Clean up for beta; some bugfixes

Tested over full satellite state sequence

EQUiSatOS/EQUiSatOS/src/config.h

@@ -36,7 +36,7 @@
 #define TESTING_SPEEDUP
 
 // reduces the stack size of some tasks to a workable but risky level
-#define RISKY_STACK_SIZES
+//#define RISKY_STACK_SIZES
 
 // use this flag to disable reed-solomon tables (frees up memory)
 //#define USE_REED_SOLOMON
@@ -56,11 +56,11 @@
 //#define RUN_TASK_STACK_TESTS
 
 // whether to rewrite MRAM with "zero" values (done before launch)
-#define WRITE_DEFAULT_MRAM_VALS
+//#define WRITE_DEFAULT_MRAM_VALS
 
 /** System Tests/Simulations **/
 #define EQUISIM_SIMULATE_DIRECT_STATE_CHANGES
-#define EQUISIM_WATCHDOG_RESET_TEST
+//#define EQUISIM_WATCHDOG_RESET_TEST
 
 // debug print control; set to:
 // 0 to suppress prints and allow radio transmission

EQUiSatOS/EQUiSatOS/src/rtos_tasks/rtos_tasks_config.h

@@ -39,7 +39,11 @@ enum {
 #define TASK_ANTENNA_DEPLOY_STACK_SIZE				(768/sizeof(portSTACK_TYPE))
 #define TASK_ANTENNA_DEPLOY_PRIORITY				(ACTION_PRIORITY)
 
-#define TASK_WATCHDOG_STACK_SIZE					(1024/sizeof(portSTACK_TYPE)) // TODO
+#ifdef RISKY_STACK_SIZES
+#define TASK_WATCHDOG_STACK_SIZE					(900/sizeof(portSTACK_TYPE))
+#else
+#define TASK_WATCHDOG_STACK_SIZE					(1024/sizeof(portSTACK_TYPE))
+#endif
 #define TASK_WATCHDOG_STACK_PRIORITY				(STATE_HANDLING_PRIORITY)
 
 #ifdef RISKY_STACK_SIZES
@@ -55,10 +59,14 @@ enum {
 #define TASK_IDLE_DATA_RD_STACK_SIZE				(768/sizeof(portSTACK_TYPE))
 #define TASK_IDLE_DATA_RD_PRIORITY					(DATA_READ_PRIORITY)
 
+#ifdef RISKY_STACK_SIZES
+#define TASK_ATTITUDE_DATA_RD_STACK_SIZE			(600/sizeof(portSTACK_TYPE))
+#else 
 #define TASK_ATTITUDE_DATA_RD_STACK_SIZE			(768/sizeof(portSTACK_TYPE))
+#endif
 #define TASK_ATTITUDE_DATA_DATA_RD_PRIORITY			(DATA_READ_PRIORITY)
 
-#define TASK_LOW_POWER_DATA_RD_STACK_SIZE			(768/sizeof(portSTACK_TYPE))
+#define TASK_LOW_POWER_DATA_RD_STACK_SIZE			(1280/sizeof(portSTACK_TYPE))
 #define TASK_LOW_POWER_DATA_RD_PRIORITY				(DATA_READ_PRIORITY)
 
 #ifdef RISKY_STACK_SIZES

EQUiSatOS/EQUiSatOS/src/rtos_tasks/state_handling_task.c

@@ -47,7 +47,6 @@ void state_handling_task(void *pvParameters)
 		#if OVERRIDE_STATE_HOLD_INIT != 1
 
 			#ifdef EQUISIM_WATCHDOG_RESET_TEST
-				test_all_state_transitions();
 				test_watchdog_reset_bat_charging();
 				test_watchdog_reset_attitude_data();
 				test_watchdog_reset_antenna_deploy();

