Merge pull request 'PAPB multi-byte write support' (#543) from papb_multi_byte_write_support into develop

Reviewed-on: #543

linux/ipcore/PapbVcInterface.cpp

@@ -2,6 +2,7 @@
 #include <linux/ipcore/PapbVcInterface.h>
 #include <unistd.h>
 
+#include <cstring>
 #include <ctime>
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -27,11 +28,46 @@ ReturnValue_t PapbVcInterface::initialize() {
 }
 
 ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
+  // There are no packets smaller than 4, this is considered a configuration error.
+  if (size < 4) {
+    return returnvalue::FAILED;
+  }
   if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
-    startPacketTransfer();
+    startPacketTransfer(ByteWidthCfg::ONE);
   } else {
     return DirectTmSinkIF::IS_BUSY;
   }
+  // TODO: This should work but does not.. :(
+  //  size_t idx = 0;
+  //  while (idx < size) {
+  //
+  //    nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
+  //    if ((size - idx) < 4) {
+  //      *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
+  //      usleep(1);
+  //    }
+  //    if (pollPapbBusySignal(2) == returnvalue::OK) {
+  //      //      vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
+  //      //      vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
+  //      //      vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
+  //      //      vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
+  //
+  //      // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
+  //      *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
+  //      //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
+  //
+  //      //byteReg[0] = data[idx];
+  //      //byteReg[1] = data[idx];
+  //    } else {
+  //      abortPacketTransfer();
+  //      return returnvalue::FAILED;
+  //    }
+  //    // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
+  //    // width configuration.5
+  //    // It's okay to increment by a larger amount for the last segment here, loop will be over
+  //    // in any case.
+  //    idx += 4;
+  //  }
   for (size_t idx = 0; idx < size; idx++) {
     // This delay is super-important, DO NOT REMOVE!
     // Polling the GPIO or the config register too often messes up the scheduler.
@@ -56,14 +92,16 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
   return returnvalue::OK;
 }
 
-void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
+void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
+  *vcBaseReg = CONFIG_DATA_INPUT | initWidth;
+}
 
 void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
 ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
                                                       bool checkReadyState) const {
   uint32_t busyIdx = 0;
-  nextDelay.tv_nsec = FIRST_NON_NULL_DELAY_NS;
+  nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
 
   while (true) {
     // Check if PAPB interface is ready to receive data. Use the configuration register for this.

linux/ipcore/PapbVcInterface.h

@@ -52,13 +52,14 @@ class PapbVcInterface : public VirtualChannelIF {
 
   static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
 
+  enum ByteWidthCfg : uint32_t { ONE = 0b00, TWO = 0b01, THREE = 0b10, FOUR = 0b11 };
   /**
    * Configuration bits:
    * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
    * bit[2]: Set this bit to 1 to abort a transferred packet
    * bit[3]: Signals to VcInterface the start of a new telemetry packet
    */
-  static constexpr uint32_t CONFIG_START = 0b00001000;
+  static constexpr uint32_t CONFIG_DATA_INPUT = 0b00001000;
 
   /**
    * Abort a transferred packet.
@@ -78,7 +79,7 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   static const int DATA_REG_OFFSET = 256;
 
-  static constexpr long int FIRST_NON_NULL_DELAY_NS = 10;
+  static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
   static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
 
   LinuxLibgpioIF* gpioComIF = nullptr;
@@ -102,7 +103,7 @@ class PapbVcInterface : public VirtualChannelIF {
    * @brief   This function sends the config byte to the virtual channel of the PTME IP Core
    *          to initiate a packet transfer.
    */
-  void startPacketTransfer();
+  void startPacketTransfer(ByteWidthCfg initWidth);
 
   void abortPacketTransfer();
 

mission/com/PersistentLogTmStoreTask.cpp

@@ -43,6 +43,7 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
       TaskFactory::delayTask(100);
     } else if (vcBusyDuringDump) {
       // TODO: Might not be necessary
+      sif::debug << "VC busy, delaying" << std::endl;
       TaskFactory::delayTask(10);
     }
   }

mission/com/PersistentSingleTmStoreTask.cpp

@@ -24,6 +24,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     if (not busy) {
       TaskFactory::delayTask(100);
     } else if (dumpContext.vcBusyDuringDump) {
+      sif::debug << "VC busy, delaying" << std::endl;
       // TODO: Might not be necessary
       TaskFactory::delayTask(10);
     } else {