = false;
+            }
+            else
+            {
+                tick_time = local->configured_interval_time;
+            }
         }
     }
 
-    return interval_time;
+    return tick_time;
 } /* end OS_VxWorks_SigWait */
 
 
@@ -354,6 +366,7 @@ int32 OS_TimeBaseCreate_Impl(uint32 timer_id)
     local->handler_mutex = (SEM_ID)0;
     local->host_timerid = 0;
     local->timer_state = OS_TimerRegState_INIT;
+    local->reset_flag = false;
 
     /*
      * Set up the necessary OS constructs
@@ -543,11 +556,59 @@ int32 OS_TimeBaseSet_Impl(uint32 timer_id, int32 start_time, int32 interval_time
         if (status == OK)
         {
             return_code = OS_SUCCESS;
+
+            /*
+             * VxWorks will round the interval up to the next higher
+             * system tick interval.  Sometimes this can make a substantial
+             * difference in the actual time, particularly as the error
+             * accumulates over time.
+             *
+             * timer_gettime() will reveal the actual interval programmed,
+             * after all rounding/adjustments, which can be used to determine
+             * the actual start_time/interval_time that will be realized.
+             *
+             * If this actual interval is different than the intended value,
+             * it may indicate the need for better tuning on the app/config/bsp
+             * side, and so a DEBUG message is generated.
+             */
+            status = timer_gettime(local->host_timerid, &timeout);
+            if (status == OK)
+            {
+                local->configured_start_time =
+                    (timeout.it_value.tv_sec * 1000000) +
+                        (timeout.it_value.tv_nsec / 1000);
+                local->configured_interval_time =
+                        (timeout.it_interval.tv_sec * 1000000) +
+                            (timeout.it_interval.tv_nsec / 1000);
+
+                if (local->configured_start_time != start_time)
+                {
+                    OS_DEBUG("WARNING: timer %lu start_time requested=%luus, configured=%luus\n",
+                            (unsigned long)timer_id,
+                            (unsigned long)start_time,
+                            (unsigned long)local->configured_start_time);
+                }
+                if (local->configured_interval_time != interval_time)
+                {
+                    OS_DEBUG("WARNING: timer %lu interval_time requested=%luus, configured=%luus\n",
+                            (unsigned long)timer_id,
+                            (unsigned long)interval_time,
+                            (unsigned long)local->configured_interval_time);
+                }
+
+            }
+
         }
         else
         {
             return_code = OS_TIMER_ERR_INVALID_ARGS;
         }
+
+    }
+
+    if (!local->reset_flag && return_code == OS_SUCCESS)
+    {
+        local->reset_flag = true;
     }
 
     return return_code;

src/tests/sem-speed-test/sem-speed-test.c

@@ -150,10 +150,10 @@ void SemSetup(void)
    /*
    ** Create the tasks
    */
-   status = OS_TaskCreate( &task_1_id, "Task 1", task_1, NULL, 0, TASK_PRIORITY, 0);
+   status = OS_TaskCreate( &task_1_id, "Task 1", task_1, NULL, 4096, TASK_PRIORITY, 0);
    UtAssert_True(status == OS_SUCCESS, "Task 1 create Id=%u Rc=%d", (unsigned int)task_1_id, (int)status);
 
-   status = OS_TaskCreate( &task_2_id, "Task 2", task_2, NULL, 0, TASK_PRIORITY, 0);
+   status = OS_TaskCreate( &task_2_id, "Task 2", task_2, NULL, 4096, TASK_PRIORITY, 0);
    UtAssert_True(status == OS_SUCCESS, "Task 2 create Id=%u Rc=%d", (unsigned int)task_2_id, (int)status);
 
    /* A small delay just to allow the tasks