EQUiSatOS/EQUiSatOS/src/rtos_tasks/watchdog_task.c

@@ -9,7 +9,7 @@
 #include "Watchdog_Task.h"
 
 uint32_t WATCHDOG_ALLOWED_TIMES_MS[NUM_TASKS] = {
-	WATCHDOG_TASK_FREQ + WATCHDOG_BUFFER,
+	WATCHDOG_TASK_FREQ + WATCHDOG_BUFFER, // doesn't really matter, not used
 	STATE_HANDLING_TASK_FREQ + WATCHDOG_BUFFER,
 	ANTENNA_DEPLOY_TASK_LESS_FREQ + WATCHDOG_BUFFER, // TODO: this won't monitor very tight during ANTENNA_DEPLOY
 	BATTERY_CHARGING_TASK_FREQ + WATCHDOG_BUFFER,
@@ -36,6 +36,15 @@ void watchdog_init(void) {
 	prev_time = xTaskGetTickCount();
 }
 
+// testing function to get whether a task is checked in
+bool _get_task_checked_in(task_type_t task) {
+	return check_ins[task];
+}
+// testing function to get time a task was checked in
+uint32_t _get_task_checked_in_time(task_type_t task) {
+	return running_times[task];
+}
+
 static void task_pet_watchdog(bool got_mutex) {
 	pet_watchdog();
 	print("Pet watchdog");

EQUiSatOS/EQUiSatOS/src/rtos_tasks/watchdog_task.h

@@ -31,4 +31,8 @@ void report_task_running(task_type_t task_ind); // always safe; uses mutex
 void check_out_task_unsafe(task_type_t task_ind);
 void watchdog_early_warning_callback(void);
 
+// testing functions
+bool _get_task_checked_in(task_type_t task);
+uint32_t _get_task_checked_in_time(task_type_t task);
+
 #endif /* WATCHDOG_TASK_H_ */

EQUiSatOS/EQUiSatOS/src/runnable_configurations/satellite_state_control.c

@@ -430,35 +430,35 @@ bool set_sat_state_helper(sat_state_t state)
 			return false; // only done initially (via direct set)
 
 		case ANTENNA_DEPLOY: ;
-			print("CHANGED STATE to ANTENNA_DEPLOY");
+			print("\n\nCHANGED STATE to ANTENNA_DEPLOY\n\n");
 			set_all_task_states(ANTENNA_DEPLOY_TASK_STATES, ANTENNA_DEPLOY);
 			set_radio_by_sat_state(ANTENNA_DEPLOY);
 			set_irpow_by_sat_state(ANTENNA_DEPLOY);
 			return prev_sat_state == INITIAL || prev_sat_state == LOW_POWER;
 
 		case HELLO_WORLD: ;
-			print("CHANGED STATE to HELLO_WORLD");
+			print("\n\nCHANGED STATE to HELLO_WORLD\n\n");
 			set_all_task_states(HELLO_WORLD_TASK_STATES, HELLO_WORLD);
 			set_radio_by_sat_state(HELLO_WORLD);
 			set_irpow_by_sat_state(HELLO_WORLD);
 			return prev_sat_state == ANTENNA_DEPLOY;
 
 		case IDLE_NO_FLASH: ;
-			print("CHANGED STATE to IDLE_NO_FLASH");
+			print("\n\nCHANGED STATE to IDLE_NO_FLASH\n\n");
 			set_all_task_states(IDLE_NO_FLASH_TASK_STATES, IDLE_NO_FLASH);
 			set_radio_by_sat_state(IDLE_NO_FLASH);
 			set_irpow_by_sat_state(IDLE_NO_FLASH);
 			return prev_sat_state == IDLE_FLASH || prev_sat_state == HELLO_WORLD || prev_sat_state == LOW_POWER;
 
 		case IDLE_FLASH: ;
-			print("CHANGED STATE to IDLE_FLASH");
+			print("\n\nCHANGED STATE to IDLE_FLASH\n\n");
 			set_all_task_states(IDLE_FLASH_TASK_STATES, IDLE_FLASH);
 			set_radio_by_sat_state(IDLE_FLASH);
 			set_irpow_by_sat_state(IDLE_FLASH);
 			return prev_sat_state == IDLE_NO_FLASH;
 
 		case LOW_POWER: ;
-			print("CHANGED STATE to LOW_POWER");
+			print("\n\nCHANGED STATE to LOW_POWER\n\n");
 			set_all_task_states(LOW_POWER_TASK_STATES, LOW_POWER);
 			set_radio_by_sat_state(LOW_POWER);
 			set_irpow_by_sat_state(LOW_POWER);
@@ -476,7 +476,7 @@ bool set_sat_state(sat_state_t state) {
 		bool valid = set_sat_state_helper(state);
 		if (!valid) {
 			log_error(ELOC_STATE_HANDLING, ECODE_INVALID_STATE_CHANGE, true);
-			configASSERT(false); // busy loop because this should only be radiation issues
+			//configASSERT(false); // busy loop because this should only be radiation issues
 		}
 		return valid;
 	#endif

