Merge remote-tracking branch 'origin/develop' into papb_multi_byte_write_support

linux/ipcore/PapbVcInterface.cpp

@@ -19,12 +19,11 @@ PapbVcInterface::~PapbVcInterface() {}
 
 ReturnValue_t PapbVcInterface::initialize() {
   UioMapper uioMapper(uioFile, mapNum);
-  uint32_t* baseReg;
-  ReturnValue_t result = uioMapper.getMappedAdress(&baseReg, UioMapper::Permissions::WRITE_ONLY);
+  ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
+                                                   UioMapper::Permissions::WRITE_ONLY);
   if (result != returnvalue::OK) {
     return result;
   }
-  vcBaseReg = baseReg;
   return returnvalue::OK;
 }
 
@@ -33,7 +32,7 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
   if (size < 4) {
     return returnvalue::FAILED;
   }
-  if (pollPapbBusySignal(0) == returnvalue::OK) {
+  if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
     startPacketTransfer(ByteWidthCfg::ONE);
   } else {
     return DirectTmSinkIF::IS_BUSY;
@@ -71,13 +70,12 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
   //  }
   for (size_t idx = 0; idx < size; idx++) {
     // This delay is super-important, DO NOT REMOVE!
-    // Polling the GPIO too often can mess up the scheduler.
+    // Polling the GPIO or the config register too often messes up the scheduler.
     // TODO: Maybe this should not be done like this. It would be better if there was a custom
     // FPGA module which can accept packets and then takes care of dumping that packet into
     // the PTME. DMA would be an ideal solution for this.
     nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-
-    if (pollPapbBusySignal(2) == returnvalue::OK) {
+    if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
       *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
     } else {
       abortPacketTransfer();
@@ -85,7 +83,7 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
     }
   }
   nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
-  if (pollPapbBusySignal(2) == returnvalue::OK) {
+  if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
     completePacketTransfer();
   } else {
     abortPacketTransfer();
@@ -100,23 +98,23 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
 
 void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
 
-ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries) const {
-  gpio::Levels papbBusyState = gpio::Levels::LOW;
-  ReturnValue_t result;
+ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
+                                                      bool checkReadyState) const {
   uint32_t busyIdx = 0;
-  nextDelay.tv_nsec = 0;
+  nextDelay.tv_nsec = FIRST_NON_NULL_DELAY_NS;
 
   while (true) {
-    /** Check if PAPB interface is ready to receive data */
-    result = gpioComIF->readGpio(papbBusyId, papbBusyState);
-    if (result != returnvalue::OK) {
-      sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
-                   << std::endl;
-      return returnvalue::FAILED;
-    }
-    if (papbBusyState == gpio::Levels::HIGH) {
+    // Check if PAPB interface is ready to receive data. Use the configuration register for this.
+    // Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
+    uint32_t reg = *vcBaseReg;
+    bool busy = (reg >> 5) & 0b1;
+    bool ready = (reg >> 6) & 0b1;
+    if (not busy) {
       return returnvalue::OK;
     }
+    if (checkReadyState and not ready) {
+      return PAPB_BUSY;
+    }
 
     busyIdx++;
     if (busyIdx >= maxPollRetries) {
@@ -153,7 +151,7 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
   return;
 }
 
-bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0) == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
 
 void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
 

linux/ipcore/PapbVcInterface.h

@@ -5,6 +5,8 @@
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 #include <linux/ipcore/VirtualChannelIF.h>
 
+#include <atomic>
+
 #include "OBSWConfig.h"
 #include "fsfw/returnvalues/returnvalue.h"
 
@@ -91,7 +93,7 @@ class PapbVcInterface : public VirtualChannelIF {
   int mapNum = 0;
   volatile uint32_t dummy = 0;
   mutable struct timespec nextDelay = {.tv_sec = 0, .tv_nsec = 0};
-  const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 2};
+  const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 10};
   mutable struct timespec remDelay;
 
   uint32_t* vcBaseReg = nullptr;
@@ -119,7 +121,7 @@ class PapbVcInterface : public VirtualChannelIF {
    *
    * @return  returnvalue::OK when ready to receive data else PAPB_BUSY.
    */
-  inline ReturnValue_t pollPapbBusySignal(uint32_t maxPollRetries) const;
+  inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
 
   /**
    * @brief   This function can be used for debugging to check whether there are packets in