# HG changeset patch
# User Alexis Jeandet<alexis.jeandet@member.fsf.org>
# Date 2017-07-05 18:07:52
# Node ID fc82b08705ba9931880e4e57a76b1bb1ffa1e28e
# Parent  88d90c878c97d96c81adf5afa487e2404da77988

Added scrubbing Task, to increase scrubbing frequency and avoid entering
idle task.

diff --git a/.hgsub b/.hgsub
--- a/.hgsub
+++ b/.hgsub
@@ -1,4 +1,4 @@
-header/lfr_common_headers = https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/lfr_common_headers
+header/lfr_common_headers = https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/lfr_common_headers
 
 LFR_basic-parameters = https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/CHUST/LFR_basic-parameters
 
diff --git a/.hgsubstate b/.hgsubstate
--- a/.hgsubstate
+++ b/.hgsubstate
@@ -1,2 +1,2 @@
 3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
-e904b329ff977514bf36af92617afefd22fd06ab header/lfr_common_headers
+db74b38fe91cd826fa49fa4eb6f93d626637ceb9 header/lfr_common_headers
diff --git a/header/fsw_misc.h b/header/fsw_misc.h
--- a/header/fsw_misc.h
+++ b/header/fsw_misc.h
@@ -136,6 +136,7 @@ rtems_task load_task( rtems_task_argumen
 rtems_task hous_task( rtems_task_argument argument );
 rtems_task avgv_task( rtems_task_argument argument );
 rtems_task dumb_task( rtems_task_argument unused );
+rtems_task scrubbing_task( rtems_task_argument unused );
 
 void init_housekeeping_parameters( void );
 void increment_seq_counter(unsigned short *packetSequenceControl);
diff --git a/src/fsw_init.c b/src/fsw_init.c
--- a/src/fsw_init.c
+++ b/src/fsw_init.c
@@ -15,6 +15,7 @@
 
 #include <rtems.h>
 
+
 /* configuration information */
 
 #define CONFIGURE_INIT
@@ -26,7 +27,7 @@
 #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
 #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
 
-#define CONFIGURE_MAXIMUM_TASKS 21 // number of tasks concurrently active including INIT
+#define CONFIGURE_MAXIMUM_TASKS 22 // number of tasks concurrently active including INIT
 #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
 #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
 #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
@@ -376,6 +377,7 @@ void create_names( void ) // create all 
     Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
     Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
     Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
+    Task_name[TASKID_SCRB] = rtems_build_name( 'S', 'C', 'R', 'B' );
 
     // rate monotonic period names
     name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
@@ -561,6 +563,14 @@ int create_all_tasks( void ) // create a
             RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
         );
     }
+    if (status == RTEMS_SUCCESSFUL) // SCRUBBING TASK
+    {
+        status = rtems_task_create(
+            Task_name[TASKID_SCRB], TASK_PRIORITY_SCRB, RTEMS_MINIMUM_STACK_SIZE,
+            RTEMS_DEFAULT_MODES,
+            RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SCRB]
+        );
+    }
     if (status == RTEMS_SUCCESSFUL) // HOUS
     {
         status = rtems_task_create(
@@ -746,6 +756,13 @@ int start_all_tasks( void ) // start all
             BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
         }
     }
+    if (status == RTEMS_SUCCESSFUL)     // SCRUBBING
+    {
+        status = rtems_task_start( Task_id[TASKID_SCRB], scrubbing_task, 1 );
+        if (status!=RTEMS_SUCCESSFUL) {
+            BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
+        }
+    }
     if (status == RTEMS_SUCCESSFUL)     // LOAD
     {
         status = rtems_task_start( Task_id[TASKID_LOAD], load_task, 1 );
diff --git a/src/fsw_misc.c b/src/fsw_misc.c
--- a/src/fsw_misc.c
+++ b/src/fsw_misc.c
@@ -521,6 +521,26 @@ rtems_task dumb_task( rtems_task_argumen
     }
 }
 
+rtems_task scrubbing_task( rtems_task_argument unused )
+{
+    /** This RTEMS taks is to avoid entering IDLE task and also scrub memory to increase scubbing frequency.
+     *
+     * @param unused is the starting argument of the RTEMS task
+     *
+     * The scrubbing reads continuously memory when no other tasks are ready.
+     *
+     */
+
+    BOOT_PRINTF("in SCRUBBING *** \n");
+    volatile int i=0;
+    volatile uint32_t* RAM=(uint32_t*)0x40000000;
+    volatile uint32_t value;
+    while(1){
+        i=(i+1)%(1024*1024);
+        value += RAM[i];
+    }
+}
+
 //*****************************
 // init housekeeping parameters