EQUiSatOS/EQUiSatOS/src/runnable_configurations/satellite_state_control.h

@@ -97,6 +97,7 @@ void run_rtos(void);
 void init_task_state(task_type_t task);
 
 /* TEMPORARY GLOBAL SET STATE FUNCTIONS FOR TESTING - DONT YOU DARE USE THESE */
+bool set_sat_state_helper(sat_state_t state);
 void set_all_task_states(task_states states, sat_state_t state);
 void task_suspend(task_type_t task_id);
 void task_resume(task_type_t task_id);

EQUiSatOS/EQUiSatOS/src/runnable_configurations/testing_tasks.c

@@ -9,7 +9,7 @@
 
 /* task constants */
 #define SYSTEM_TEST_TASK_FREQ		20000
-#define SYSTEM_TEST_TASK_STACK_SIZE	(768/sizeof(portSTACK_TYPE))
+#define SYSTEM_TEST_TASK_STACK_SIZE	(712/sizeof(portSTACK_TYPE))
 #define SYSTEM_TEST_TASK_PRIORITY	tskIDLE_PRIORITY
 #define TESTING_TASK_FREQ			1000
 #define TESTING_TASK_STACK_SIZE		(1024/sizeof(portSTACK_TYPE))

EQUiSatOS/EQUiSatOS/src/testing_functions/os_system_tests.c

@@ -11,7 +11,7 @@
 #define TICKS_IN_EACH_VALID_STATE				11000
 
 // determines how long we spend in each state
-#define LOWEST_TASK_FREQ			BATTERY_CHARGING_TASK_FREQ
+#define LOWEST_TASK_FREQ			15000 //BATTERY_CHARGING_TASK_FREQ
 #define IN_STATE_TIME_MS			(LOWEST_TASK_FREQ + TASK_EXECUTION_WINDOW_BUFFER_TIME)
 
 void test_all_state_transitions(void) 
@@ -45,54 +45,55 @@ void test_normal_satellite_state_sequence(void) {
 
 	if (state_num == 0) {
 		// start out in initial
-		check_set_sat_state(INITIAL, INITIAL);
+		set_sat_state_helper(INITIAL);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 1) {
 		check_set_sat_state(INITIAL, ANTENNA_DEPLOY);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	// the below may actually transition sooner to hello world depending on what the antenna deploy state is
 	if (state_num < 2) {
 		check_set_sat_state(ANTENNA_DEPLOY, HELLO_WORLD);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 3) {
 		check_set_sat_state(HELLO_WORLD, IDLE_NO_FLASH);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 4) {
 		check_set_sat_state(IDLE_NO_FLASH, IDLE_FLASH);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 5) {
 		check_set_sat_state(IDLE_FLASH, LOW_POWER);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 6) {
-		check_set_sat_state(LOW_POWER, IDLE_FLASH);
-		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
-		state_num++;
-	}
-
-	if (state_num < 7) {
-		check_set_sat_state(HELLO_WORLD, IDLE_NO_FLASH);
+		check_set_sat_state(LOW_POWER, IDLE_NO_FLASH);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
-
+	report_task_running(STATE_HANDLING_TASK);
 	vTaskDelay(LOWEST_TASK_FREQ * 10);
+	report_task_running(STATE_HANDLING_TASK);
 }
 
 void test_error_case_satellite_state_sequence(void)
@@ -101,15 +102,17 @@ void test_error_case_satellite_state_sequence(void)
 
