error.c

/**@file error.c
 *
 * @date Nov 6, 2018
 * @author Craig Hesling
 */

/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/runtime/Types.h>
#include <xdc/runtime/Timestamp.h>
#include <xdc/runtime/System.h>

/* BIOS Header files */
#include <ti/sysbios/family/arm/m3/Hwi.h>

#include <driverlib/cpu.h> // CPUcpsid

#include "io.h"
#include "error.h"

/**
 * This function is referenced from @ref rtos.cfg as an exception hook function.
 * It's role is to optionally reset the MCU if JTAG is not present.
 *
 * rtos.cfg:
 * m3Hwi.enableException = true;
 * m3Hwi.excHookFunc = "&ExceptionHandle";
 * The m3Hwi.excHandlerFunc must be unset or
 * set to Hwi.excHandlerMax or Hwi.excHandlerMin .
 *
 * Note that the after the call to this function BIOS_exit(0) is executed.
 * So, the handlers for a bios exit must be considered also.
 *
 * See Hwi.xdc, Hwi.xs, and Hwi.c for more information.
 * They are in the sysbios/family/arm/m3 directory
 *
 * @param excContext
 */
Void ExceptionHandle(Hwi_ExcContext *excContext) {
#ifdef RESET_ON_ERROR
    if (!jtag_ispowered()) {
        hardreset();
    }
#endif
}

/**
 * This function is called when BIOS_exit has been  called.
 * It's role is to optionally reset the MCU if JTAG is not present.
 *
 * This function should be registered in the rtos.cfg
 * as System.exitFxn.
 *
 * @param stat The status code given to BIOS_exit or BIOS_abort
 */
Void ExitHandler(Int stat) {
#ifdef RESET_ON_ERROR
    if (!jtag_ispowered()) {
        hardreset();
    }
#endif

    // Disable CPU interrupts
    CPUcpsid();

    // Loop forever
    for (;;) ;
}

/**
 * This function is called when BIOS_abort (maybe System_abort("")) has been called.
 * It's role is to optionally reset the MCU if JTAG is not present.
 *
 * This function be registered in the rtos.cfg
 * as System.abortFxn .
 *
 */
Void AbortHandler() {
    ExitHandler(-1);
}

/**
 * Get the current timestamp
 * @param[out] time The
 */
void TimestampNow(Types_Timestamp64 *time) {
    Timestamp_get64(time);
}

/**
 * Return the number of nanoseconds between before and after timestamps
 * If an overflow is reported, the output nanoseconds value should be considered incorrect.
 *
 *
 * @param[out] nanoseconds The output number of nanoseconds
 * @param[in] before The earlier time we should consider for the difference
 * @param[in] after The later time we should consider for the difference
 * @return True if no overflow occurred. False if an overflow occurred.
 */
bool TimestampDiffNs(uint64_t *nanoseconds, Types_Timestamp64 *before, Types_Timestamp64 *after) {
    /// @note The overflow return value does not currently work.
    /// @todo Implement the part by part multi and addition to check for overflows
    Types_FreqHz freq;
    Timestamp_getFreq(&freq);

    uint64_t before64 = ((uint64_t)(before->hi))<<32 | ((uint64_t)(before->lo));
    uint64_t after64  = ((uint64_t)(after->hi))<<32  | ((uint64_t)(after->lo));
    uint64_t freq64   = ((uint64_t)(freq.hi))<<32   | ((uint64_t)(freq.lo));

    *nanoseconds = ((after64-before64) * 1e9) / freq64;
    return true;
}