 	if (state_num == 0) {
 		// start out in initial
-		check_set_sat_state(INITIAL, INITIAL);
+		set_sat_state_helper(INITIAL);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 1) {
 		check_set_sat_state(INITIAL, ANTENNA_DEPLOY);	
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	// go to emergency low power (the ANTENNA_DEPLOY state is very different from IDLE_NO_FLASH)
 	if (state_num < 2) {
@@ -119,13 +122,15 @@ void test_error_case_satellite_state_sequence(void)
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	// the below may actually transition sooner to hello world depending on what the antenna deploy state is
 	if (state_num < 3) {
 		check_set_sat_state(ANTENNA_DEPLOY, HELLO_WORLD);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	// go to emergency low power
 	if (state_num < 4) {
@@ -135,12 +140,14 @@ void test_error_case_satellite_state_sequence(void)
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 5) {
 		check_set_sat_state(HELLO_WORLD, IDLE_NO_FLASH);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	// go to emergency low power, then back again
 	if (state_num < 6) {
@@ -150,31 +157,37 @@ void test_error_case_satellite_state_sequence(void)
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 7) {
 		check_set_sat_state(IDLE_NO_FLASH, IDLE_FLASH);	
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;			
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 8) {
 		check_set_sat_state(IDLE_FLASH, LOW_POWER);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 9) {
 		check_set_sat_state(LOW_POWER, IDLE_FLASH);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 
 	if (state_num < 10) {
 		check_set_sat_state(HELLO_WORLD, IDLE_NO_FLASH);
 		vTaskDelay(IN_STATE_TIME_MS / portTICK_PERIOD_MS);
 		state_num++;
 	}
+	report_task_running(STATE_HANDLING_TASK);
 	vTaskDelay(LOWEST_TASK_FREQ * 10);
+	report_task_running(STATE_HANDLING_TASK);
 }
 
 /************************************************************************/

EQUiSatOS/EQUiSatOS/src/testing_functions/rtos_system_test.c

@@ -272,11 +272,13 @@ void print_equistacks(void) {
 	print_equistack(&low_power_readings_equistack,	print_low_power_data,	"Low Power Data Stack");
 }
 
-void print_task_states(void) {
+void print_task_info(void) {
 	print("\n\n===========Task States===========\n");
 	for (int i = 0; i < NUM_TASKS; i++) {
 		eTaskState task_state = eTaskGetState(*(task_handles[i]));
-		print("%s: %s\n", get_task_str(i), get_task_state_str(task_state));
+		print("%s: %s (%s) RT: %d\n", get_task_str(i), 
+			get_task_state_str(task_state), _get_task_checked_in(i) ? "checked in " : "checked out",
+			_get_task_checked_in_time(i));
 	}
 }
 
@@ -325,7 +327,7 @@ void rtos_system_test(void) {
 	print("sat state: \t%s\n", get_sat_state_str(get_sat_state()));
 	print("reboot #:  \t%d\n", cache_get_reboot_count());
 	print("num errors:\t%d\n", error_equistack.cur_size);
-	print_task_states();
+	print_task_info();
 	print_cur_data_buf(_get_cur_data_buf());
 	print_equistacks();
 	print_task_stack_usages();

EQUiSatOS/EQUiSatOS/src/testing_functions/rtos_system_test.h

@@ -44,7 +44,7 @@ const char* get_task_str(task_type_t task);
 const char* get_task_state_str(eTaskState state);
 const char* get_msg_type_str(msg_data_type_t msg_type);
 
-void print_task_states(void);
+void print_task_info(void);
 void print_equistack(equistack* stack, void (*elm_print)(void*, int), const char* header);
 void print_cur_data_buf(uint8_t* cur_data_buf);
 void print_task_stack_usage(task_type_t task, uint32_t stack_size);

bootloader/bootloader/src/main_bootloader.c

@@ -28,7 +28,7 @@
 /* program memory copying parameters                                    */
 /************************************************************************/
 // size of binary in bytes
-#define PROG_MEM_SIZE						144820
+#define PROG_MEM_SIZE						147740
 // address at which binary is stored in mram
 #define MRAM_APP_ADDRESS					60
 // address at which prog mem rewritten boolean is stored in mram